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第43届中国控制会议

作者： Tao Huang Hongqian Lu Yefeng Yang 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

This paper introduces a novel robust cost function for the ADP algorithm to suppress the impact of the disturbance for partially unknown second-order nonlinear systems. The sliding mode control is employed to design the cost function, which thereby enhances the performance of the closed-loop system. Furthermore, an offline disturbance compensator is proposed to further improve the robustness of the system. Subsequently, the trajectory of the entire closed-loop system is proved to be uniformly ultimate bounded(UUB) in a Lyapunov sense. Sufficient simulations are conducted to verify the effectiveness and superiority of the proposed method.

关键词： Sliding mode control Adaptive dynamic programming Robust cost function Disturbance compensator

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Angle Tracking control Strategy for Steering-by-Wire System with Dual Steering Actuator Motors 41

Angle Tracking Control Strategy for Steering-by-Wire System ...

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第41届中国控制会议

作者： Xuhang Zhang Linhui Zhao Guohuang Ji Zhiyuan Liu Department of Control Science and Engineering Harbin Institute of Technology Intelligent Power System Co. Ltd.

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Steering-by-wire(SBW) is a key technology to realize angle tracking for autonomous vehicles,and it directly affects the performance of active *** reliability performance of SBW system can be greatly improved by adopting dual motor steering ***,the dual-motor SBW vehicle often loses its stability due to the external interference,and the asynchronous response between the dual steering actuator motors will further deteriorate the stability of the *** purpose of this paper is to establish a method of angle tracking for the dual-motor steering by wire ***,the model of SB W was established and its validity was proofed by comparing the steering performance between the SBW and the traditional mechanical steering ***,by considering parameters uncertainties and difference of wheel load torque of the dual steering actuator motors,the steering angle tracking control strategy of dual motor SBW was *** paper established methods for the synchronization control of dual motor and closed-loop control of angle *** the angle synchronization error was decreased by current compensation *** validation results show that the proposed control strategy can decrease the synchronization error of dual motor and ensure the reliability of angle tracking.

关键词： Steering-by-wire Dual-motor Angle tracking Synchronization control

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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 instead 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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Ca2+ homeostasis: a potential target for cancer therapies

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Biophysics Reports 2024年第5期10卷 283-292页

作者： Min Su Shanliang Zheng Hao Liu Tie-Shan Tang Ying Hu School of Life Science and Technology Harbin Institute of Technology Key Laboratory of Science and Engineering for the Multi-modal Prevention and Control of Major Chronic Diseases Ministry of Industry and Information Technology Department of Medicine and Health Zhengzhou Research Institute of Harbin Institute of Technology State Key Laboratory of Membrane Biology Institute of Zoology Chinese Academy of Sciences Beijing Institute for Stem Cell and Regenerative Medicine University of Chinese Academy of Sciences Chinese Academy of Sciences

Calcium ions(Ca2+) play a crucial role as secondary messengers in both excitable and non-excitable cells.A complex system of proteins and molecules involved in calcium handling allows Ca2+signals to be *** cancer cells,mutations,aberrant expression,and dysregulation of these calcium handling toolkit proteins disrupt the normal Ca2+flux between extracellular space,cytosol,endoplasmic reticulum and mitochondria,as well as the spatio-temporal patterns of Ca2+*** leads to the dysregulation of calcium-dependent effectors that control key signaling pathways involved in cancer cell proliferation,survival and *** there has been progressing in understanding the remodelling of calcium homeostasis in cancer cells and identifying key calcium transport molecules that promote malignant phenotypes,much work remains to be done to translate these fundamental findings into new tools for diagnosing and treating cancer by targeting Ca2+homeostasis.

