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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Aohua Zhang, Bo Chen, Weiliang Luo, Yiang Fang, Shuxian Zhang, Ouyang Liu, Zhuang Wang, Zhenhuan Liu, Jianxing Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China State Grid Heilongjiang Electric Power Company Limited The Suihua Power Supply Company Suihua China Harbin Institute of Technology Space Control and Inertial Technology Research Center Harbin150001 China

ISBN: (纸本)9781665465335

This paper investigates the trajectory tracking control method for a robotic manipulator with uncertainties. A compound controller combining a traditional control law with deep reinforcement learning is developed to improve tracking accuracy and adaptability. The model-based control method is able to increase sampling efficiency for learning control strategy. The introduction of deep reinforcement learning based on soft actor-critic structure and Lyapunov function constrain enables the system to compensate unknown uncertainties and remain stable. Eventually, a 3-DOF manipulator is used to show the effectiveness of the proposed controller. Comparative simulation results demonstrate that the compound controller acquires higher tracking accuracy than the pure model-based control method. © 2022 IEEE.

关键词： controllers

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Research on multi-dimensional heterogeneous compound control method of anti-access aircraft with prescribed performance

Research on multi-dimensional heterogeneous compound control...

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第43届中国控制会议

作者： Yuemeng Ma Ningyuan Wang Ming Liu Zhen Xiao Ding Yang Jingying Cao Science and Technology on Space Physics Laboratory Department of Control Science and Engineering Harbin Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

For attack and defense confrontation scenarios in near-space,to enhance the maneuverability of the anti-access aircraft in low dynamic pressure environment,a prescribedperformance-based multidimensional heterogeneous compound control system is proposed in this paper to meet the precision guidance requirements of fast and high-precision response to overload commands by the synergistic cooperation of direct force and aerodynamic *** time and steady state accuracy of the system are designed based on the prescribed performance control *** surface controllers is designed for aerofin to observe and compensate for complex *** direct forces,a sliding mode controller is designed and applied to achieve rapid tracking to *** layers and auxiliary system are introduced to reduce the impact of actuator physical constraints on control *** Lyapunov stability proof of compound control system is *** results demonstrate that the multidimensional heterogeneous compound control system proposed can not only make the response process of AOA meet the prescribed-performance requirement but also avoid the "tug-of-war" phenomenon of actuators.

关键词： anti-access aircraft multi-dimensional heterogeneous compound control lateral jets and aerodynamics control prescribed performance control nonlinear extended state observer(NESO)

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Cascaded Extended State Observer-Based Sliding Mode control for DC-DC Converter with Time- Varying Power Fluctuation

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IEEE Transactions on Industry Applications 2022年 1-6页

作者： Xu, Liangcai Liu, Jianxing Zhuo, Shengrong Huangfu, Yigeng Gao, Fei School of Automation Northwestern Polytechnical University Xi'an China Department of Control Science and Engineering Harbin Institute of Technology Harbin China FEMTO-ST Institute Univ. Bourgogne Franche-Comte UTBM CNRS Belfort France

In this paper, a cascaded extended state observer- based sliding mode control (SMC) is proposed for the typical microgrid (MG) interfaced dc-dc boost converter. For a given MG system, the power fluctuation is unpredictable, which may cause an unstable dc-bus voltage. In that situation, all the dc-bus connected electronic loads cannot work normally. In order to maintain a stable dc-bus voltage, additional power sources with a suitable power converter and the advanced controller are necessary. Especially, the controller for the power converter plays a crucial role in reducing the power fluctuation and regulating the dc-bus voltage. In this paper, to improve the ability of the converters to reject external power disturbance, a cascaded extended state observer is designed to estimate the lumped disturbance more accurately. Besides, the continuous SMC method is adopted to provide a feedback control loop. The corresponding simulation results could highly validate the effectiveness of the proposed control method. IEEE

关键词： Sliding mode control

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Weight Design for Small Data Sample Decision under Attribute Association

Weight Design for Small Data Sample Decision under Attribute...

