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第42届中国控制会议

作者： Xinxiao Liu Dongyu Li Chuanjiang Li Rui Shao Department of Control Science and Engineering Harbin Institute of Technology School of Cyber Science and Technology Beihang University

In this work, a problem of robust formation with collision avoidance(RFCA) for multiple Euler-Lagrange systems with communication delay is explored. The distributed robust formation control algorithm guaranteeing collision avoidance is presented. Firstly, utilizing classical repulsive potential functions solves the collision avoidance between agents. Secondly,by using the inequality technique to remove the effects from time delay during realizing formation mission, and estimations for uncertain terms are used in the controller design to compensate the nonlinear dynamics. In addition, the distributed RFCA control strategy is investigated such that all agents enable to achieve the desired formation configuration. Finally, an example is showcased to illustrate the effectiveness of the proposed protocol.

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Fixed-Time Sliding Mode control for Air-Floating Robot Using Actor–Critic Learning Structure

Fixed-Time Sliding Mode Control for Air-Floating Robot Using...

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Annual Conference of Industrial Electronics Society

作者： Weilun Zhang Li Li Zhijie Shao Xingguo Xu Guangcheng Ma Hongwei Xia Department of Control Science and Engineering Harbin Institute of Technology Harbin China College of New Energy Harbin Institute of Technology Weihai China Shanghai Aerospace Control Technology Institute Shanghai Shanghai China Aerospace System Engineering Shanghai Shanghai Shanghai China

A fixed-time sliding mode controller is developed for the three-degree-of-freedom air-floating robot (AFR) in the presence of model uncertainties and external disturbances. By dynamics transformation, the complex nonlinear AFR dynamics are transformed into a second-order feedback decoupling model. A neural network enhanced by actor–critic learning structure is designed to handle model uncertainties, and the nonsingular fast terminal sliding mode controller can ensure all signals in the closed-loop system converge to a residual set around the origin within a fixed time. The system stability is proved by Lyapunov theory and the simulation results show the effectiveness of the proposed scheme.

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An event-triggered tracking control scheme based on predictive control method and its application

An event-triggered tracking control scheme based on predicti...

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第42届中国控制会议

作者： Lei Cao Erhan Yumuk Clara-Mihaela Ionescu Guo-Ping Liu Department of Control Science and Engineering Harbin Institute of Technology Dynamical Systems and Control Research Group Department of Electromechanical Systems and Metal Engineering Ghent University Department of Control and Automation Engineering Istanbul Technical University Center for Control Science and Technology Southern University of Science and Technology

In this paper, the tracking control problem for networked control system(NCS) under communication delays is investigated. In order to realize the tracking of the NCS, an event-triggered predictive control strategy is provided to compensate for the delays and achieve stability. Both tracking performance and input increments are considered in the proposed cost *** on the incremental inputs, an event-triggered mechanism is established to reduce the communication costs. The efforts of different parameters are illustrated through the results of the simulation, and the effectiveness of the proposed control scheme is also validated from the application of the networked lighting setup.

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Development and Application of a 3D Satellite Data Visualization Platform

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IFAC-PapersOnLine 2023年第2期56卷 2311-2316页

作者： Zhenhua Wang Ning Wang Jiadong Ren Yousong Wang Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China Yinhe Hangtian (Beijing) Communication Technology Co. Ltd. Beijing 100192 China

3D visualization platform, which can display the status of a satellite, is significantly important for telemetry data analysis. This paper presents a 3D visualization platform developed using CesiumJS for the web. The platform is developed for the visualization of the satellites of Yinhe Hangtian Corporation. To ensure the effectiveness and validity of the platform, its prototype is developed and verified by numerical simulations of three missions, which are initial rate damping, sun-pointing control, and earth-pointing control. After verifying the validity of the platform, it is connected to the telemetry database and is further developed by adding new capabilities such as the display of movable components (such as solar panels and the antennas). This platform now is applying to the visualization of the 02P satellites launched by the Yinhe Hangtian Corporation. The platform, which is able to display the satellite's orbit, attitude, and the communication area covered by the QV and KA band, greatly facilitate the analysis of the 02P satellites.

