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IEEE/IAS Industrial and Commercial Power System Asia (I&CPS Asia)

作者： Yan Zhang Yong Lv Yanming Wan Yuxin Sun Xian Zhang Guibin Wang Chang Liu China Hydrogen Alliance Research Institute Beijing China School of Mechanical Electrical and Control Engineering Shenzhen University Shenzhen China Department of Electrical and Electronic Engineering University of Liverpool Liverpool U.K. School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (数字)9798350352290

ISBN: (纸本)9798350352306

In recent years, global governments have been actively advocating for the adoption of hydrogen fuel cell vehicles (HFCVs) as a means to foster a more sustainable future in transportation. However, the widespread integration of these vehicles necessitates robust hydrogenation infrastructure support. This paper presents a novel hydrogen highway optimization planning model tailored for the strategic placement of hydrogen refueling stations (HRSs) along highways. Based on the traditional HRS site selection models, this approach innovatively integrates factors encompassing hydrogen procurement, transportation, and utilization. The model optimizes the location, scale of the HRSs and quantity of hydrogen dispensers within each HRS, utilizing the minimum unit cost of hydrogen as the objective function. To verify the effectiveness, the proposed model is applied in the Beijing-Tianjin-Hebei (BTH) and Chongqing regions, conducting HRS location planning across both demonstration and promotion stages and the specific planning results are obtained. This study offers valuable insights into hydrogen infrastructure planning along highways, serving as a reference for future endeavors in this domain.

关键词： Road transportation Procurement Costs Hydrogen Government Transportation Minimization Linear programming Planning Optimization

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CRB-Rate Tradeoff in RSMA-enabled Near-Field Integrated Multi-Target Sensing and Multi-User Communications

arXiv

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arXiv 2025年

作者： Zhou, Jiasi Zhou, Cong Sun, Yanjing Tellambura, Chintha School of Medical Information and Engineering Xuzhou Medical University Xuzhou221004 China School of Electronic and Information Engineering Harbin Institute of Technology Harbin150001 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada

Extremely large-scale antenna arrays enhance spectral efficiency and spatial resolution in integrated sensing and communication (ISAC) networks while expanding the Rayleigh distance, triggering a shift from conventional far-field plane waves to near-field (NF) spherical waves. However, full-digital beamforming is infeasible due to the need for dedicated radio frequency (RF) chains. To address this, NF-ISAC with a rate-splitting multiple access (RSMA) scheme is developed for advanced interference management, considering fully-connected and partially-connected hybrid analog and digital (HAD) beamforming architectures. Specifically, the Cramér-Rao bound (CRB) for joint distance and angle sensing is derived, and the achievable performance region between the max-min communication rate and the multi-target CRB is defined. To fully characterize the Pareto boundary of the CRB-rate region, a sensing-centric minimization problem is formulated under communication rate constraints for two HAD beamforming architectures. A penalty dual decomposition (PDD)-based double-loop algorithm is developed to optimize fully-connected HAD beamformers. To reduce computational complexity, a two-stage design algorithm for fully connected HAD beamforming is also proposed. Additionally, the PDD-based double-loop algorithm is extended to the partially-connected HAD architecture. Simulations demonstrate the proposed schemes and algorithms: 1) achieve performance comparable to a fully digital beamformer with fewer RF chains, 2) outperform space division multiple access and far-field ISAC, and 3) yield enhanced CRB-rate trade-off performance. Copyright © 2025, The Authors. All rights reserved.

关键词： Cramer-Rao bounds

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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...

引用

Chinese Automation Congress (CAC)

作者： Wenbo Hao Xinpo Lin Weiliang Chen You Ji Fei Jing Yabin Gao Zhenhuan Wang Jianxing Liu Electric Power Research Institute State Grid Heilongjiang Electric Power Company Limited Harbin P. R. China Department of Control Science and Engineering Harbin Institute of Technology Harbin P. R. China Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China

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.

