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2024 China Automation Congress, CAC 2024

作者： Liu, Jiawei Li, Xiaolei Tang, Feilong Kui, Qixin Spasic, Miodrag D. Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Control Systems Faculty of Electronic Engineering University of Nis Nis Serbia

ISBN: (纸本)9798350368604

In this paper, a synchronous control strategy based on super-twisting sliding mode algorithm is proposed to enhance the tracking accuracy and robustness of H-type linear motor systems. Such systems are widely utilized in precision manufacturing owing to their high precision and fast response. Firstly, the dynamic model is established based on the coupling dynamics analysis of the H-type system. Secondly, a super-twisting sliding mode controller (STSMC) with linear terms is designed, which effectively reduces the chattering associated with conventional sliding mode control, while maintaining good robustness. Thirdly, a super-twisting extended state observer (STESO) is introduced to handle large fluctuations in the early estimation process of linear extended state observer (LESO), so as to effectively observe and compensate the uncertainties and external disturbances. Finally, experimental results demonstrate that the STESO-based STSMC greatly improves the anti-disturbance ability and tracking accuracy of the H-type system. © 2024 IEEE.

关键词： Sliding mode control

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Improvement of Steering Performance for Autonomous Vehicles Based on Preview Model 42

Improvement of Steering Performance for Autonomous Vehicles ...

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42nd Chinese control Conference, CCC 2023

作者： Yang, Zipeng Zhao, Linhui Zhao, Xinyi Liu, Haifeng Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China

ISBN: (纸本)9789887581543

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 asynchronously. Trajectory in this paper is composed of position and time information, which is produced through decision maker, reference line calculator, trajectory smoother and speed planner. In order to restrain possible oscillation of steering angle, a vehicle dynamic model with preview is applied. It is transformed into a standard form of state space and can be directly used in control. Considering 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 preview. The simulation results demonstrate improvement on the smoothness of steering angle. And vehicle's lateral error on tracking trajectory is kept small. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Trajectories

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An Improved Classification Method of Ultrasonic Thyroid Standard Planes Based on Bayesian Optimization of Multi-Feature Parameters for Portable Application 42

An Improved Classification Method of Ultrasonic Thyroid Stan...

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42nd Chinese control Conference, CCC 2023

作者： Li, Xinran Zhang, Xin Fan, Chenyang Shen, Yi Harbin Institute of Technology Department of Control Science and Engineering Harbin China School of Mathematics Harbin Institute of Technology Harbin China

ISBN: (纸本)9789887581543

In recent years, computer aided technology is increasingly applied to the classification of thyroid ultrasonic planes for calculating the thyroid volume, and then the disease can be diagnosed by its volume. However, these methods requiring greater computational power are not suitable for the portable ultrasound system with limited performance. Based on Bayesian optimization of multi-feature parameters, an improved classification method of ultrasonic thyroid planes is proposed in this paper for low computational complexity with a high classification accuracy. Local Binary Patterns (LBP) feature and Gray Level Co-occurrence Matrix (GLCM) feature are selected by the analysis of image texture information, and then the combined feature is utilized to investigate the effectiveness of different classifiers. Furthermore, Bayesian optimization is employed to obtain the optimal parameters of the combined feature for improving classification results, and the accuracy can reach up to 96.81%. The results clearly illustrate that the improved method is effective in classifying the ultrasonic thyroid planes under a low computational complexity. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Image classification

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Multi-vision Based 3D Reconstruction System for Robotic Grinding 18

Multi-vision Based 3D Reconstruction System for Robotic Grin...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Qimin Cao, Yu Wang, Qiang Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China

ISBN: (纸本)9798350312201

High-precision grinding process often requires to plan the grinding paths based on the reconstructed models of the workpieces. This paper presents a multi-vision based 3D reconstruction system which uses four industrial cameras to capture RGB images from multiple angles to reconstruct the 3D models of the workpieces to be ground. Feature extraction, feature matching and loop closure correction were applied for reconstructing the rough outline of the workpiece. Then we used depth map estimation and fusion to expand sparse point clouds into denser point clouds to improve the reconstruction performance. Poisson reconstruction was finally used to repair the voids on the surface to get a smooth model. The experimental results show that this system can obtain a complete and accurate 3D point cloud model of the workpiece in preparation for the path planning of the robotic grinding. © 2023 IEEE.

