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Chinese control Conference (CCC)

作者： Xinyi Zhao Linhui Zhao Zhichong Deng Guohuang Ji Department of Control Science and Engineering Harbin Institute of Technology Harbin China Intelligent Power System Co. Ltd. Wuhan China

The Automotive Headlamp Leveling System (ALS), aims to ensure the stability of the illumination range of the headlamp by vertically rotate the headlamp using motors when the body attitude changes. This paper proposes an ALS scheme which obtains the body attitude from body height sensors and accordingly calculates the output angles of left headlamp and right headlamp respectively based on Euler transformation. Different from existing ALS, this scheme uses several strategies to improve the performance of ALS, including anti-shake function, working mode division and rough road identification. The purpose of rough road identification is to avoid unexpected vibration of headlamp caused by ALS on rough road and decision tree model is chosen for identification to improve the accuracy. Moreover, several field tests are performed to verify the validity and stability of the system.

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Adaptive model reference tracking for high-order nonlinear time-varying systems with time-varying delays: A fully actuated system approach

Adaptive model reference tracking for high-order nonlinear t...

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

作者： Guangtai Tian Guangren Duan Department of Automation Southern University of Science and Technology Shenzhen P. R. China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China

In this paper, the adaptive model reference tracking (AMRT) problem for a general high-order nonlinear time-varying system with time-varying delays and unknown constant parameters is investigated by applying the fully actuated system (FAS) approach. An adaptive controller is designed for the high-order nonlinear system based on the Lyapunov stability theory. With the obtained adaptive control results, an AMRT controller is proposed to ensure that the tracking error system is asymptotically stable and the unknown parameter estimation error is bounded. The established AMRT controller is composed of three parts, the basic part cancels the known nonlinearities in the system and simultaneously assigns the linear dominant term in the closed-loop system, the adaptive part overcomes the effects of unknown constant parameters, the compensator part compensates the effect of the reference model state vector and control input to the tracking error. Based on the parametric solution to the Sylvester matrix equation, a complete parametric form of the AMRT controller is given. An application to spacecraft attitude system indicates satisfactory control system performances with the proposed AMRT scheme.

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Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator

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Journal of Central South University 2021年第10期28卷 3127-3146页

作者： DING Shu-chen PENG Li QIAO Shang-ling LIU Rong-qiang JOSEPHAT Bundi School of IoT Engineering Jiangnan UniversityWuxi 214122China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of planar underactuated manipulators without gravity is a great challenge since the system includes a second order nonholonomic constraint and most classical control methods are not suitable for this kind of ***,the complexity of the truss-like structure results in tremendous difficulty of computational complicacy and high nonlinearity during dynamic modelling in addition to controller *** is paramount to solve these difficulties for UCTM's future *** solve the above difficulties,this paper presents a dynamic modelling method for UCTM and a trajectory tracking control method based on partial feedback linearization(PFL)that fulfills the control goal of moving UCTM from its original position to a desired position by tracking a given trajectory of the joint *** achieve this,a model equivalent method is proposed to make UCTM equivalent with a three-link manipulator in the sense of dynamic *** the Lagrangian equation combined with complex vector method is proposed in the dynamic modelling process of UCTM,which simplifies the derivation *** on the established dynamic model,a coordinate transformation method is proposed to transform the control force matrix into the conventional form of an underactuated system,so that the control force can be separated from the unactuated *** PFL method in combination with the LQR control method is then proposed to realize the targets that the joint angles can track given desired *** experiments are conducted to verify the correctness and effectiveness of the proposed methods.

关键词： underactuated robot trajectory tracking control partial feedback linearization non-linear control

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A Distributed Time-Varying Optimization Algorithm For Networked Lagrangian Agents Generating Continuous control Torques

A Distributed Time-Varying Optimization Algorithm For Networ...

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American control Conference (ACC)

作者： Yong Ding Hanlei Wang Jie Mei Wei Ren Department of Electrical and Computer Engineering University of California Riverside CA USA Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing China School of Mechanical Engineering Harbin Institute of Technology Shenzhen China

In this paper, the distributed time-varying optimization problem is investigated for networked Lagrangian systems with parametric uncertainties. Due to the usage of the signum function in the control torque design, there might exist chattering while implementing the distributed time-varying optimization algorithms for networked Lagrangian agents in the existing works. To this end, we design a distributed optimization algorithm that is capable of generating continuous control torques and achieving exact optimum tracking. A simulation is presented to validate the effectiveness of the proposed algorithm.

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A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot

Design and locomotion characteristic analysis of a novel ten...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Mo, Jixue Gao, Changqing Fang, Hao Yang, Qingkai Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Research Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Beijing Institute of Technology School of Automation Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9798350325706

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot's hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment. © 2023 IEEE.

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Cascaded Extended State Observer-Based Sliding Mode control for DC-DC Converter with Time-Varying Power Fluctuation

Cascaded Extended State Observer-Based Sliding Mode Control ...

