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Outlier-resistant distributed fusion filtering for nonlinear discrete-time singular systems under a dynamic event-triggered scheme

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Frontiers of Information technology & Electronic engineering 2024年第2期25卷 237-249页

作者： Zhibin HU Jun HU Cai CHEN Hongjian LIU Xiaojian YI Department of Applied Mathematics Harbin University of Science and TechnologyHarbin150080China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and TechnologyHarbin150080China School of Automation Harbin University of Science and TechnologyHarbin150080China School of Mathematics and Physics Anhui Polytechnic UniversityWuhu241000China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314003China Tangshan Research Institute Beijing Institute of TechnologyTangshan063099China

This paper investigates the problem of outlier-resistant distributed fusion filtering(DFF)for a class of multi-sensor nonlinear singular systems(MSNSSs)under a dynamic event-triggered scheme(DETS).To relieve the effect of measurement outliers in data transmission,a self-adaptive saturation function is ***,to further reduce the energy consumption of each sensor node and improve the efficiency of resource utilization,a DETS is adopted to regulate the frequency of data *** the addressed MSNSSs,our purpose is to construct the local outlier-resistant filter under the effects of the measurement outliers and the DETS;the local upper bound(UB)on the filtering error covariance(FEC)is derived by solving the difference equations and minimized by designing proper filter ***,according to the local filters and their UBs,a DFF algorithm is presented in terms of the inverse covariance intersection fusion *** such,the proposed DFF algorithm has the advantages of reducing the frequency of data transmission and the impact of measurement outliers,thereby improving the estimation ***,the uniform boundedness of the filtering error is discussed and a corresponding sufficient condition is ***,the validity of the developed algorithm is checked using a simulation example.

关键词： Distributed fusion filtering Multi-sensor nonlinear singular systems Dynamic event-triggered scheme Outlier-resistant filter Uniform boundedness

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Disturbance Observer Based Back-Stepping control for Buck Converters with Unmatched Disturbances: An RBF Neural Network Approach

Disturbance Observer Based Back-Stepping Control for Buck Co...

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2022 Chinese Automation Congress, CAC 2022

作者： Hao, Wenbo Lin, Xinpo Chen, Weiliang Ji, You Jing, Fei Gao, Yabin Wang, Zhenhuan Liu, Jianxing State Grid Heilongjiang Electric Power Company Limited Electric Power Research Institute Harbin China Harbin Institute of Technology Department of Control Science and Engineering Harbin China Harbin Institute of Technology Space Control and Inertial Technology Research Center Harbin China

ISBN: (纸本)9781665465335

In this paper, a novel disturbance observer-based back-stepping control (DOBC) strategy combining with a radial basis function neural network (RBFNN) is proposed for DC-DC buck converters. Firstly, the state space average model of buck converter is established and it is turned into a general second-order model through coordinate transformation. Model parameter uncertainties and external disturbances are considered in two parts inst.ad of a lumped disturbance. Based on the general second-order model of buck converter, RBFNN is used to estimate parameter uncertainties and a special disturbance observer is used to observe external disturbances. Then, back-stepping method is used to obtain the controller. Simulations are given to verify the advantages of the presented approach. © 2022 IEEE.

关键词： Buck converter

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Fast Terminal Quasi-Sliding Mode control for Spacecraft Formation Flying Systems via RBFNN

Fast Terminal Quasi-Sliding Mode Control for Spacecraft Form...

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2023 China Automation Congress, CAC 2023

作者： Xiang, Zhihua Li, Yufei Zhong, Xiaoqing Lei, Wenxiao Tang, Feilong Ju, Yinhao Harbin Institute of Technology Department of Control Science and Engineering Harbin China Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of Technology Beijing China Institute of Telecommunication Satellite China Academy of Space Technology Beijing China

ISBN: (纸本)9798350303759

This paper investigates the problem of relative control for spacecraft formation flying systems. With elliptical orbit, the model is built by relative position vector. To improve the tracking performance, a controller is designed and proven stable as a fast terminal quasi-sliding mode controller with feedback control based on radial basis function neural network (RBFNN). The performance of the proposed method is validated with numerical simulation. © 2023 IEEE.

