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2024 China Automation Congress, CAC 2024

作者： Zhang, Kunpeng Kang, Zhuang Gu, Lei Li, Wenlong Shen, Xiaoning Gao, Yabin Yichun Power Supply Company State Grid Heilongjiang Electric Power Company Limited Yichun153000 China Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9798350368604

This paper presents an improved adaptive-gain super-twisting sliding mode control method for transmission line inspection unmanned aerial vehicles (UAVs) to track desired trajectories in the presence of external disturbances. A cascaded control structure is designed to compute the desired accelerations using the proposed controller, which are then utilized to determine the desired orientation and angular rates. By dynamically adjusting the gains in the controllers, the chattering problem is effectively suppressed, and the system’s transient performance and robustness are significantly enhanced. Furthermore, using Lyapunov function theory, the finite-time stability of the system is rigorously proven. Finally, simulation studies demonstrate the effectiveness and superior performance of the proposed method. © 2024 IEEE.

关键词： Lyapunov functions

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Dynamic Event-Triggered Fixed-Time Consensus Analysis of Multi-Agent Systems Under Input Delays and Switching Topologies 3

Dynamic Event-Triggered Fixed-Time Consensus Analysis of Mul...

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3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Zhang, Yu Li, Yajing Ran, Guangtao Yu, Hao Ma, Guangfu Department of Automation Shenzhen518055 China Shanghai Institute of Aerospace System Engineering Shanghai200241 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798331540319

This paper proposes a dynamic event-triggered control method for first-order multi-agent systems with input delays and disturbances under switching topologies. The controller design and its properties of dynamic event-triggered fixed-time consensus are presented in detail. Furthermore, agents can achieve consensus in a fixed time for any initial conditions and topologies that comply with the control protocol. Zeno behavior is avoided. Simulation examples demonstrate the effectiveness of the proposed algorithm and simulate scenarios in which the communication environment deteriorates due to external disturbances affecting the MASs. © 2024 IEEE.

关键词： Multi agent systems

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Path Planning Using Improved Hybrid A∗ Algorithm for Mobile Robots 25

Path Planning Using Improved Hybrid A∗ Algorithm for Mobile...

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25th IEEE China Conference on System Simulation technology and its Application, CCSSTA 2024

作者： Cheng, Zikang Xue, Jingbo Wang, Bo Dong, Guangzhong Wei, Jingwen Chen, Chunlin Nanjing University Department of Control Science and Intelligence Engineering Naning China Harbin Institute of Technology Shenzhen School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350366600

The Hybrid A∗ algorithm is suitable for Ackermann-type mobile robots with nonholonomic constraints. However, in practical path planning, such issues as long search times, inefficient search efficiency, and excessive planning path changes causing unstable robot motion still exist. To improve the effectiveness of path planning, this paper optimizes the Hybrid A∗ algorithm by using variable search step size and designing a path evaluation function during node expansion. Path planning experiments are conducted based on simulation and physical experimental platforms. The results show that the improved algorithm reduces the search nodes and planning time, effectively enhancing the algorithm's search performance and efficiency. In addition, it avoids pose errors caused by reverse driving, ensuring the priority and smoothness of forward driving, and achieves efficient and stable path planning for Ackermann-type mobile robots. © 2024 IEEE.

关键词： Mobile robots

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Low-disturbance Nonlinear control of TBM Cutterhead Speed in Coal Mine Tunneling 50

Low-disturbance Nonlinear Control of TBM Cutterhead Speed in...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Liu, Nannan Wang, Tong Wang, Jianmin Fan, Yingda School of Electronic and Information Engineering Ningbo University of Technology Ningbo China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China Department of Computer Science University of Pittsburgh Pittsburgh United States

ISBN: (纸本)9781665464543

To minimize the disturbance of the Tunnel Boring Machine (TBM) cutterhead on the surrounding rock during the coal mine roadway excavation process and ensure that the cutterhead rotation speed achieves fast tracking performance with minimal overshoot, we propose a direct adaptive robust control method for the cutterhead rotation speed hydraulic system based on inversion design. This method considers the strong disturbances such as loads and motion affecting the cutterhead hydraulic drive system, as well as the uncertainties in the cutterhead model. We establish the nonlinear model of the cutterhead hydraulic drive system and employ virtual control to reduce the model order. Using Lyapunov functions, we ensure the stability of the entire system and derive the control law for the cutterhead rotation speed controller, along with parameter-adaptive laws acting as parameter estimators. We validate the effectiveness of the proposed control strategy through joint simulation using AMESim and Simulink. The results show that the designed cutterhead rotation speed controller achieves high tracking accuracy and good adaptability. © 2024 IEEE.