关键词： The 02P satellites 3D visualization Development and application CesiumJS

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High-order robust dynamic surface control for uncertain nonlinear systems based on fully actuated system approach

High-order robust dynamic surface control for uncertain nonl...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Yongqiang Xiao Guangbin Cai Mingzhe Hou Xunliang Yan Department of Missile Engineering Rocket Force University of Engineering Xi’an China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Astronautics Northwestern Polytechnic University Xi’an China

In this paper, a robust dynamic surface control method is designed for high-order strict feedback systems with nonlinear uncertainties. Based on the idea of dynamic surface control, a series of first-order low-pass filters are introduced to obtain the derivative of the virtual control law, and the controller is designed directly for each higher-order subsystem without converting it into the first-order one, hence is more concise and efficient. It is proved by the Lyapunov stability theory that the tracking error can converge to a small domain around zero. The effectiveness of the proposed algorithm is also verified by a simulation with the flexible joint robotic arm system.

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Consistency Evaluation of IoT Smart Meter’s Metering Accuracy considering Ambient Temperature and Load Current

Consistency Evaluation of IoT Smart Meter’s Metering Accura...

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System Reliability and Safety engineering (SRSE), International Conference on

作者： Weiming Liu Cen Chen Zhifei Wang Xiaosheng Zhang Guofu Zhai Wei Zheng Department of Electrical Engineering & Automation Harbin Institute of Technology Harbin China Beijing Aerospace Automatic Control Institute Beijing China

The energy meter is a widely used digital-analog electronic system. However, metering accuracy is inevitably influenced by factors such as ambient temperature, load current, and component tolerance. This paper introduces a method utilizing digital twin models to analyze the consistency of metering accuracy in a new single-phase smart meter prototype. An electro-thermal coupling model incorporating a temperature compensation algorithm is established, and the metering accuracy is solved using a surrogate model. By employing the Monte Carlo method, a batch of product samples is generated to determine the impact of varying ambient temperature and load current conditions on the metering accuracy’s consistency within the maximum operating range. The results of this study provides a valuable foundation for robust design and reliability optimization of the energy meter.

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Consensus of Uncertain Euler-Lagrange Multi-agent Systems under Switching Digraphs and Disturbances

Consensus of Uncertain Euler-Lagrange Multi-agent Systems un...

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Automation, control and Robotics engineering (CACRE), International Conference on

作者： Lei Ju Zhiwei Wang Anqing Wang Xiaotong Zhou College of Marine Electrical Engineering Dalian Maritime University Dalian China College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

This paper focuses on exploring the problem of achieving leader-follower consensus in uncertain Euler-Lagrange multi-agent systems, which are subjected to disturbance, and operate on switched digraph. To be more precise, the system dynamics are characterized by uncertainties that can be linearly parameterized, and the disturbances that are considered are those originating from the leader system. A novel adaptive distributed control strategy is proposed to overcome the difficulties of suppressing disturbances and achieving consistency under the condition of joint connectivity of switched digraphs. By using Lyapunov stability theory and the generalized Barbalat's lemma, it is proved that the uncertain Euler-Lagrange multi-agent systems achieves state consensus asymptotically with the proposed distributed adaptive control protocol. The efficacy of the adaptive distributed control strategy proposed in the paper is validated by presenting a case study involving a system composed of four double-link manipulators.