关键词： Feature extraction

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Stabilization With Prescribed inst.nt for High-Order Integrator Systems

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IEEE Transactions on Cybernetics 2023年第11期53卷 7275-7284页

作者： Kuang, Jiyuan Gao, Yabin Chen, Chih-Chiang Zhang, Xiaoju Sun, Yizhuo Liu, Jianxing Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan Harbin Institute of Technology School of Mathematics Harbin150001 China

This article develops a new controller design approach to stabilize system states onto the equilibrium at an arbitrarily selected time inst.nt irrespective of the initial system states and parameters. By the stabilization approach, the actual convergence time (not the bound of actual convergence time) is independent of the initial value of system states. This feature differentiates our proposed prescribed-inst.nt stability from conventional fixed, predefined, and prescribed time stability. In this work, we propose the controller design method for the prescribed-inst.nt stability of n-order integrator systems. The proposed control is bounded and can gradually go to zero at an arbitrarily selected time inst.nt, at which the system states reach zero simultaneously. This special stability of the controlled system is analyzed by reduction to absurdity. In simulations, an example of comparison with frequently used prescribed-time control is presented to show the difference. Moreover, the proposed stabilization method is validated by a magnetic suspension system with matched disturbances. © 2013 IEEE.

关键词： Stability criteria

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Attitude and Orbit Optimal control of Combined Spacecraft via a Fully-Actuated System Approach

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Journal of Systems science & Complexity 2022年第2期35卷 623-640页

作者： DUAN Guangquan LIU Guo-Ping Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen 518055China

This paper investigates the attitude and orbit control for the combined spacecraft formed after a target spacecraft without the autonomous control ability is captured by a service *** optimal controller of fully-actuated system is proposed to realize the attitude and orbit stabilization control of combined *** stability of the system is proved by introducing Lyapunov *** simulation of the combined spacecraft and physical experiment based on the combined spacecraft simulator(CSS)are *** simulation and experiment results demonstrate the effectiveness and practicability of the optimal controller of fully-actuated system.

关键词： Attitude control combined spacecraft fully-actuated system optimal controller orbit control

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Nodes2STRNet for structural dense displacement recognition by deformable mesh model and motion representation

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International Journal of Mechanical System Dynamics 2023年第3期3卷 229-250页

作者： Jin Zhao Hui Li Yang Xu Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters of the Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbinChina Key Lab of Structures Dynamics Behavior and Control of the Ministry of Education Harbin Institute of TechnologyHarbinChina School of Civil Engineering Harbin Institute of TechnologyHarbinChina Department of System Design and Simulation Goldwind Science and Technology Co.Ltd.BeijingChina

Displacement is a critical indicator for mechanical systems and civil *** vision-based displacement recognition methods mainly focus on the sparse identification of limited measurement points,and the motion representation of an entire structure is very *** study proposes a novel Nodes2STRNet for structural dense displacement recognition using a handful of structural control nodes based on a deformable structural three-dimensional mesh model,which consists of control node estimation subnetwork(NodesEstimate)and pose parameter recognition subnetwork(Nodes2PoseNet).NodesEstimate calculates the dense optical flow field based on FlowNet 2.0 and generates structural control node ***2PoseNet uses structural control node coordinates as input and regresses structural pose parameters by a multilayer perceptron.A self-supervised learning strategy is designed with a mean square error loss and L2 regularization to train *** effectiveness and accuracy of dense displacement recognition and robustness to light condition variations are validated by seismic shaking table tests of a four-story-building *** studies with image-segmentation-based Structure-PoseNet show that the proposed Nodes2STRNet can achieve higher accuracy and better robustness against.light condition *** addition,NodesEstimate does not require retraining when faced with new scenarios,and Nodes2PoseNet has high self-supervised training efficiency with only a few control nodes inst.ad of fully supervised pixel-level segmentation.

