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第41届中国控制会议

作者： Guiying Li Zhigang Yu Shenmin Song School of Mechanical and Electrical Engineering Heilongjiang University College of Electromechanical Engineering Northeast Forestry University The Key Laboratory of Information Fusion Estimation and Detection of Heilongjiang Province Heilongjiang University Center for Control Theory and Guidance Technology Harbin Institute of technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

.The nonlinear disturbance observer is utilized to approximately estimate the target *** adaptive algorithm with the feature of low-pass filter is developed to deal with the effects of the estimation *** concept of practically finite-time stability is introduced to describe the finite-time convergence of guidance system with internal uncertainties and external *** based on adaptive control method and terminal sliding mode,an adaptive guidance law is designed to drive the trajectories of the guidance system into a small set around the origin in finite time and to achieve an acceptable performance in the presence of the lag of actuator and external *** is proved that guidance system for the interception of maneuvering targets is practically finite time ***,numerical simulation results are given to demonstrate the effectiveness of the developed guidance strategies for rapidly maneuvering target.

关键词： Adaptive estimation Sliding mode control Disturbance observer Guidance law Autopilot lag

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In-plane and Out-of-plane Visual Feedback Solution for Automated Zebrafish Larvae Microinjection System

In-plane and Out-of-plane Visual Feedback Solution for Autom...

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第43届中国控制会议

作者： Cheng Qian Chengkang Tang Chuang Li Songlin Zhuang Mingsi Tong Rongnian Tang Department of Mechanical and Electrical Engineering Hainan University Research Institute of Intelligent Control and Systems Harbin Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Microinjection for Zebrafish heart is one of the most efficient methods to transfer foreign materials into Zebrafish circulation system. Automated microinjection for Zebrafish heart not only reduces personal involvement during the operation,but also frees technicians from laborious and time-consuming work. However, traditional visual-based detections are in twodimensions, lacking the precise vertical measurement manner for three-dimensional spatial accessibility. Further, the application of the force sensors would lead to complicated mechanical structure to the end-effectors and are extremely sensitive to ***, the contour of the heart is irregular and is difficult to capture, compared to contours of cells and embryos. To overcome these challenges, this paper proposed a reinforced approaching motion detection method for three-dimensional Zebrafish heart detection. The proposed method is composed of two parts, the in-plane heart detection and the approaching motion detection.A local-enhanced consecutive-frame motion-accumulated in-plane motion detection is developed for 2D heart locolization. The height detection of the heart is achieved with the injection pipette approaching the detecting area. The reinforced approach motion detection algorithm is verified not only on the Zebrafish heart area, but also on other important areas, such as brain, ear,tail muscle, and yolk. Experimental results demonstrate the enhanced accuracy, efficiency, and lowered computation time of the tailored visual solutions, which can significantly contribute to the microinjection automation.

关键词： Machine Vision Automated Microinjection Versual Servo control

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Time-Jerk Optimal Trajectory Planning of Industrial Robot based on Hybrid Particle Swarm Optimization Algorithm

Time-Jerk Optimal Trajectory Planning of Industrial Robot ba...

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2021 China Automation Congress, CAC 2021

作者： Gao, Ying Xie, Weinan Li, Qinghua Li, Xinnian Hu, Meiling Zhao, Liu Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin150001 China Research Institute of Intelligent Control Systems Harbin Institute of Technology Harbin150001 China Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665426473

Industrial robots need to execute specific trajectories on production lines, which requires rational planning of robot joint trajectories in Cartesian space. To improve the efficiency and control accuracy of industrial robots, time-jerk multi-objective trajectory optimization is required. The main research of this topic is to apply the particle swarm optimization(PSO) algorithm based on crossover and subgroup to complete the trajectory optimization of a six-degree-of-freedom robot in Cartesian space with time-jerk multi-objective function and compare the optimization effect of the hybrid particle swarm optimization algorithm relative to the traditional particle swarm optimization algorithm. Firstly, a seven segment S-Spline interpolation function is applied to complete the trajectory planning and the basic PSO algorithm is applied to optimize the trajectory for the interpolation time. Then based on the shortcomings of the basic PSO algorithm, the particle swarm optimization algorithm based on crossover and subgroup is proposed to improve the speed and effectiveness of the trajectory optimization algorithm. Finally, simulation experiments show that the total time and joint shocks of robot trajectory planning are greatly reduced,which verifies the effectiveness of the hybrid PSO algorithm applied to robot time-shock optimal trajectory optimization. © 2021 IEEE

关键词： Industrial robots

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Event-Triggered H∞ Consensus Secondary Voltage control of AC Microgrids With Sampling Data

Event-Triggered H∞ Consensus Secondary Voltage Control of A...