关键词： Calcium homeostasis Cancer Therapy

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An Improved Ultrasound High-Resolution Imaging Method Based on Spatially-Variant Model

An Improved Ultrasound High-Resolution Imaging Method Based ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Jie Gao Yifei Chen Xiangyu Li Xin Zhang Jian Liu Yi Shen Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Instrument Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

Ultrasound high-resolution imaging is essential in clinic. The limited number of channels in portable ultrasound machines results in low-resolution images being acquired. Achieving high-resolution ultrasound images relies on machines with a substantial number of channels, which increases costs. Obtaining potential high-channel images from low-channel images can significantly reduce the cost of ultrasound machines. A novel physics-based deep learning method spatially-variant model (SV-Net) is proposed to deconvolve low-channel ultrasound images, yielding high-resolution outputs. SV-Net is structured with a multi-channel Wiener deconvolution layer placed before Convolutional Neural Network (CNN). The multi-channel Wiener deconvolution layer consists of various differentiable Wiener deconvolutions, which leverage knowledge of spatially-variant Point Spread Functions (PSFs) in ultrasound images. These PSFs are subsequently optimized through further training to obtain high-quality ultrasound images. Experiments show the method's efficacy in improving lateral resolution and achieving favorable performance metrics, including PSNR, SSIM, MAE, and FWHM.

关键词： Deep learning Training Ultrasonic imaging Deconvolution Costs Wiener filters High-resolution imaging Convolutional neural networks Spatial resolution Image reconstruction

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A Time-Delay Approach to Extremum Seeking with Large Measurement Delays*

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IFAC-PapersOnLine 2023年第2期56卷 168-173页

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

In this paper, we present a time-delay approach to gradient-based extremum seeking (ES) with known large distinct measurement delays, for N-dimensional (ND) static quadratic maps. We assume that the Hessian 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 using the orthogonal transformation, we first transform the original static quadratic map into a new one with the Hessian containing a nominal diagonal part. By applying a time-delay approach to the resulting ES system, we arrive at the neutral type system with a nominal linear time-delay system. We further present this system as a retarded one and employ variation of constants formula for practical stability analysis. To obtain tight bounds we exploit positivity of the fundamental matrix that corresponds to the nominal system with delays. Explicit conditions in terms of simple scalar inequalities depending on tuning parameters and delay bounds are established to guarantee the practical stability of the ES control systems. An example from the literature illustrates the efficiency of the new approach.

关键词： Extremum seeking Averaging Time-delay Practical stability

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A Time-Delay Approach to Extremum Seeking with Measurement Noise*

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IFAC-PapersOnLine 2023年第2期56卷 2413-2418页

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

In this paper, we present a time-delay approach to extremum seeking (ES) corrupted by white noise for uncertain static quadratic maps. We first apply a time-delay approach to the ES system and arrive at a neutral type time-delay system with stochastic perturbations. Then we further present the latter system as a retarded one and employ the variation of constants formula for the mean-square exponential ultimate boundedness analysis. Under the assumption that the upper bound of the 6th moment of the estimation error is a known arbitrarily large constant L , explicit conditions in terms of simple scalar inequalities depending on the bound L , tuning parameters and the intensity of measurement noise are established to guarantee the mean-square exponential ultimate boundedness of the ES control systems. Comparatively to the existing results for ES with measurement noise via the qualitative analysis, our approach can provide a quantitative analysis and simplify the stability analysis process as well. A numerical simulation is given to illustrate the efficiency of the proposed method.

关键词： Extremum seeking Averaging Measurement noise Mean-square ultimate boundedness

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Data-driven Adaptive Observer-based Predictive control for an Inverter with Output LC Filter 48

Data-driven Adaptive Observer-based Predictive Control for a...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Xu, Xiaoyi Vazquez, Sergio Luo, Hao Garcia Franquelo, Leopoldo Zafra, Eduardo Harbin Institute of Technology Control Science and Engineering Harbin China Universidad de Sevilla Electronic Engineering Department Sevilla Spain

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

The control of three-phase inverters with output LC filter is of great importance in many applications such as renewable energy, energy storage systems and uninterruptible power supplies, where the generation of sinusoidal output voltages with required amplitude, frequency and lowest harmonic distortion is desired. However, the inevitable parameter uncertainties and disturbances caused by manufacturing tolerance, aging of electrical components and load changes will degrade controller performance, which have always been challenges to traditional model predictive control methods. To deal with these challenges, a data-driven predictive control scheme is proposed in this paper. All unknown parameters and load current can be estimated online with a moving window adaptive observer. The estimation results are used to build a predictive model. Then, predictive control is applied to minimize the error between the output voltage and the reference value. Simulation results verify that the proposed scheme has a better ability to deal with parameter uncertainties and load changes than the traditional model predictive control scheme. © 2022 IEEE.

