检索结果-内蒙古大学图书馆

Stabilization With Prescribed Instant via Lyapunov Method

IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 557-559页

作者： Jiyuan Kuang Yabin Gao Yizhuo Sun Aohua Liu Jianxing Liu Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China

Dear Editor,This letter presents a prescribed-instant stabilization approach to high-order integrator systems by the Lyapunov method. Under the presented controller, the settling time of controlled systems is independ... 详细信息

关键词： method. prescribed instant

来源：评论

学校读者我要写书评

暂无评论

mVLINS: A Multilevel Visual-LiDAR-Inertial Navigation System with Completely Decoupled Odometry and Adaptive Environmental Mapping

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Zhang, Bing Yao, Weiran Wang, Yankun Li, Peng Shao, Xiangyu Sun, Guanghui department of control science and engineering Harbin Institute of Technology Harbin China

The core component of the navigation system is the process of multi-sensor fusion localization in a challenging environment with limited GNSS constraints. This process is designed to robustly and precisely estimate the system state and map the traversed area. In this paper, we propose a low-drift, highly resilient multilevel navigation system with completely decoupled odometry and adaptive environmental mapping. A novel method for visual-LiDAR-inertial frame-to-frame odometry is presented to leverage the complementary strengths of these sensors. This odometry approach involves decoupling the 6-degree-of-freedom (6-DoF) state to allocate each state component to an appropriate submodule for estimation. An adaptive environmental mapping module that aims to align the target frame with the local map is proposed to refine the rough odometry pose. This module is achieved through the utilization of an adaptive keyframe strategy and the feature consistency constraint. Enhance the matching of keyframes to the map by reducing the point-to-feature error between frame points and map features. Additionally, the state is further refined by minimizing the feature consistency error on lines in the adjacent corner map and the local map at each keyframe. Our proposed algorithm is validated using both public and self-collected datasets, demonstrating superior results compared to state-of-the-art algorithms. IEEE

关键词： Optical radar

来源：评论

学校读者我要写书评

暂无评论

Stabilization controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

引用

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren Duan School of Engineering Qufu Normal UniversityRizhao 276826China Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

来源：评论

学校读者我要写书评

暂无评论

Parametric control of quasi-linear second-order systems with partitioned eigenstructure assignment by output feedback

引用

Science China(Information Sciences) 2023年第4期66卷 228-243页

作者： Weizhen LIU Guangren DUAN Dake GU Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology School of Automation Engineering Northeast Electric Power University

In this paper, a parametric design approach for stabilizing a quasi-linear second-order system with partitioned eigenstructure assignment(PESA) is investigated through output feedback control. The PESA approach is established by partitioning the desired eigenvalue matrix into two parts to separate the associated right and left eigenvectors into a subset of the generalized eigenvectors simultaneously. A parametric controller is established by solving two second-order generalized Sylvester matrix equations, and a certain form with the desired eigenstructure can be derived with the established quasi-linear output feedback controller. Unlike the prevailing approach that assigns the entire set of generalized eigenvectors, which is difficult to satisfy a large number of complicated constraints in practical systems by the normalized pair of right and left eigenvector matrices, a subset of the generalized eigenvectors is considered. In addition, the proposed PESA approach provides less computational load and is easy to use. A numerical example and application in spacecraft rendezvous are provided to verify the numerical economy and high efficiency of the proposed approach.

关键词： quasi-linear second-order systems partitioned eigenstructure assignment parametric approach Sylvester matrix equation output feedback

来源：评论

学校读者我要写书评

暂无评论

Model-Free Current Predictive control for PMSMs With Ultralocal Model Employing Fixed-Time Observer and Extremum-Seeking Method

引用

IEEE Transactions on Power Electronics 2025年第8期40卷 10682-10693页

作者： Lin, Xinpo Liu, Jianxing Liu, Zhuang Gao, Yabin Peretti, Luca Wu, Ligang Harbin Institute of Technology Department of Control Science and Engineering Weihai264209 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China KTH Royal Institute of Technology Division of Electric Power and Energy Systems Stockholm10044 Sweden