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International Conference on Power and Energy technology (ICPET)

作者： Chuang Liu Xinsheng Wang Huaqiang Zhang Jingchuan Deng Department of Control Science and Engineering Harbin Institute of Technology Weihai China Department of Electrical Engineering Harbin Institute of Technology Weihai China

In this article, a distributed event-triggered $H_{\infty}$ consensus control strategy is proposed for secondary voltage control of microgrids (MGs) to reduce communication and computational burden. The event-triggered is implemented based on periodic sampling. By using the Lyapunov method to design the triggering conditions and sampling period of the distributed generators (DGs), DGs only communicate with their neighbors under certain specific event conditions, and the event triggering conditions are only calculated at the sampling time. Therefore, it avoids continuous communication and the calculation of continuous event-triggered conditions, thereby reducing the communication and computational burden. The simulation results demonstrate the effectiveness of the control strategy.

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Autotuned Non-Linear Extended-State-Observer Based Fixed-Time control for Motor-Drive Servo Systems

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IEEE Transactions on Power Electronics 2025年

作者： Xu, Ruiqi Liu, Jianxing Lin, Xinpo Liu, Zhuang Yan, Fei Gao, Yabin Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Harbin Institute of Technology Department of Control Science and Engineering Weihai264209 China Southwest Jiaotong University School of Information Science and Technology Chengdu611756 China

To enhance the position tracking performance of permanent magnet synchronous motors (PMSMs) under unknown disturbances, this paper proposes a fast fixed-time control strategy based on an improved nonlinear extended state observer (NESO). First, load disturbances and nonlinear friction are considered as lumped disturbance, for which a NESO is designed to estimate the lumped disturbance. The control parameters of the NESO are tuned online using a neural network optimization algorithm, eliminating the need for offline training. Then, a robust fixed-time sliding mode control method is proposed, based on an improved nonsingular fast terminal sliding mode manifold, which offers better convergence performance. The Lyapunov method is used to prove the fixed-time stability of the position tracking error system. Finally, the effectiveness of the proposed method is validated on an experimental platform with PMSMs, and it is compared with other advanced fixed-time position control methods. The comparison results confirm that the proposed method exhibits superior control performance. © 1986-2012 IEEE.

关键词： State estimation

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A Practical Contouring control Strategy Based on Accelerated Iterative Contouring Error Estimation

A Practical Contouring Control Strategy Based on Accelerated...

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2022 Chinese Automation Congress, CAC 2022

作者： Wang, Zhixiang Liu, Zhitai Zhang, Zhongjin Yang, Xuebo Lin, Weiyang CASIC Research Institute of Intelligent Decision Engineering Joint Planning Department Wuhan430040 China Harbin Institute of Technology Research Institute of Intelligent Control Systems Harbin150001 China

ISBN: (纸本)9781665465335

Aiming at the problem of improving the contouring control performance of the multi-axis system when performing periodic extreme contouring machining tasks such as high-speed and large-curvature contour, this paper proposes a contouring control strategy based on accelerated Newton iterative contouring error estimation algorithm (AccNewton-ILC-NTSMC). Firstly, a non-singular terminal sliding mode controller (NTSMC) is designed as a single-axis feedback controller to reduce the contouring error as much as possible. Then, an accelerated Newton iterative (AccNewton) algorithm with fourth-order convergence rate is designed to estimate the contouring error of the multi-axis system, and its convergence is proved theoretically, which is faster than the general iterative search method. Finally, an iterative learning controller (ILC) based on the estimated contouring error is designed as a contouring controller to achieve high-precision contouring control, and its stability is proved theoretically, which is more easier to implement than the conventional contouring control strategy. In this paper, comparative experiments are designed and carried out on a dual-axis linear motor platform to verify the proposed contouring control strategy. The experimental results illustrate that the proposed contouring strategy greatly improves the performance of contouring control compared with traditional strategy, especially when performing extreme machining curves. Moreover, the proposed AccNewton algorithm is faster, which makes the Accnewton-ILC-NTSMC strategy more suitable for multi-axis systems with high control frequency. © 2022 IEEE.

关键词： Linear motors

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Intermittent fault diagnosis based on EMD decomposition and convolutional neural network

Intermittent fault diagnosis based on EMD decomposition and ...