关键词： Model predictive control

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Spatially engineering tri-layer nanofiber dressings featuring asymmetric wettability for wound healing

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Nano Materials Science 2024年第5期6卷 611-624页

作者： Tingting Shi Yuan Liu Donghui Wang Dan Xia Baoe Li Ruodan Xu Ning Li Chunyong Liang Menglin Chen Tianjin Key Laboratory of Materials Laminating Fabrication and Interface Control Technology School of Materials Science and EngineeringHebei University of TechnologyTianjin300130China Hebei Key Laboratory of Biomaterials and Smart Theranostics School of Health Sciences and Biomedical EngineeringHebei University of TechnologyTianjin300130China Department of Biomedical Engineering and Technology China Academy of Chinese Medical Sciences Institute of Basic Theory in Chinese MedicineBeijing100700China Department of Biological and Chemical Engineering Aarhus UniversityAarhus CDK-8000Denmark

Inspired by the skin structure,an asymmetric wettability tri-layer nanofiber membrane(TNM)consisting of hydrophilic inner layer loaded with lidocaine hydrochloride(LID),hydrophobic middle layer with ciprofloxacin(CIP)and hydrophobic outer layer has been *** hydrophobic outer layer endows the TNM with waterproof function and anti-adhesion from *** hydrophobic middle layer with CIP preserves long-term inhibition of bacteria growth and the hydrophilic inner layer with LID possesses optimal waterabsorbing capacity and air *** TNM dramatically elevates the water contact angles from 10°(inner layer)to 120(outer layer),indicating an asymmetric wettability,which could directionally transport wound exudate within the materials and meanwhile maintain a comfortable and moist environment to promote wound ***,the sequential release of LID and CIP could relieve pain rapidly and achieve antibacterial effect in the long run,*** addition,the TNM shows superior biocompatibility towards L929 *** in vivo results show the TNM could prevent infection,accelerate epithelial regeneration and significantly accelerate wound *** study indicates the developed TNM with asymmetrical wettability and synergetic drug release shows great potential as a wound dressing in clinical application.

关键词： Asymmetric wettability Tri-layer nanofibrous membrane Biofunctional wound dressing Electrospinning

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Distributionally Robust Model Predictive control for Trajectory Tracking of Space Manipulator Based on Fully Actuated System Approach

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Yang, Yi Heng Zhang, Kai Chen, Zhi Hua Yang, Xue Fei Duan, Guang Ren Sichuan University College of Aeronautics and Astronautics Chengdu610065 China Robotic Satellite Laboratory Chengdu610017 China Beijing Institute of Control Engineering Beijing100190 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China

Whether operating autonomously or assisting humans, multi-degree-of-freedom free-flying space manipulator has shown enormous potential in space missions. Leveraging the fully actuated system approach (FASA), this article proposes a distributionally robust model predictive control (MPC) scheme for trajectory tracking issue of space manipulator with stochastic uncertainties and multiple constraints on the angle, angular velocity, and control torque. First, a nominal FASA-based controller is designed to establish a linear second-order fully actuated (SOFA) model with desired eigenstructure assignment. By adopting an exact penalty function, a gradient-based optimization scheme is developed to optimize the FASA-based controller parameters offline, while avoiding violating of multiple constraints on angle, angular velocity, and control torque. Furthermore, a distributionally robust MPC is proposed to enable real-time optimization of auxiliary input, ensuring constraint satisfaction and enhancing performance in the presence of independent stochastic uncertainties. Recursive feasibility and convergence are proven. Monte Carlo numerical simulations are conducted with a planar space robot system to validate the superiority of proposed strategy. © 1965-2011 IEEE.

关键词： Predictive control systems

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