Conventional model predictive current control of permanent magnet synchronous machines (PMSMs) relies heavily on a precise mathematical model, which may be challenging to obtain in certain cases. To address this issue, this article proposes a model-free predictive current controller for PMSMs. Specifically, the dynamic model of the motor currents is represented using two ultralocal models, which express the derivatives of a controlled output as the sum of an amplified control input and an unknown offset term. All system parameters, nonlinear terms, and unmodeled dynamics are encapsulated into two offset terms. Online estimation of these two offset terms is performed using a second-order fixed-time convergence observer without requiring exact knowledge of the system parameters in advance. In contrast to both the linear extended state observer and the super-twisting observer, the fixed-time observer enhances convergence speed while concurrently sustaining minimal chatting. To get rid of the need for model rated parameters, an extremum-seeking approach is utilized to tune the control gains in the ultralocal model, where the amplitude of the disturbance item in extremum-seeking approach is adaptively attenuated, resulting in effective reduction of the fluctuations of both the control gains and PMSM's currents in steady state. Subsequently, a predictive controller is designed using this ultralocal model. Finally, the effectiveness and advantages of the proposed control scheme are confirmed through experimental results. © 1986-2012 IEEE.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

Fast fixed-time three-dimensional terminal guidance with non-concave trajectory constraint

引用

Chinese Journal of Aeronautics 2024年第3期37卷 208-218页

作者： Youmin GONG Yanning GUO Yueyong LYU Dongyu LI Guangfu MA Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China School of Cyber Science and Technology Beihang UniversityBeijing 100191China

Focusing on the non-concave trajectory constraint,a sliding-mode-based nonsingular feedback fast fixed-time three-dimensional terminal guidance of rotor unmanned aerial vehicle landing,planetary landing and spacecraft rendezvous and docking terminal phase with external disturbance is investigated in this ***,a fixed-time observer based on real-time differentiator is developed to compensate for the external disturbance,whose estimation error can converge to zero after a time independent of the initial ***,a sliding surface ensuring fixed-time convergence is *** sliding surface can guarantee that the vehicle achieves a non-concave trajectory,which is better for avoiding collision and maintaining the visibility of the landing site or docking ***,the nonsingular guidance ensuring the fixed-time convergence of the sliding surface is proposed,which is continuous and chatter *** last,three numerical simulations of Mars landing are performed to validate the effectiveness and correctness of the designed scheme.

关键词： Three-dimensional Terminal guidance Non-concave trajectory constraint Fast fixed-time control Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Computational and experimental investigations of a microfluidic mixer for efficient iodine extraction using carbon tetrachloride enhanced with gas bubbles

引用

Chinese Physics B 2023年第11期32卷 518-526页

作者： Siddique Muhammad Kashif 孙林李松晶 Department of Fluid Control and Automation School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China

Numerous studies have been conducted on microfluidic mixers in various microanalysis systems, which elucidated the manipulation and control of small fluid volumes within microfluidic chips. These studies have demonstrated the ability to control fluids and samples precisely at the microscale. Microfluidic mixers provide high sensitivity for biochemical analysis due to their small volumes and high surface-to-volume ratios. A promising approach in drug delivery is the rapid microfluidic mixer-based extraction of elemental iodine at the micro level, demonstrating the versatility and the potential to enhance diagnostic imaging and accuracy in targeted drug delivery. Micro-mixing inside microfluidic chips plays a key role in biochemical analysis. The experimental study describes a microfluidic mixer for extraction of elemental iodine using carbon tetrachloride with a gas bubble mixing process. Gas bubbles are generated inside the microcavity to create turbulence and micro-vortices resulting in uniform mixing of samples. The bubble mixing of biochemical samples is analyzed at various pressure levels to validate the simulated results in computational fluid dynamics(CFD). The experimental setup includes a high-resolution camera and an air pump to observe the mixing process and volume at different pressure levels with time. The bubble formation is controlled by adjusting the inert gas flow inside the microfluidic chip. Microfluidic chip-based gas bubble mixing effects have been elaborated at various supplied pressures.

关键词： microfluidic mixer iodine extraction CFD simulation micro-mixing properties

来源：评论

学校读者我要写书评

暂无评论

Envelope Inversion with Source encoding for Ultrasound Computed Tomography

Envelope Inversion with Source encoding for Ultrasound Compu...

