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Asian Control Conference

作者： Guilong Liu Hongda Wu Yongliang Yang Wei Xie Weidong Zhang School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper presents an event-based asymptotic tracking control scheme designed for strict feedback systems with unknown control directions. The control directions directly determine how the controller acts on the system, thus impacting the system's stability and convergence speed. When the control directions are unknown, it presents a significant challenge in controller design. To tackle this issue, the Nussbaum-type gains are introduced. However, this method increases communication overhead. Hence, an event-triggered mechanism is introduced to alleviate this burden. Additionally, to achieve and maintain desired target states, satisfying control requirements and performance demands, this paper improves the event-triggered mechanism to achieve asymptotic tracking. Finally, the feasibility and effectiveness of the proposed design are validated through a simulation example.

关键词： Asymptotic stability Target tracking Stability criteria Control systems Optimization Convergence

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Adaptive Uniform Performance Control of Strict-Feedback Nonlinear systems With Time-Varying Control Gain

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 451-461页

作者： Kai Zhao Changyun Wen Yongduan Song Frank L.Lewis IEEE the Department of Electrical and Computer Engineering National University of SingaporeSingapore 119077Singapore the School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore the State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing Key Laboratory of Intelligent Unmanned SystemsSchool of AutomationChongqing UniversityChongqing 400044China the UTA Research Institute University of Texas at ArlingtonFort WorthTX 76118 USA

In this paper,we present a novel adaptive performance control approach for strict-feedback nonparametric systems with unknown time-varying control coefficients,which mainly includes the following ***,by introducing several key transformation functions and selecting the initial value of the time-varying scaling function,the symmetric prescribed performance with global and semi-global properties can be handled uniformly,without the need for control ***,to handle the problem of unknown time-varying control coefficient with an unknown sign,we propose an enhanced Nussbaum function(ENF)bearing some unique properties and characteristics,with which the complex stability analysis based on specific Nussbaum functions as commonly used is no longer ***,by utilizing the core-function information technique,the nonparametric uncertainties in the system are gracefully handled so that no approximator is ***,simulation results verify the effectiveness and benefits of the approach.

关键词： Adaptive control enhanced Nussbaum function(ENF) strict-feedback systems unified prescribed performance

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Traffic Pricing Based on Network Congestion Games with Player and Resource Failures

Traffic Pricing Based on Network Congestion Games with Playe...

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第43届中国控制会议

作者： Shuqi Liu Jinhuan Wang Lin Wang Institute of Mathematics School of ScienceHebei University of Technology Department of Automation Shanghai Jiaotong Universityand the Key Laboratory of System Control and Information ProcessingMinistry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper investigates the pricing problem of transportation based on a framework of network congestion game with both player and resource ***,the traffic pricing problem is modeled as a network congestion game by redefining the player's cost function in the event of player and resource ***,by using the method of semi-tensor product of matrices,the game with player and resource failures is algebraized and verified to be a weighted potential *** weighted potential function is also ***,the impact of player and resource failures on Nash equilibria(NEs) is studied,and the condition on keeping the NE of the original game unchanged is ***,the theoretical results are verified by numerical examples.

关键词： Semi-tensor product network congestion game player and resource failures

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3D Gyroscope Wi-Fi for Robot Application with Modbus

3D Gyroscope Wi-Fi for Robot Application with Modbus

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International Conference on Control, automation and systems ( ICCAS)

作者： Anan Wongjan Rujipan Kosarat Department of Electronic Engineering and Automation Control System Faculty of Engineering Rajamangala University of Technology Lanna Chiang Mai Thailand Department of Software Engineering Faculty of Engineering Rajamangala University of Technology Lanna Chiang Mai Thailand

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This article aims to propose an algorithm for operating a robot gyroscope application. A gyroscope, an instrument for measuring and maintaining direction, utilizes the concept of angular momentum. The hardware architecture utilizes the GY-85 sensor modules, the ESP-32, and the OLED to accomplish communication with other linked devices. I will refer to it as the 3D gyroscope. It is possible for this gadget to function in conjunction with any kind of gyroscope or robot of any kind. For determining the values of acceleration and gravity, the application makes use of the x, y, and z axes. To communication between the devices, the algorithm makes use of the Modbus protocol for communication between the devices. You can use LabView to develop a testable gyroscope application. We rotated the constructed three-dimensional gyroscope at angles of 0 degrees, 45 degrees, and -45 degrees along the x, y, and z axes to test the results. The rotating process produced a multi-perspective, three-dimensional presentation of the constructed or developed device. Theta values in the x, y, and z axes that come from the experimental findings for angles of 45, -45, and 0 are extremely accurate.

