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检索条件"机构=Department of Control Theory and Control Engineering Harbin Institute of Technology"

共 2538 条记录，以下是181-190 订阅

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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...

引用

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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Characterization and Modeling of Single-Phase Common-Mode Chokes via Finite-Element Analysis 49

Characterization and Modeling of Single-Phase Common-Mode Ch...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Jie, Huamin Zhao, Zhenyu Fan, Fei Chang, Yongqi Sasongko, Firman Gupta, Amit Kumar See, Kye Yak School of Electrical and Electronic Engineering Nanyang Technological University Singapore Harbin Institute of Technology Department of Control Science and Engineering Harbin China Rolls-Royce Singapore Pte Ltd Singapore

ISBN: (纸本)9798350331820

The common-mode (CM) choke is critical integral part of an electromagnetic interference (EMI) filter. An accurate electrical model of the CM choke is crucial to simulate and evaluate the EMI filter performance with confidence. Numerical simulation has emerged as a feasible solution to realize the above-mentioned objectives without the presence of physical products, and thus reducing the trial-and-error process and achieving the choke design speedups. This paper proposes a comprehensive process for the characterization and modeling of single-phase CM chokes based on finite-element analysis (FEA). By extracting the transmission parameters through 3-D model of choke, both impedance magnitudes and phases of its CM or differential-mode (DM) can be collected. These impedances will then be used to derive the behavioral model. The results are validated experimentally with good agreement up to 100 MHz. © 2023 IEEE.

关键词： Finite element method

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Bypass Capacitor Design for Wideband Impedance Measurements of Inductive Coupling Approaches 2

Bypass Capacitor Design for Wideband Impedance Measurements ...

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2nd International Conference on Sensing, Measurement, Communication and Internet of Things Technologies, SMC-IoT 2023

作者： Jie, Huamin Zhao, Zhenyu Chang, Yongqi Zeng, Yu Fan, Fei Sasongko, Firman Gupta, Amit Kumar See, Kye Yak Nanyang Technological University School of Electrical and Electronic Engineering Singapore Harbin Institute of Technology Department of Control Science and Engineering Harbin China Rolls-Royce Singapore Pte Ltd Singapore

ISBN: (纸本)9798350373257

In-circuit impedances of power converters are pivotal for the prediction and mitigation of electromagnetic interference (EMI) in power electronics applications. Inductive coupling approaches, favored for their safety and non-intrusive nature, are the preferred solutions for in-circuit measurements. Given that the power converters are operational under test, a set of capacitors is essential to show low impedances at a frequency of interest and bypass the effects of loads. Owing to inherent parasitics in capacitors, their performance deviates from ideal and produces inductive behavior at high frequencies, ultimately constraining the usable frequency range of inductive coupling approaches. In this paper, an innovative strategy for wideband bypass capacitor design is proposed and illustrated. Several individual film capacitors are paralleled and packaged in a printed circuit board to form the bypass capacitor. Their impedance frequency responses are measured through the two-port circuit de-embedding method and the parasitics of PCB are extracted via the boundary element analysis. Consequently, an equivalent circuit model of this bypass capacitor is constructed, enabling the impedance derivation grounded in circuit theory. The experiment validates the efficacy of the proposed capacitor, showcasing consistently low impedances spanning a wideband frequency range from 100 kHz to 1 GHz. © 2023 IEEE.

关键词： Equivalent circuits

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High Accuracy Target Tracking System Based on Muscle-skeleton Robotic Arm

High Accuracy Target Tracking System Based on Muscle-skeleto...

引用

IEEE Instrumentation and Measurement technology Conference

作者： Yan Wang Qiang Wang Jianyin Fan Department of Control Science and Engineering Harbin Institute of Technology Harbin PR China

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

Human biological structures and neural mechanisms have provided many great inspirations for the design and improvement of human-like robots. McKibben muscle, as a new type of flexible actuator, can be used to manufacture humanoid robots. In this paper, a target tracking system based on muscle-skeleton robotic arm and MLP-driven pressure prediction is proposed. The robotic arm, which is made of multifilament muscles, can make similar movements to human arms, and its performance is verified in the simulation environment. We use the Kinect v2 depth camera and combine the depth image and color image to calculate the spatial coordinates of the target object. Finally, we use a neural network to predict the air pressure to control the robotic with a pressure controller. The experimental results show that the robotic arm can complete the spatial target tracking tasks with an average error of 2.14cm.

关键词： Target tracking Accuracy Robot kinematics Neural networks Robot vision systems Muscles Pneumatic systems

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Convex optimization-based model predictive control for Mars ascent vehicle guidance system

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IEEE/CAA Journal of Automatica Sinica 2024年

作者： Li, Kun Guo, Yanning Ran, Guangtao Lyu, Yueyong Ma, Guangfu Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

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High-Precision control of Humanoid Muscle-skeleton Robotic Arm Using Reinforcement Learning and Large Language Models

High-Precision Control of Humanoid Muscle-skeleton Robotic A...