引用

2023 International Congress on Ultrasonics, ICU Beijing 2023

作者： Zhang, Nuomin Zhou, Naixin Yuan, Yu Shen, Yi Zhao, Yue Control Theory and Engineering School of Astronautics Harbin Institute of Technology Harbin China

Ultrasound computed tomography (USCT) is a noninvasive and non-ionizing imaging technique for soft tissue and limb bones. Full waveform inversion (FWI) has received increased interest due to its high resolution. The difficulties in FWI are twofold: high computational burden and poor convergence. To address these issues, an envelope inversion with source coding (EI-SE) algorithm is proposed in this paper. The envelope-based objective function measures the matching degree between the predicted and measured envelopes. It can provide the low-frequency components of the signal that are not available to FWI. Therefore, the EI can provide an accurate solution even when the initial model is far from the ground truth and low-frequency data are missing. The simulations are conducted to demonstrate the validity of the proposed algorithm. The root mean squared error (RMSE) of the proposed algorithm is much smaller than that of conventional FWI. The results show that EI-SE is effective in avoiding cycle skipping. © 2024 institute of Physics Publishing. All rights reserved.

关键词： Mean square error

来源：评论

学校读者我要写书评

暂无评论

Feature-aided pose estimation approach based on variational auto-encoder structure for spacecrafts

引用

Chinese Journal of Aeronautics 2024年第8期37卷 329-341页

作者： Yanfang LIU Rui ZHOU Desong DU Shuqing CAO Naiming QI Department of Aerospace Engineering Harbin Institute of TechnologyHarbin 150001China Suzhou Research Institute of HIT Suzhou 215104China Shanghai Institute of Spaceflight Control Technology Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China

Real-time 6 Degree-of-Freedom(DoF)pose estimation is of paramount importance for various on-orbit *** from the development of deep learning,Convolutional Neural Networks(CNNs)in feature extraction has yielded impressive achievements for spacecraft pose *** improve the robustness and interpretability of CNNs,this paper proposes a Pose Estimation approach based on Variational Auto-Encoder structure(PE-VAE)and a Feature-Aided pose estimation approach based on Variational Auto-Encoder structure(FA-VAE),which aim to accurately estimate the 6 DoF pose of a target *** methods treat the pose vector as latent variables,employing an encoder-decoder network with a Variational Auto-Encoder(VAE)*** enhance the precision of pose estimation,PE-VAE uses the VAE structure to introduce reconstruction mechanism with the whole ***,FA-VAE enforces feature shape constraints by exclusively reconstructing the segment of the target spacecraft with the desired *** evaluation against leading methods on public datasets reveals similar accuracy with a threefold improvement in processing speed,showcasing the significant contribution of VAE structures to accuracy enhancement,and the additional benefit of incorporating global shape prior features.

关键词： Pose estimation Variational auto-encoder Feature-aided Pose Estimation Approach On-orbit measurement tasks Simulated and experimental dataset

来源：评论

学校读者我要写书评

暂无评论

Influencing factor analysis of interception probability and classification-regression neural network based estimation

引用

Journal of Systems engineering and Electronics 2023年第4期34卷 992-1006页

作者： NAN Yi YI Guoxing HU Lei WANG Changhong TU Zhenbiao Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Beijing Electro-mechanical Engineering Institute Beijing 100074China

The interception probability of a single missile is the basis for combat plan design and weapon performance evaluation,while its influencing factors are complex and mutually *** calculation methods have very limited analysis of the influence mechanism of influencing factors,and none of them has analyzed the influence of the guidance *** paper considers the influencing factors of both the interceptor and the target more *** parameters include speed,guidance law,guidance error,fuze error,and fragment killing ability,while target performance includes speed,maneuverability,and *** this paper,an interception model is established,Monte Carlo simulation is carried out,and the influence mechanism of each factor is analyzed based on the model and simulation ***,this paper proposes a classification-regression neural network to quickly estimate the interception probability based on the value of influencing *** proposed method reduces the interference of invalid interception data to valid data,so its prediction accuracy is significantly better than that of pure regression neural networks.

关键词： interception probability simulation modeling analysis of influencing factors probability estimation neural networks

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：