关键词： controllers

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Motion Planning of an Automatic Blood Sampling Manipulator Using DDPG Algorithm 42

Motion Planning of an Automatic Blood Sampling Manipulator U...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Kunpeng Zhang, Chen Yu, Bo Zhang, Xu Gao, Yabin Liu, Jianxing Zhao, Yue Yichun Power Supply Company State Grid Heilongjiang Electric Power Company Limited Yichun153000 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China

ISBN: (纸本)9789887581543

In this paper, an automatic blood sampling mechanism is proposed to reduce the working pressure of clinicians and the high risk of cross-infection caused by doctor-patient contact. The simulation environment for this mechanism is built via Gazebo in the Robot Operating System (ROS). Using Deep Deterministic Policy Gradient (DDPG) algorithm, the mechanism is trained to accomplish the blood sampling task. The reward function and the neural network is adjusted to optimize the training result. Simulations prove that the trajectory of automatic blood sampling mechanism using DDPG algorithm has excellent performance in rapidity and stability, thus the effectiveness and usefulness of the designed system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Motion planning

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Dynamic Parallel Feedforward Compensator-based Generalized Negative Imaginary Synthesis Allowing Poles At The Origin *

Dynamic Parallel Feedforward Compensator-based Generalized N...

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IEEE International Conference on Industrial technology (ICIT)

作者： Zhining Cheng Zhen He Fanwei Meng Di Zhou Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper presents a new negative imaginary(NI) synthesis method for a linear-time-invariant(LTI) system with up to two poles at the origin. A dynamic parallel feedforward compensator(DPFC) is added to the controlled plant, which ensures that the augmented system exhibits generalized negative imaginary(GNI) property. And a set of linear matrix inequalities(LMIs) conditions are derived, leading to easy application of this scheme. The augmented system could be stabilized by any SNI controllers only if satisfying the DC loop gain condition. As an application of these results, an example of stabilizing a flexible satellite is carried out to verify the effectiveness of the proposed method.

关键词： Satellites Attitude control Design methodology Linear matrix inequalities Feedforward systems Numerical stability

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Dynamic Parallel Feedforward Compensator-based Generalized Negative Imaginary Synthesis Allowing Poles At The Origin 26

Dynamic Parallel Feedforward Compensator-based Generalized N...

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26th International Conference on Industrial technology, ICIT 2025

作者： Cheng, Zhining He, Zhen Meng, Fanwei Zhou, Di Harbin Institute of Technology Department of Control Science and Engineering Harbin China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao China

ISBN: (纸本)9798331521950

关键词： Linear matrix inequalities

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Constrained control of Networked High-Order Fully Actuated Systems via Predictive control 41

Constrained Control of Networked High-Order Fully Actuated S...

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第41届中国控制会议

作者： Da-Wei Zhang Guo-Ping Liu Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Electronic and Electrical Engineering Southern University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This study is concerned with the output tracking of networked high-order fully actuated(NHOFA) systems subject to input saturation and prescribed performance.A predictive control based constrained control approach is presented to cope with this *** this approach,an incremental HOFA prediction model is constructed via a Diophantine Equation,and then a cost function,considering input saturation and prescribed performance,is optimized by multi-step output prediction,so that an optimal constrained tracking controller is established to satisfy the tracking requirement and given *** analysis presents a simple condition of bounded stability and tracking performance of closed-loop NHOFA systems,which offers a reliable foundation for constrained coordinated control of NHOFA multiagent systems.A numerical simulation of flying-around for air-bearing simulator is shown to prove the feasibility of the proposed approach.

关键词： NHOFA Systems Constrained control Predictive control Bounded Stability and Tracking Performance

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Optimal control of Fully-Actuated Systems for Spacecraft Rendezvous 41

Optimal Control of Fully-Actuated Systems for Spacecraft Ren...