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Annual Conference of Industrial Electronics Society

作者： Yan Wang Qiang Wang Jianyin Fan Department of Control Science and Engineering Harbin Institute of Technology Harbin PR China

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

In recent years, humanoid robotics have achieved significant advancements, including those embodied by muscle-skeleton robots. Due to the nonlinear characteristics of these robots, reinforcement learning is a popular method for muscle-skeleton robot control. However, the design of the reward function and the adjustment of hyper parameters is a difficult task when using reinforcement learning. In this paper, we combine reinforcement learning with a large language model to achieve precise control of a humanoid muscle-skeleton robotic arm. We first tell the large language model task, states, and hyper parameters, and then continuously feedback the training results. We can finally get a controller that can control the robot to complete the target-tracking task. The experimental results show that the large language model can propose a suitable reward function based on experience, and adjust the hyper parameters to better training results within several questions and answers.

关键词： Training Industrial electronics Service robots Large language models Robot control Humanoid robots Reinforcement learning Oral communication Manipulators Robots

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Car Paint Defect Detection with YOLOv5 Based on Phase Measuring Deflectometry

Car Paint Defect Detection with YOLOv5 Based on Phase Measur...

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IEEE Instrumentation and Measurement technology Conference

作者： Jiaxuan Liu She Zhao Jing Jin Qiang Wang Department of Control Science and Engineering Harbin Institute of Technology Harbin PR China

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

In the car production process, it is essential to conduct paint surface defect detection to ensure product quality. Manual inspection incurs high costs and low efficiency. Computer vision offers a superior solution. In this paper, we proposed a car paint defect detection algorithm that combines Phase Measuring Deflectometry(PMD) with YOLOv5. YOLOv5 is a state-of-the-art object detection model known for its efficiency and accuracy in real-time image processing tasks. A dataset containing 2502 absolute phase maps of paint defects was collected and annotated based on PMD. Then, we used YOLOv5 to detect defects in the absolute phase maps. To compare the detection results before and after PMD processing, we also collected a dataset using the stripe light. Then, the common indicator mAP@0.5 was used for evaluation. The results indicate a significant enhancement in paint defect detection performance with PMD, as the average mAP@0.5 increased from 0.586 to 0.829. Notably, breakage, scratch, run and condensate achieved mAP@0.5 scores of 0.923, 0.970, 0.949, and 0.922.

关键词： YOLO Phase measurement Production Real-time systems Quality assessment Automobiles Task analysis

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Parameter Optimization for a Quadrotor System with External Disturbance and Uncertainty via Reinforcement Learning

Parameter Optimization for a Quadrotor System with External ...

引用

第43届中国控制会议

作者： Yefeng Yang Xiaojun Ban Hongqian Lu Tao Huang Xianlin Huang Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Aeronautical and Aviation Engineering the Hong Kong Polytechnic University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Parameter optimization is a crucial area within the field of control theory. This study introduces a novel framework based on reinforcement learning(RL) for controlling quadrotors. Initially, fast nonsingular terminal sliding mode control(FNTSMC) serves as the fundamental trajectory tracking controller for the quadrotor. Subsequently, fixed-time disturbance observers(FTDO) are employed to mitigate disturbances. Ultimately, an RL training framework is introduced to optimize the hyperparameters within the FNTSMCs. Extensive simulation and physical experiments are conducted to validate the efficacy and superiority of the proposed control framework.

关键词： Parameter optimization Reinforcement learning Quadrotor control Sliding mode control

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A Time-Delay Approach to Multi-Variable Extremum Seeking with Measurement Noise

A Time-Delay Approach to Multi-Variable Extremum Seeking wit...

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European control Conference (ECC)

作者： Xuefei Yang Bowen Zhao Emilia Fridman Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Electrical Engineering Tel-Aviv University Israel

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

For multi-variable static quadratic map, we present a time-delay approach to gradient-based extremum seeking (ES) with measurement noise, and provide a mean-square exponential ultimate boundedness (MSEUB) analysis. We consider the uncertain map where the Hessian matrix $H$ has a nominal known part and norm-bounded uncertainty, the extremum point belongs to a known ball, and the extremum value to a known interval. By applying a time-delay approach to the resulting stochastic ES system, we arrive at the neutral type time-delay system with stochastic perturbations. We further present the latter system as a retarded one and employ the variation of constants formula for the MSEUB analysis. Under the assumption that the upper bound of the 6th moment of the estimation error is a known arbitrarily large constant L, explicit condition in terms of simple scalar inequality depending on the bound L, tuning parameters and the intensity of measurement noise is established to guarantee the MSEUB analysis of the ES control systems. Example from the literature illustrates the efficiency of the new approach.

关键词： Estimation error Upper bound Uncertainty Perturbation methods Measurement uncertainty Europe White noise

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