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Electrical, Automation and Computer engineering (ICEACE), International Conference on

作者： Yu Peng Yuhang Liu Ruishi Lin Gang Xiang Shenhang Wang Zhiming Yang Department of System Engineering Beijing Aerospace Automatic Control Institute Beijing China School of Electronics and Information Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350368208

ISBN: (纸本)9798350368215

The paper introduces an intermittent fault diagnosis method for analog circuits using EMD and CNN. The proposed method obtains the circuit output characteristics under different intermittent fault type using SPICE simulation. Then, EMD is used to extract the features and finally, the CNN model for fault detection and localization is built. The effectiveness of the method is validated through experiments in a three-phase SVPWM circuit.

关键词： Fault diagnosis Space vector pulse width modulation Training Neural networks Analog circuits Feature extraction SPICE Software Convolutional neural networks Testing

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A NTSMCLF Attitude Tracking controller for the Satellite with Flexible Accessories Based on the Stewart platform

A NTSMCLF Attitude Tracking Controller for the Satellite wit...

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Chinese control Conference (CCC)

作者： Xixuan Chen He Zhu Junxiong Yin Yumeng Han Yanning Guo Department of Control Science and Engineering Harbin Institute of Technology Harbin China Shanghai Academy of Spaceflight Technology

In this paper, a novel class of finite-time high precision satellites attitude tracking controller based on nonsingular terminal sliding mode control Lyapunov function (NTSMCLF) with the Stewart platform active vibration isolation is proposed. An active vibration algorithm for Stewart platform is designed to isolate the micro-vibration, which uses sliding mode variable Structure control (SMC) method. In order to suppress the influence of vibration on satellite, the dynamical model of Stewart platform considering the physical constraints, noise immunity and robustness of passive vibration isolation mechanical structures is designed. Considering the controller accuracy and infinite time convergence, the finite-time control Lyapunov function (CLF) high-precision attitude tracking control algorithm based on nonsingular terminal sliding mode (NTSM) is provided. The finite-time stability of the system is guaranteed. Numerical simulation results are provided to validate the effectiveness of proposed control method.

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Adaptive Anomaly Detection in Industrial Systems: An EVT-DTS Approach with LSTM Autoencoders

Adaptive Anomaly Detection in Industrial Systems: An EVT-DTS...

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IEEE Instrumentation and Measurement technology Conference

作者： Bing Yu Jiakai Xu Gang Xiang RuiShi Lin LiGuo Zhao Yang Yu School of Electronics and Information Engineering Harbin Institute of Technology Harbin China Department of System Engineering Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

The reliability of modern industrial systems is rigid; therefore, it is mandatory to monitor the system status and detect anomalies accurately. A long short-term memory (LSTM) network can be used to predict the trend of single-dimensional system test data and implement anomaly detection based on the prediction result. However, the structure of the modern system is complex, and strong dependencies may exist between different variables. The LSTM-based detection method cannot capture this dependency, and some anomalies can be ignored. Therefore, an anomaly detection framework based on the LSTM autoencoder is proposed in this paper. The auto encoder is applied to find the hidden dependency among variables by minimizing the reconstruction error of normal data, while the LSTM is used to capture the temporal dependencies in the time series. Moreover, a new dynamic error threshold selection strategy based on extreme value theory (EVT-DTS) is presented, which can avoid estimating the error distribution beforehand. The EVT-DTS method can dynamically adjust the error threshold according to the current input data error so that the overall optimal detection result can be obtained. Finally, we implement experiment on two industrial applications using the proposed method, which demonstrate its effectiveness in finding complex anomaly states in the system.

关键词： Adaptive systems Time series analysis Market research Reliability Long short term memory Anomaly detection Monitoring

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On the notion of strong relative degree and its implications on the design of extended PD-controllers for time-delay systems*

On the notion of strong relative degree and its implications...

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European control Conference (ECC)

作者： Wim Michiels Zhou Bin Zhou Department of Computer Science KU Leuven Leuven Belgium Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

The fundamental notion of relative degree is studied for a class of linear time-delay systems of retarded type, where the standard assumption of commensurate delays is dropped. Even though the analyzed systems do not have a non-trivial feedthrough from input to output, it is shown that the relative degree may be sensitive to infinitesimal delay perturbations. This observation is at the basis of a novel notion of relative degree, called strong relative degree, which is characterized algebraically and computationally. It plays a key role in guaranteeing well-posedness of systems controlled with extended PD controllers, for which a design procedure and numerical experiments are presented.

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