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第41届中国控制会议

作者： Guang-Quan Duan Guo-Ping Liu Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Electronic and Electrical Engineering Southern University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,the rigid spacecraft rendezvous problem is studied in the sense of fully-actuated *** to the attitude and orbit dynamics,the fully-actuated system model is *** the linear quadratic optimal controller of the fully-actuated system is designed for spacecraft rendezvous ***,numerical simulation and physical experiment are *** simulation and experiment results indicate the effectiveness and practicability of the optimal controller.

关键词： Fully-Actuated System Optimal controller Spacecraft Rendezvous Attitude Stabilization Orbit control

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SAGPCN: Self-Attention Graph Pooling Convolutional Network for Battery State of Health Estimation 3

SAGPCN: Self-Attention Graph Pooling Convolutional Network f...

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3rd IEEE International Conference on Industrial Electronics for Sustainable Energy Systems, IESES 2023

作者： Zhang, Jiusi Tian, Jilun Jiang, Yuchen Luo, Hao Huang, Cong-Sheng Chow, Mo-Yuen Yin, Shen Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China National Taipei University of Technology Department of Electrical Engineering Taipei10608 Taiwan North Carolina State University Department of Electrical and Computer Engineering RaleighNC27606 United States Norwegian University of Science and Technology Faculty of Engineering Trondheim7034 Norway

ISBN: (纸本)9798350324754

Lithium-ion batteries are widely applied in sustainable energy conversion system. Consequently, it is of great research significance to accurately estimate the state of health (SOH) of batteries. To effectively model the input features at the spatial level, this article proposes a self-attention graph pooling convolutional network (SAGPCN) to estimate the SOH. The advantages of SAGPCN proposed in this paper can be reflected as follows: (1) The SAGPCN can consider node characteristics and graph topology, which focuses the attention on key parts of the graph. (2) The SAGPCN designs a self-attention mechanism to reserve significant nodes and delete secondary nodes, so as to optimize the network structure. A real-world dataset is adopted to evaluate the proposed battery SOH estimation approach in this paper. Experimental results represent that the estimation performance of the proposed SAGPCN is better than some data-driven SOH prediction approaches. © 2023 IEEE.

关键词： Lithium-ion batteries

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Closed-loop photoacoustic photothermal treatment method and system based on real-time Kalman filter temperature estimation

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Computers in Biology and Medicine 2025年 191卷 110132-110132页

作者： Tan, Yi Han, Yuelin Zhang, Leixi Ma, Yiming Sun, Mingjian Department of Control Science and Engineering Harbin Institute of Technology Shandong Weihai264200 China Department of Control Science and Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China Shandong Laboratory of Advanced Biomaterials and Medical Devices in Weihai Shandong Weihai264209 China Harbin Institute of Technology Suzhou Research Institute Suzhou215000 China

Real-time measurement and control of the temperature and thermal damage of the therapeutic target is critical to the safety and effectiveness of photothermal therapy (PTT). However, due to the lack of effective non-contact temperature control technology, it is very difficult to accurately measure and control the temperature of the target area, which may cause damage to the healthy tissues around the target area. In this paper, to ensure the effectiveness of photothermal therapy while minimizing damage to normal tissues, we propose a closed-loop photoacoustic photothermal therapy method and system based on real-time Kalman filter temperature estimation model. A prediction and observation model for the target temperature field has been established, achieving non-invasive real-time temperature measurement. At the same time, combined with the closed-loop fuzzy PID temperature regulation algorithm, we can also adjust the drive power of therapeutic laser in real time, and finally achieve the real-time control of the target temperature. After experimental validation, the system proposed in this paper achieves the temperature control accuracy of 0.47 °C and 0.76 °C on the phantoms and ex vivo, respectively. In addition, the comparison with the results of the simulated PTT experiment without the temperature observation model further verifies the advantages of this method in dynamic and static control performance. In general, this method has the potential to be used as an auxiliary means in PTT to further improve the dynamic characteristics and precision of therapy. © 2025

关键词： Kalman filters

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