关键词： structural dense displacement recognition deformable structural mesh model deep-learning-based monocular vision self-supervised learning

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Coverage control for Multi-Agent Systems via Curve Arc Length

Coverage Control for Multi-Agent Systems via Curve Arc Lengt...

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2024 China Automation Congress, CAC 2024

作者： Yang, Kaiqi Wang, Xiaoli Yang, Hengyu Xie, Wei Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Information Science and Engineering Harbin Institute of Technology at Weihai Weihai China School of Aeronautics and Astronautics Tiangong University Tianjin China

ISBN: (纸本)9798350368604

In complex environments, effective and comprehensive information gathering necessitates the strategic deployment of multi-agent systems. Corridor-type regions, characterized as non-convex areas, present substantial challenges in formulating coverage control strategies. To tackle this issue, this paper proposes a novel coverage control methodology for multi-agent systems based on partitioning the coverage area using curve arc lengths. Firstly, the coverage areas for each team is segmented into sequentially arranged subregions based on curve arc lengths. Through adjustments in the virtual leading agent’s position, the range of curve arc lengths for each team’s coverage areas is dynamically managed. Then, a distributed coverage controller is developed for agents, which integrates the movement status of virtual leading agents to guide agents towards the centroid positions of their respective coverage areas. Finally, numerical simulations affirm the efficacy of the proposed coverage control approach. © 2024 IEEE.

关键词： Multi agent systems

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Secure control Against.Multiplicative and Additive False Data Injection Attacks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2023年 1卷 92-100页

作者： Zhu, Hongming Xu, Lezhong Bao, Zeyu Liu, Yifan Yin, Liyuan Yao, Weiran Wu, Chengwei Wu, Ligang Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150040 China China Academy of Space Technology Beijing100081 China

In this article, the secure control problem of the cyber-physical systems (CPS) is investigated when the communication network connecting a controller and an actuator is interfered by malicious adversaries. Both multiplicative and additive false data attacks are considered, and a general attack model is given to describe such attacks. Sufficient conditions are proposed to validate that whether a given controller is capable of maintaining the desired performance of CPS or not under a given attack scenario. Furthermore, conditions are given to design a secure controller for CPS with both multiplicative and additive false data attacks. Eventually, numerical simulation results are given to illustrate the effectiveness of the proposed secure control scheme in this article. © 2023 inst.tute of Electrical and Electronics Engineers. All rights reserved.

关键词： Cyber Physical System

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C─H···πinteraction induced H-aggregates for wide range water content detection in organic solvents

Aggregate

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Aggregate 2024年第4期5卷 269-278页

作者： Jiajun Xu Meifen Huang Haijun Pang Zhehui Weng Guangzhi Hu Siman Zhang Qiuling Yang Qiong Wu Department of Chemical Science and Technology Kunming UniversityKunmingChina College of Physics Science and Technology Kunming UniversityKunmingChina The School of Material Science and Chemical Engineering Harbin University of Science and TechnologyHarbinChina Institute for Ecological Research and Pollution Control of Plateau Lakes Yunnan UniversityKunmingChina

J-aggregation and H-aggregation are identified as two classical models of function-ally oriented non-covalent interactions,and significant attention has been drawn by ***,due to the scarcity of single-crystal examples of H-aggregation,a comprehensive understanding of the relationship between its stacking mode and optical behaviour has been *** recent studies,two polyaromatic Schiff base compounds,Cl-Salmphen and H-Salmphen,were successfully synthe-sized,and both were found to exhibit *** thefindings,H-Salmphen was shown to display typical C─H···πinteractions,characteristic of Aggregation-Induced Emission(AIE)active molecules,whereas its halogenated counterpart was identified as behaving similar to Aggregation-Caused Quenching(ACQ)active *** types of results suggest that identical intermolecular interactions can produce differing optical *** was shed,at least in part,on the for-mation mechanisms of H-type aggregates and their luminescence properties from these ***,the high optical signal-to-noise ratio inherent to H-aggregates was utilized for the exploration of water content *** an outcome,a high-performancefluorescentfilter paper was developed,enabling easy real-time detection using a smartphone.

关键词： aggregation-caused quenching aggregation-induced emission enhanced C─H···πinteractions fluores-cence sensor H-aggregation

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