关键词： Three-dimensional displays Protocols Instruments Organic light emitting diodes Robot sensing systems Control systems Hardware Gyroscopes Wireless fidelity Gravity

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Recent advancement of flow-induced piezoelectric vibration energy harvesting techniques:principles,structures,and nonlinear designs

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Applied Mathematics and Mechanics(English Edition) 2022年第7期43卷 959-978页

作者： Dongxing CAO Junru WANG Xiangying GUO S.K.LAI Yongjun SHEN Faculty of Materials and Manufacturing Beijing University of TechnologyBeijing 100124China Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures Beijing 100124China School of Automation Beijing Information Science and Technology UniversityBeiing 100192China Department of Civil and Environmental Engineering The Hong Kong Polytechnic UniversityKowloonHong KongChina Hong Kong Branch of National Rail Transit Electrification and Automation Engineering Technology Research Center The Hong Kong Polytechnic UniversityKowloonHong KongChina State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China

Energy harvesting induced from flowing fluids(e.g.,air and water flows)is a well-known process,which can be regarded as a sustainable and renewable energy *** addition to traditional high-efficiency devices(e.g.,turbines and watermills),the micro-power extracting technologies based on the flow-induced vibration(FIV)effect have sparked great concerns by virtue of their prospective applications as a self-power source for the microelectronic devices in recent *** article aims to conduct a comprehensive review for the FIV working principle and their potential applications for energy ***,various classifications of the FIV effect for energy harvesting are briefly introduced,such as vortex-induced vibration(VIV),galloping,flutter,and wake-induced vibration(WIV).Next,the development of FIV energy harvesting techniques is reviewed to discuss the research works in the past three *** application of hybrid FIV energy harvesting techniques that can enhance the harvesting performance is also ***,the nonlinear designs of FIV-based energy harvesters are reported in this study,e.g.,multi-stability and limit-cycle oscillation(LCO)***,advanced FIV-based energy harvesting studies for fluid engineering applications are briefly ***,conclusions and future outlook are summarized.

关键词： vibration-driven energy harvesting flow-induced vibration(FIV) piezoelectric approach nonlinear design

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Design of Generalized Inverse Covariance Intersection with Multiple Estimates

Design of Generalized Inverse Covariance Intersection with M...

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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2022

作者： Park, Woo Jung Park, Chan Gook Department of Aerospace Engineering Automation and System Research Institute Seoul National University Seoul08826 Korea Republic of Department of Aerospace Engineering Institute of Advanced Aerospace Technology Seoul National University Seoul08826 Korea Republic of

ISBN: (纸本)9781624106316

In this paper, generalized inverse covariance intersection (GICI) with multiple estimates was proposed. Distributed fusion is widely used due to its easy structure to manage tracks and lower computational load than centralized fusion. Since it is hard to know the correlation of the nodes in distributed fusion, covariance intersection (CI) and inverse covariance intersection (ICI) which guarantee consistency regardless of the common information are developed. In recent research, the GICI for two nodes and the ICI for multiple sensors are proposed, respectively. By combining the two previous results, GICI with multiple estimates was driven in this paper. The simulation results on the fusion of multiple pdfs showed better results than naïve fusion that ignores common information of the nodes. © 2022, American Institute of Aeronautics and Astronautics Inc.. All rights reserved.

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Control and Stability of Large-scale Power system with Highly Distributed Renewable Energy Generation:Viewpoints from Six Aspects

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CSEE Journal of Power and Energy systems 2023年第1期9卷 8-14页

作者： Qing-Hua Wu Anjan Bose Chanan Singh Joe H.Chow Gang Mu Yuanzhang Sun Zhaoxi Liu Zhigang Li Yang Liu School of Electric Power Engineering South China University of TechnologyGuangzhou 510640China School of Electrical Engineering&Computer Science Washington State UniversityPullmanWA 99164USA Department of Electrical and Computer Engineering Texas A&M UniversityCollege StationTX 77843USA Department of Electrical Computer and Systems EngineeringRensselaer Polytechnic Institute(RPI)TroyNYUSA Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology Ministry of Education(Northeast Electric Power University)Jilin 132012China School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China

Power systems are moving toward a low-carbon or carbon-neutral future where high penetration of renewables is *** conventional fossil-fueled synchronous generators in the transmission network being replaced by renewable energy generation which is highly distributed across the entire grid,new challenges are emerging to the control and stability of large-scale power *** analysis and control methods are needed for power systems to cope with the ongoing *** the CSEE JPES forum,six leading experts were invited to deliver keynote speeches,and the participating researchers and professionals had extensive exchanges and discussions on the control and stability of power ***,potential changes and challenges of power systems with high penetration of renewable energy generation were introduced and explained,and advanced control methods were proposed and analyzed for the transient stability enhancement of power grids.

关键词： Distributed energy resources high converter penetration power system control renewable energy generation stability control transient stability

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Vision-Based Autonomous Landing of a Quadrotor UAV on a Double-Layered Nested Landing Marker

Vision-Based Autonomous Landing of a Quadrotor UAV on a Doub...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry

Robust optimization-based fusion of GNSS and Visual-Inertial...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Hou, Jake Jie Wu, Xinrui Shan, Jiwei Li, Dun Wang, Hesheng Shanghai Jiao Tong University Department of Automation China Shanghai Karlang Industrial Nantong Intelligent Technology Co. Ltd China Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

SLAM is significant to autonomous mobile robots. In order to realize drift-free state estimation and provide accurate localization results for the subsequent navigation, we develop an optimization-based framework consisting of a high-frequency Inertial-Wheel Odometry(IWO), Visual-Inertial-Wheel Odometry(VIWO) and a global fusion module. To fuse the local state with the position provided by GNSS, we perform ternary edge in factor graph optimization to estimate the transformation between the local frame and ENU coordinate. Thanks to the tightly-coupled VIWO, the localization property of the odometry presents more robustness, and improve the accuracy of global fusion. A noise repropagation strategy is introduced to ensure the consistency of the IMU and wheel odometer. We evaluate the proposed system on public datasets and test it in real-world scenario. The experimental results show that our system achieves accurate pose estimation in outdoor environments. © 2022 IEEE.

关键词： Frequency estimation

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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