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Hierarchical carbon nanotube-decorated polyacrylonitrile smart textiles for wearable biomonitoring

Wearable Electronics

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Wearable Electronics 2024年 1卷 180-188页

作者： Junlong Huang Yulin Cai Guangzhong Xie Xiangdong Xu Zhenya Geng Yadong Jiang Yuanjie Su State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and Engineering University of Electronic Science and Technology of China (UESTC) Chengdu 610054 China Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China

Respiration monitoring enables continuous assessment of physiological status and potential diseases. We reported a polyacrylonitrile/carbon nanotubes/latex composite membrane (PCM) capable of converting exhalation into a distinct current signal for respiratory rate and depth detection. The latex encapsulation design of respiratory sensor screens moist and thermal fluctuation of respiration and enables an accurate and reliable monitoring of exhaled gas flow. By modulating the compositional ratio, topological characters of interdigital electrode and aperture area, a rapid response time of 192 ms and recovery time of 104 ms, together with great fidelity and reliability were attained for discriminating breathing depth and rate. Combining with machine learning, versatile breathing patterns can be effectively discerned, achieving effective prognosis of respiratory diseases like diabetes, wheezing and obstructive sleep apnoea syndrome. This work endows a low-cost, efficient and stable route for sustainable wearable physiological assessment and disease recognition.

关键词： Respiratory sensor Hierarchical-structured PAN/CNT composite membrane Physiological monitoring Machine learning

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Facial Expression Recognition based on Convolutional Neural Network with Sparse Representation

Facial Expression Recognition based on Convolutional Neural ...

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International Conference on Systems and Informatics (ICSAI)

作者： Xuan Liu Jiachen Ma Qiang Wang Department of Control Science and Engineering Harbin Institute of Technology Harbin PR China Department of Control Science and Engineering Harbin Institute of Technology Weihai PR China

ISBN: (纸本)9781665474498

Facial Expression Recognition (FER) in the wild using Convolutional Neural Networks (CNNs) has been a challenge for years because of the significant intra-class variances and interclass similarities. In contrast, facial expression recognition in the wild is vital for human-computer interactions and has numerous applications. Enhancing the discriminative features extraction ability is one approach to solving this issue. In this work, a sparse transform is used to improve a CNN’s ability to extract features without adding to the network’s computational load. We use a sparse representation layer that is built by the Haar wavelet transform or shearlet transform prior to the convolutional layers of a standard CNN. With the proposed sparse representation layers, we introduce a VGGNet and an AlexNet architecture and conduct experiments on the FER2013 dataset without the use of additional training data. The experimental results demonstrated that the wavelet transform’s sparse representation layer can improve FER performance without increasing an excessive computational burden. We achieved testing accuracy of 73.25 percent on the FER2013 dataset using VGGNet paired with a sparse representation layer built inside a wavelet transform, which is among the best results for a single network.

关键词： Wavelet transforms Convolutional codes Training Dictionaries Face recognition Training data Feature extraction

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Bayesian optimization for active flow control

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Acta Mechanica Sinica 2021年第12期37卷 1786-1798页

作者： Antoine B.Blanchard Guy Y.Cornejo Maceda Dewei Fan Yiqing Li Yu Zhou Bernd R.Noack Themistoklis P.Sapsis Department of Mechanical Engineering Massachusetts Institute of TechnologyCambridgeMA 02139USA Universit′e Paris-Saclay CNRSLaboratoire Interdisciplinaire des Sciences du Num′erique91400 OrsayFrance Center for Turbulence Control Harbin Institute of TechnologyShenzhen 518058China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518058China

A key question in flow control is that of the design of optimal controllers when the control space is high-dimensional and the experimental or computational budget is *** address this formidable challenge using a particular flavor of machine learning and present the first application of Bayesian optimization to the design of open-loop controllers for fluid *** consider a range of acquisition functions,including the recently introduced output-informed criteria of Blanchard and Sapsis(2021),and evaluate performance of the Bayesian algorithm in two iconic configurations for active flow control:computationally,with drag reduction in the fluidic pinball;and experimentally,with mixing enhancement in a turbulent *** these flows,we find that Bayesian optimization identifies optimal controllers at a fraction of the cost of other optimization strategies considered in previous *** optimization also provides,as a by-product of the optimization,a surrogate model for the latent cost function,which can be leveraged to paint a complete picture of the control *** proposed methodology can be used to design open-loop controllers for virtually any complex flow and,therefore,has significant implications for active flow control at an industrial scale.

关键词： Bayesian optimization Flow control Drag reduction Turbulence

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