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2022 IEEE Industry Applications Society Annual Meeting, IAS 2022

作者： Xu, Liangcai Liu, Jianxing Zhuo, Shengrong Huangfu, Yigeng Gao, Fei School of Automation Northwestern Polytechnical University Xi'an710072 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China FEMTO-ST Institute Univ. Bourgogne Franche-Comte Utbm Cnrs Belfort90010 France

ISBN: (数字)9781665478151

ISBN: (纸本)9781665478151

In this paper, a cascaded extended state observer-based sliding mode control (SMC) is proposed for the typical microgrid (MG) interfaced dc-dc boost converter. For a given MG system, the power fluctuation is unpredictable, which may cause an unstable dc-bus voltage. In that situation, all the dc-bus connected electronic loads cannot work normally. In order to maintain a stable dc-bus voltage, additional power sources with a suitable power converter and the advanced controller are necessary. Especially, the controller for the power converter plays a crucial role in reducing the power fluctuation and regulating the dc-bus voltage. In this paper, to improve the ability of the converters to reject external power disturbance, a cascaded extended state observer is designed to estimate the lumped disturbance more accurately. Besides, the continuous SMC method is adopted to provide a feedback control loop. The corresponding simulation results could highly validate the effectiveness of the proposed control method. © 2022 IEEE.

关键词： Sliding mode control

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Quasi-in-situ observing the rare earth texture evolution in an extruded Mg-Zn-Gd alloy with bimodal microstructure

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Journal of Magnesium and Alloys 2021年第5期9卷 1818-1827页

作者： M.G.Jiang C.Xu H.Yan T.Nakata Z.W.Chen C.S.Lao R.S.Chen S.Kamado E.H.Han College of Mechatronics and Control Engineering Shenzhen University3688 Nanhai AveShenzhen 518060China The Group of Magnesium Alloys and Their Applications Institute of Metal ResearchChinese Academy of Sciences62 Wencui RoadShenyang 110016China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Nagaoka University of TechnologyNagaoka 940-2188Japan

The static recrystallization and associated texture evolution were investigated in an extruded Mg-Zn-Gd alloy with bimodal microstructure based on a quasi-in-situ electron back-scatter diffraction(EBSD)*** typical rare earth(RE)texture formed during annealing,evolving from the bimodal microstructure with[1010]basal fiber texture that consisted of fine recrystallized(RXed)grains and coarse unrecrystallized(un RXed)grains elongated along the extrusion *** both RXed and un RXed regions,the RXed nucleation produced randomized orientations without preferred selection and the RXed grains with RE texture orientation had more intensive growth ability than those with basal fiber orientation,thereby leading to the preferred selection of RE texture orientation during grain *** relationships between stored strain energy,solute drag,grain growth and texture evolution are discussed in *** study provided direct evidence of the RE texture evolution in an extruded Mg-RE alloy,which assists in understanding the formation mechanisms for RE texture during extrusion and better developing wrought Mg alloys with improved formability.

关键词： Magnesium alloy Rare earth texture Extrusion Annealing Recrystallization

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Bidding Strategy for Coordinated Operation of Wind Power Plants and NGG-P2G Units in Electricity Market

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CSEE Journal of Power and Energy Systems 2022年第1期8卷 212-224页

作者： Xiang Gao Ka Wing Chan Shiwei Xia Xian Zhang Guibin Wang Shenzhen Polytechnic ShenzhenChina and also with the Department of Electrical Engineering The Hong Kong Polytechnic UniversityHung HomHong KongChina Department of Electrical Engineering The Hong Kong Polytechnic UniversityHung HomHong KongChina School of Electrical and Electronic Engineering North China Electric Power UniversityBeijing 102206China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China

The synergies between electricity and other energy resources could promote energy utilization efficiency in electricity *** this context,this paper proposes a bi-level stochastic optimization model for the joint operation of a coordinated wind power plant(WPP)and natural gas generating(NGG)-power to gas(P2G)suppliers participating in the day-ahead(DA)market and real-time(RT)market as well as providing real-time auxiliary *** coordinated supplier’s payoff is maximized in the upper level with consideration of the uncertainties of WPP output capacity and RT electricity price,while the social welfare of the grid is maximized in the lower *** results demonstrate the effectiveness of the proposed bidding model of the coordinated WPPs and NGG-P2G suppliers by examining its bidding behaviors and benefits with comparisons of four other bidding models.

关键词： Bi-level model bidding strategy WPP NGGP2G uncertainties

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Coordinated control of distributed multi-agent systems using event-triggered predictive control strategy

Coordinated control of distributed multi-agent systems using...

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

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

In this paper, the coordinated control problem for a class of distributed networked multi-agent systems (NMASs) is studied. An event-triggered predictive coordinated control (ETPCC) scheme is proposed to compensate for the communication delay between controllers as well as to reduce the communication frequency. With the aim of reducing the frequency of data transfer among controllers and saving resources, a distributed event-triggered condition is designed to decide when to transfer information. Further, a cost function using predicted values is proposed to measure the cooperative performance among the agents, and the required control increment for each agent is obtained by minimizing the cost function. Simulation and experimental examples show that the proposed ETPCC strategy works effectively.

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