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2022 IEEE Asia-Pacific Conference on Computer science and Data engineering, CSDE 2022

作者： Zhang, Shixuan Sun, Songpeng Ma, Jie Zhang, Kai Zheng, Xiaopeng Harbin Institute of Technology Department of Control Science and Engineering Harbin China Science and Technology on Space Physics Laboratory Beijing China China Academy of Launch Vehicle Technology Research and Development Department Beijing China

ISBN: (纸本)9781665453059

In aircraft test, the sample size of flight test data is small, and the test data returned by telemetry also has the problem of attribute association. A weight design method of small sample decision under attribute association is proposed. The method enhances the small sample data based on the synthetic minority oversampling technique, reduces the dimension of variables through principal component analysis, normalizes the principal components based on the variance contribution rate, and obtains the weight of each principal component after dimensionality reduction. The research results can be applied to the weight design of the guidance and control system of aircraft, and provide a new method support for the subsequent relevant test evaluation. © 2022 IEEE.

关键词： Principal component analysis

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Ultrafast multi-target control of tightly focused light fields

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Opto-Electronic Advances 2022年第3期5卷 76-87页

作者： Yanxiang Zhang Xiaofei Liu Han Lin Dan Wang Ensi Cao Shaoding Liu Zhongquan Nie Baohua Jia Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceCollege of Physics and OptoelectronicsTaiyuan University of TechnologyTaiyuan 030024China Department of Physics Harbin Institute of TechnologyHarbin 150001China Centre of Translational Atomaterials(CTAM) Faculty of ScienceEngineering and TechnologySwinburne University of TechnologyHawthornVIC 3122Australia

The control of ultrafast optical field is of great interest in developing ultrafast optics as well as the investigation on vari-ous light-matter interactions with ultrashort ***,conventional spatial encoding approaches have only lim-ited steerable targets usually neglecting the temporal effect,thus hindering their broad *** we present a new concept for realizing ultrafast modulation of multi-target focal fields based on the facile combination of time-depend-ent vectorial diffraction theory with fast Fourier *** is achieved by focusing femtosecond pulsed light carrying vectorial-vortex by a single objective lens under tight focusing *** is uncovered that the ultrafast temporal de-gree of freedom within a configurable temporal duration(~400 fs)plays a pivotal role in determining the rich and exotic features of the focused optical field at one time,namely,bright-dark alternation,periodic rotation,and longitudinal/trans-verse polarization *** underlying control mechanisms have been *** being of academic in-terest in diverse ultrafast spectral regimes,these peculiar behaviors of the space-time evolutionary beams may underpin prolific ultrafast-related applications such as multifunctional integrated optical chip,high-efficiency laser trapping,micro-structure rotation,super-resolution optical microscopy,precise optical measurement,and liveness tracking.

关键词： ultrafast optical field vectorial diffraction theory fast Fourier transform vectorial vortex beam space-time shaping

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Sparse Signal Representation-Based Absorption Coefficients Extraction for Photoacoustic Tomography

SSRN

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SSRN 2023年

作者： Liu, Yang Ma, Yiming Qin, Zezheng Sun, Mingjian Department of Control Science and Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China Department of Control Science and Engineering Harbin Institute of Technology Shandong Weihai264200 China

In quantitative photoacoustic tomography (qPAT), the raw photoacoustic images only indirectly describe structural and physiological information on biological tissues. Therefore, for specific biological tissue models, it is necessary to study a high-precision absorption coefficient (AC) extraction algorithm to convert the photoacoustic image into the absorption coefficient distribution map of the absorber by eliminating the influence of non-uniform light fluence (LF). The absorption coefficient distribution is directly related to the spatial distribution of the absorbing chromophore in the tissue. In this study, a new quantitative photoacoustic imaging algorithm based on sparse signal representation is introduced to extract AC of multi-absorbers with higher accuracy. We take advantage of the difference between the spatial distribution characteristics of AC and LF in the medium to obtain dictionary libraries that can sparsely represent AC and LF, respectively, and combine them into a joint dictionary. Then, based on sparse representation theory, the photoacoustic image is decomposed, and the AC of the imaging object is further extracted from the photoacoustic image. Simulation results show that our method achieves better AC image accuracy and feature visibility in complex cases with multi-absorbers. Our method is expected to be applied in the future to the quantitative analysis of photoacoustic imaging, which requires accurate estimation of the absorption distribution of biological tissues containing multiple absorbers, such as vascular system and tumor detection. © 2023, The Authors. All rights reserved.