关键词： Uncertain systems Buck converters Automation Radial basis function networks Aerospace electronics Mathematical models Disturbance observers

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Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

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IEEE International Conference on Robotics and Biomimetics

作者： Ibrahim A. Seleem Mohamed A. Naeem Hiroyuki Ishii Department of Modern Mechanical Engineering Waseda University Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Egypt Department of Mechatronics Engineering School of Mechanical and Electrical Engineering Harbin Institute of Technology Department of Mechatronics and Robotics Engineering Faculty of Engineering South Valley University

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype’s shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams.

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Prescribed-time semi-global output feedback stabilization by a time-varying high-gain observer

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Automatica 2025年 179卷

作者： Shun-Li Li Bin Zhou Guangren Duan Kai Zhang Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin China School of Instrument Science and Engineering Harbin Institute of Technology Harbin China

A time-varying high-gain observer is constructed to achieve prescribed-time semi-global output feedback stabilization for time-varying nonlinear systems in the normal form. Any bounded conditions or global growth conditions are not imposed on the nonlinear model functions. This observer operates as a prescribed-time observer, with its gain matrix incorporating a product of a time-invariant gain matrix adjusted by a scalar parameter and a time-varying gain matrix derived from the parametric Lyapunov equation. The observer-based output feedback effectively recovers the performance of the preliminary state feedback, including both the prescribed time convergence and the region of attraction (containing any prescribed compact sets).

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Research on Autonomous Maneuvering Strategies of UAV Swarm for Saturation Attack

Research on Autonomous Maneuvering Strategies of UAV Swarm f...

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2022 IEEE International Conference on Unmanned Systems, ICUS 2022

作者： Zhang, Tingting Zuo, Yi Zhang, Dongning Ding, Fei Huang, Jun Lin, Yun College of Command and Control Engineering Army Engineering University of the Pla Nanjing China Key Laboratory of Information System Requirements Nanjing China Fifty-fourth Research Institute of China Electronics Technology Group Corporation Shijiazhuang China Internet of Things Academy Nanjing University of Posts and Telecommunications Nanjing China Jsti Group Nanjing China Harbin Engineering University Department of Information and Communication Engineering Harbin China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In order to solve the problem of unmanned aerial Vehicle (UAV) cluster saturation attack, the autonomous maneuver strategy of UAV is studied. Based on the distributed partial observable Markov decision process, the autonomous maneuver decision model of UAV is constructed, and the Recurrent Multi-Agent Deep Deterministic Policy Gradient (RMADDPG) is used to learn the maneuver strategy of UAV cluster saturation attack. Combined with the typical characteristics of saturation attack scenario, two reward functions of global reward and local reward for UAV maneuver are designed. The trained UAVs can effectively perform suicide saturation attack task. According to the mission target design evaluation index of saturation attack, the Monte Carlo analysis method is used to compare the proposed method with particle swarm optimization (PSO) algorithm in three aspects: inter aircraft collision avoidance, NFZ avoidance and simultaneous attack. The experimental results show that the trained UAVs can effectively perform the suicide saturation attack task under the condition of a small amount of communication, which provides a method for the application of multi-agent deep reinforcement learning to UAV cluster operations. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Space Non-cooperative Object Active Tracking with Deep Reinforcement Learning

arXiv

引用

arXiv 2021年

作者： Zhou, Dong Sun, Guanghui Lei, Wenxiao The Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

Active visual tracking of space non-cooperative object is significant for future intelligent spacecraft to realise space debris removal, asteroid exploration, autonomous rendezvous and docking. However, existing works often consider this task into different subproblems (e.g. image preprocessing, feature extraction and matching, position and pose estimation, control law design) and optimize each module alone, which are trivial and sub-optimal. To this end, we propose an end-to-end active visual tracking method based on DQN algorithm, named as DRLAVT. It can guide the chasing spacecraft approach to arbitrary space non-cooperative target merely relied on color or RGBD images, which significantly outperforms position-based visual servoing baseline algorithm that adopts state-of-the-art 2D monocular tracker, SiamRPN. Extensive experiments implemented with diverse network architectures, different perturbations and multiple targets demonstrate the advancement and robustness of DRLAVT. In addition, We further prove our method indeed learnt the motion patterns of target with deep reinforcement learning through hundreds of trial-and-errors. © 2021, CC BY-NC-SA.