关键词： Hydraulic drives

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External blast load factors for dome structures based on reliability

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Defence technology（防务技术） 2022年第2期18卷 170-182页

作者： Shao-bo Qi Guang-yan Huang Xu-dong Zhi Feng Fan Richard GJFlay State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing100081PR China Key Lab of Structure Dynamic Behaviour and Control of the Ministry of Education Harbin Institute of TechnologyHarbin150090China Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters of Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbin150090China Department of Mechanical Engineering University of AucklandPrivate Bag 92019Auckland1142New Zealand

Dome structures have been used extensively for industrial,residential,and military ***,it is necessary to understand the damage risk potential for such structures for blast-resistant design *** paper investigates the effect of blast load variability on the design value and the structural dynamic ***,the sources of uncertainty in the external blast load on dome structures were discussed *** based on the probabilistic blast load model for the dome,the rationality of a deterministic mass-increase safety method was *** was found that previous deterministic design method cannot provide a consistent and sound assurance factor or reliability index on the entire dome *** addition,it was also proved that the assurance-based load method fails to ensure compliance with structural safety design standards on the dome roof when compared with the reliability-based blast method.A sensitivity analysis on the probabilistic blast load was conducted,and the results indicate that stand-off distance and explosive mass both act as dominant sources to influence the mean and variability of blast ***,based on the Latin hypercube sampling method,a reliability-based external blast load factor technique was *** technique was further used to estimate structural damage levels of a single-layer reticulated dome under different reliability requirements,associated with a low,medium,and high level of protection grades for a specific explosion scenario,and it indicated that this technique can be useful in the building design to achieve a higher structural anti-explosion *** study herein can serve as a reference for the calculation method of designed blast load.

关键词： Dome structure Airblast variability Deterministic design Assurance factor Reliability-based blast load factor Structural damage levels

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An Automotive Headlight Leveling control Strategy with Rough Road Identification 42

An Automotive Headlight Leveling Control Strategy with Rough...

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42nd Chinese control Conference, CCC 2023

作者： Zhao, Xinyi Zhao, Linhui Deng, Zhichong Ji, Guohuang Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Intelligent Power System Co. Ltd. Wuhan430056 China

ISBN: (纸本)9789887581543

The Automotive Headlamp Leveling System (ALS), aims to ensure the stability of the illumination range of the headlamp by vertically rotate the headlamp using motors when the body attitude changes. This paper proposes an ALS scheme which obtains the body attitude from body height sensors and accordingly calculates the output angles of left headlamp and right headlamp respectively based on Euler transformation. Different from existing ALS, this scheme uses several strategies to improve the performance of ALS, including anti-shake function, working mode division and rough road identification. The purpose of rough road identification is to avoid unexpected vibration of headlamp caused by ALS on rough road and decision tree model is chosen for identification to improve the accuracy. Moreover, several field tests are performed to verify the validity and stability of the system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Decision trees

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Reinforcement Learning and Disturbance Observer Based Optimal control for Uncertain Systems

Reinforcement Learning and Disturbance Observer Based Optima...

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2023 China Automation Congress, CAC 2023

作者： Chen, Yucheng Zhu, Yupeng Wang, Shaohai Yin, Liyuan Zhu, Hongming Sun, Xingjian Wu, Chengwei Harbin Institute of Technology Department of Control Science and Engineering Harbin China Tianjin Zero-One Intelligent Technology Co. Ltd Tianjin China Nantong University Department of Electrical Engineering Nantong China

ISBN: (纸本)9798350303759

This paper investigates the robust adaptive optimal control problem for linear systems in the presence of matching uncertainties. A nominal controller utilizing Q-Iearning algorithm is designed for the nominal linear system without uncertainties. Introducing a disturbance observer serves the purpose of actively estimating uncertainties, enabling proactive compensation for matching uncertainties. The analysis of the closed-loop system's stability under the robust adaptive optimal controller is conducted, presenting sufficient conditions to ensure its stability. Finally, the control algorithm is validated using a two-wheeled mobile robot as the experimental platform. © 2023 IEEE.