关键词： Spatial distribution

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Improvement of Steering Performance for Autonomous Vehicles Based on Preview Model

Improvement of Steering Performance for Autonomous Vehicles ...

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第42届中国控制会议

作者： Zipeng Yang Linhui Zhao Xinyi Zhao Haifeng Liu Department of Control Science and Engineering Harbin Institute of Technology

This paper presents an approach to traveling along a reference path and evading obstacles with smooth steering angle for autonomous vehicles when trajectory planner and control run *** ectory in this paper is composed of position and time information,which is produced through decision maker,reference line calculator,trajectory smoother and speed *** order to restrain possible oscillation of steering angle,a vehicle dynamic model with preview is *** is transformed into a standard form of state space and can be directly used in *** the control runs at a higher frequency than planning,a progression method coordinating these two parts is applied,which bases on time points on the trajectory and matches points with vehicle position after *** simulation results demonstrate improvement on the smoothness of steering *** vehicle's lateral error on tracking trajectory is kept small.

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Robust Model Predictive control of Position Sensorless Driven IPMSM Based on Cascaded EKF-LESO

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IEEE Transactions on Transportation Electrification 2025年

作者： Xu, Ruiqi Shen, Xiaoning Lin, Xinpo Liu, Zhuang Xu, Dezhi Liu, Jianxing Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Southeast University School of Electrical Engineering Engineering Research Center of Electrical Transport Technology Ministry of Education Nanjing210096 China

This paper proposed a robust model predictive control for permanent magnet synchronous motors taking into account the effect of disturbance. A structure cascading extended Kalman filter (EKF) and linear extended state observer (LESO) is used to estimate the position of the motor without using encoders. Firstly, the voltage vector reference containing information of the system speed and current are predicted using the deadbeat control. Meanwhile, the ultra-local model of the system is built considering the lumped disturbance of the motor. The disturbed part of the ultra-local model is updated online according to the information of voltage and current in past two moments. Then, a cascaded EKF-LESO is designed to efficiently estimate position and speed, taking into account disturbances such as measurement noise and model parameter uncertainty. Experimental results verify the effectiveness and advantages of the proposed method. © 2015 IEEE.

关键词： Predictive control systems

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Adaptive Planning of Optimal Grinding Path based on Improved MAX-MIN Ant System

Adaptive Planning of Optimal Grinding Path based on Improved...

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第35届中国控制与决策会议

作者： Ningyuan Wang Qiang Wang Department of Control Science and Engineering Harbin Institute of Technology

In grinding tasks of robotic arms,grinding efficiency is a very important *** this paper,an efficient grinding path planning is proposed to improve grinding efficiency by adaptively shortening grinding path as much as possible for workpieces with unknown sizes and arbitrary surface ***,the size of workpiece is calculated based on information of all points to be ground,and the length of the shortest path along the surface of workpiece between arbitrary two points is obtained based on workpiece ***,MAX-MIN Ant System(MMAS)is improved through modifications of pheromone concentration update mechanism as well as the adding of pheromone concentration disturbance to enhance its efficiency and optimization capability,and improved-MMAS is applied in optimal sorting algorithm to adaptively generate the shortest grinding path on the workpiece with arbitrary surface *** results validate that the proposed grinding path planning can adaptively generate the shortest grinding path on workpieces with unknown sizes and arbitrary surface characteristics.

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An Automotive Headlight Leveling control Strategy with Rough Road Identification

An Automotive Headlight Leveling Control Strategy with Rough...

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第42届中国控制会议

作者： Xinyi Zhao Linhui Zhao Zhichong Deng Guohuang Ji Department of Control Science and Engineering Harbin Institute of Technology

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 *** 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 *** from existing ALS,this scheme uses several strategies to improve the performance of ALS,including anti-shake function,working mode division and rough road *** 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 ***,several field tests are performed to verify the validity and stability of the system.

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