关键词： Deep learning

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Immersion of General Nonlinear Systems Into State-Affine Ones for the Design of Generalized Parameter Estimation-Based Observers: A Simple Algebraic Procedure

arXiv

引用

arXiv 2024年

作者： Ortega, Romeo Bobtsov, Alexey Romero, Jose Guadalupe Fang, Leyan Departamento Académico de Ingeniería Eléctrica y Electrónica ITAM Ciudad de México Mexico Control Systems and Robotics Department ITMO St. Petersburg Russia Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Departamento Académico de Ingeniería Eléctrica y Electrónica ITAM Río Hondo 1 Ciudad de México01080 Mexico

Generalized parameter estimation-based observers have proven very successful to deal with systems described in state-affine form. In this paper, we enlarge the domain of applicability of this method proposing an algebraic procedure to immerse an ndimensional general nonlinear system into and nz-dimensional system in state affine form, with nz > n. First, we recall the necessary and sufficient condition for the solution of the general problem, which requires the solution of a partial differential equation that, moreover, has to satisfy a restrictive injectivity condition. Given the complexity of this task we propose an alternative simple algebraic method to identify the required dynamic extension and coordinate transformation, a procedure that, as shown in the paper, is rather natural for physical systems. We illustrate the method with some academic benchmark examples from observer theory literature—that, in spite of their apparent simplicity, are difficult to solve with the existing methods—as well as several practically relevant physical examples. © 2024, CC BY-SA.

关键词： Algebra

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Aerodynamic and aeroacoustic impact of the axial distance upon contra-rotating rotors during hovering condition

Aerodynamic and aeroacoustic impact of the axial distance up...

引用

AIAA Aviation and Aeronautics Forum and Exposition, AIAA AVIATION Forum 2023

作者： Li, Pengyu Yang, Yannian Zhang, Haoyu Liu, Yu Li, Qingxi Noack, Prof. Bernd Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South Guangdong510640 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China AVIC General Aircraft Research Institute Zhuhai Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong519040 China School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

Contra-rotating rotors have the advantage of compactness and redundancy, which can be observed in many unmanned aerial vehicles. One significant installation parameter for the contra-rotating rotors is the axial distance between the upper and lower rotors, which influences both the time-averaged and unsteady loading of the rotors, as well as the aeroacoustic noise emission. Through experimental methods, each rotor is mounted to a six-component balance to study the impact of the axial distance on the two rotors, and an microphone arc-array is used to study the noise emission and directivity in an anechoic chamber. Two rotors are set at the same rotational speed for all axial distance settings. The results indicate that the increase of axial distance is advantageous for the aerodynamic performance increase and noise reduction, especially in the axial range of 0.1 diameter. The recovery of aerodynamic performance is due to the fully developed slipstream which reduces the mutual influence between the two rotors. The noise reduction is mainly due to the reduced velocity fluctuation alleviates the inter actiontonal noise, although the broadband noise becomes larger as the axial distance increases. © 2023, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Noise abatement

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Inverse Kalman Filtering for Systems with Correlated Noises

Inverse Kalman Filtering for Systems with Correlated Noises

引用

IEEE Conference on Decision and control

作者： Yibei Li Xiaoming Hu Bo Wahlberg Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Mathematics Division of Optimization and Systems Theory KTH Royal Institute of Technology Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Sciencem KTH Royal Institute of Technology Sweden

This paper focuses on two inverse problems of the Kalman filter in which the process and measurement noises are correlated. The unknown covariance matrix in a stochastic system is reconstructed from observations of its posterior beliefs. For the standard inverse Kalman filtering problem, a novel duality-based formulation is proposed, where a well-defined inverse optimal control (IOC) problem is solved instead. Identifiability of the underlying model is proved, and a least squares estimator is designed that is statistically consistent. The time-invariant case using the steady-state Kalman gain is further studied. Since this inverse problem is ill-posed, a canonical class of covariance matrices is constructed, which can be uniquely identified from the dataset with asymptotic convergence. Finally, the performances of the proposed methods are illustrated by numerical examples.

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