关键词： Reinforcement learning

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An Improved Ultrasound High-Resolution Imaging Method Based on Spatially-Variant Model

An Improved Ultrasound High-Resolution Imaging Method Based ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Jie Gao Yifei Chen Xiangyu Li Xin Zhang Jian Liu Yi Shen Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Instrument Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

Ultrasound high-resolution imaging is essential in clinic. The limited number of channels in portable ultrasound machines results in low-resolution images being acquired. Achieving high-resolution ultrasound images relies on machines with a substantial number of channels, which increases costs. Obtaining potential high-channel images from low-channel images can significantly reduce the cost of ultrasound machines. A novel physics-based deep learning method spatially-variant model (SV-Net) is proposed to deconvolve low-channel ultrasound images, yielding high-resolution outputs. SV-Net is structured with a multi-channel Wiener deconvolution layer placed before Convolutional Neural Network (CNN). The multi-channel Wiener deconvolution layer consists of various differentiable Wiener deconvolutions, which leverage knowledge of spatially-variant Point Spread Functions (PSFs) in ultrasound images. These PSFs are subsequently optimized through further training to obtain high-quality ultrasound images. Experiments show the method's efficacy in improving lateral resolution and achieving favorable performance metrics, including PSNR, SSIM, MAE, and FWHM.

关键词： Deep learning Training Ultrasonic imaging Deconvolution Costs Wiener filters High-resolution imaging Convolutional neural networks Spatial resolution Image reconstruction

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Ultrasound image improvement based on parameter optimization of spatially variable point spread function

Ultrasound image improvement based on parameter optimization...

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IEEE inst.umentation and Measurement technology Conference

作者： Jie Zheng YiFei Chen Xiang Yu Li Xin Zhang Yi Shen Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

Ultrasound imaging is characterized by low resolution due to the point spread function, which limits its application in medical diagnosis. Most improvement algorithms proposed for the point spread function ignore its spatial variability, and there is still a need for improvement. In this paper, we propose an ultrasound image improvement method based on the parameter optimization of the spatially variable point spread function, which takes into account the spatial variability of the point spread function while modeling the point spread function, and determines the desired spatially variable point spread function through parameter optimization. Better beam parameters and image quality are achieved by the method, and its validity is verified on both simulation data and experimental data.

关键词： Image quality Ultrasonic imaging Accuracy Imaging Apertures Medical diagnosis inst.umentation and measurement

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Non-Singular Fast Terminal Sliding Mode control with Super-Twisting ESO for Spacecraft Formation Flying Systems

Non-Singular Fast Terminal Sliding Mode Control with Super-T...

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2023 China Automation Congress, CAC 2023

作者： Li, Yufei Tang, Feilong Zhong, Xiaoqing Xiang, Zhihua Ju, Yinhao Huan, Baizheng School of Aerospace Engineering Beijing Institute of Technology Beijing China Harbin Institute of Technology Department of Control Science and Engineering Harbin China Institute of Telecommunication Satellite China Academy of Space Technology Beijing China

ISBN: (纸本)9798350303759

In this article, we analyze how spacecraft formation can save more fuel and achieve more accurate relative position motion in the configuration control under the influence of external disturbances and perturbations. A non-singular fast terminal sliding mode controller(NFTSMC) combined with Super-Twisting extended state observer(STESO) is proposed for disturbance rejection control of spacecraft formation configuration. In this paper, we will establish the kinematics model of spacecraft relative motion, and linearize this model. Then, the convergence of STESO and the stability of the combination of NFTSMC and STESO are analyzed respectively. Finally, sufficient numerical simulations will be provided to verify the feasibility of the algorithm. © 2023 IEEE.

关键词： Disturbance rejection

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