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A Fractional Order Fast Repetitive control Paradigm of Vienna Rectifier for Power Quality Improvement

Computer Modeling in engineering & Sciences 2023年第2期134卷 1159-1176页

作者： Sue Wang Xintao Luo Saleem Riaz Haider Zaman Chaohong Zhou Pengfei Hao School of Electrical and Control Engineering Shaanxi University of Science and TechnologyXi’anChina School of Automation Northwestern Polytechnical UniversityXi’anChina Electronics Engineering Department University of Engineering and Technology PeshawarKhyberPakhtunKhwaPakistan

Due to attractive features,including high efficiency,low device stress,and ability to boost voltage,a Vienna rectifier is commonly employed as a battery charger in an electric vehicle(EV).However,the 6k±1 harmonics in the acside current of the Vienna rectifier deteriorate theTHDof the ac current,thus lowering the power ***,the current closed-loop for suppressing 6k±1 harmonics is essential tomeet the desired total harmonic distortion(THD).Fast repetitive control(FRC)is generally adopted;however,the deviation of power grid frequency causes delay link in the six frequency fast repetitive control to become non-integer and the tracking performance to *** paper presents the detailed parameter design and calculation of fractional order fast repetitive controller(FOFRC)for the non-integer delay *** finite polynomial approximates the non-integer delay link through the Lagrange interpolation *** comparing the frequency characteristics of traditional repetitive control,the effectiveness of the FOFRC strategy is ***,simulation and experiment validate the steadystate performance and harmonics suppression ability of FOFRC.

关键词： Vienna rectifier fast repetitive control fractional order performance analysis

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Robust Stability and Stabilizability Conditions for Time-Delay Systems Under Stochastic Uncertainties

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IEEE Transactions on Automatic control 2024年第6期70卷 4037-4044页

作者： Chen, Jianqi Mao, Qi Zhao, Di Chen, Chao Nanjing University Center for Advanced Control and Smart Operations Suzhou China Nanjing Normal University School of Electrical and Automation Engineering Nanjing China Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology Shanghai China Leuven3001 Belgium

This study first explores the mean-square robust stability problem of stable continuous-time linear time-invariant systems subject to stochastic multiplicative uncertainties with prescribed variance bounds. The internal structures of uncertainties, however, are not presumed to cope with diverse random noises and errors arising from networked channels. A necessary and sufficient mean-square stability condition is obtained involving a novel small-gain type characterization. Next, we consider the output feedback controller synthesis problem of networked control systems facing stochastic multiplicative uncertainties and intrinsic channel-wise time delays simultaneously. Based on the obtained mean-square stability condition, further, we develop a fundamental necessary and sufficient condition of mean-square stabilizability explicitly. Such a condition equivalently determines that an open-loop unstable system can be stabilized by output feedback in the mean-square sense. Finally, an analysis of delay robustness is elaborated, in which the mean-square stabilizability condition is extended to the case tolerating uncertain but upper-bounded time delays. Overall, this study provides a comprehensive analysis of the robust mean-square stability and mean-square stabilizability of time-delay systems under stochastic uncertainties, which can have practical implications for networked control systems. © 1963-2012 IEEE.

关键词： Continuous time systems

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Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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Aerial refueling scheduling of multi-receiver and multi-tanker under spatial-temporal constraints for forest firefighting

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Chinese Journal of Aeronautics 2024年第5期37卷 71-91,I0001页

作者： Jing HUANG Jiaqi XING Jinrui REN Quan QUAN Youmin ZHANG Department of Information and Control Engineering Xi’an University of TechnologyXi’an 710048China Jiujiang Measuring Test Technology Research Institute Jiujiang 332000China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Automation Xi’an University of Posts&TelecommunicationsShaanxiXi’an 710121China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontreal H3G 1M8Canada

Forest fires pose a significant threat to human life and property,so the utilization of unmanned aircraft systems provides new ways for forest *** the constrained load capacities of these aircraft,aerial refueling becomes crucial to extend their operational time and *** order to address the complexities of firefighting missions involving multi-receiver and multi-tanker deployed from various airports,first,a fuel consumption calculation model for aerial refueling scheduling is established based on the receiver ***,two distinct methods,including an integrated one and a decomposed one,are designed to address the challenges of establishing refueling airspace and allocating tasks for *** methods aim to optimize total fuel consumption of the receivers and tankers within the aerial refueling scheduling *** optimization problem is established as nonlinear optimization models along with *** integrated method seamlessly combines refueling rendezvous point scheduling and tanker task allocation into unified *** has a complete solution space and excels in optimizing total fuel *** decomposed method,through the separation of rendezvous point scheduling and task allocation,achieves a reduced computational ***,this comes at the cost of sacrificing optimality by excluding specific feasible ***,numerical simulations are carried out to verify the feasibility and effectiveness of the proposed *** simulations yield insights crucial for the practical engineering application of both the integrated and decomposed methods in real-world *** comprehensive approach aims to enhance the efficiency of forest firefighting operations,mitigating the risks posed by forest fires to human life and property.

关键词： Aerial refueling Scheduling Planning Spatial-temporal constraint Firefighting

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Simulation of motion control of a cylindrical robot manipulator 4

Simulation of motion control of a cylindrical robot manipula...

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4th IEEE International Conference on Smart Information Systems and Technologies, SIST 2024

作者： Sultanuly, Nursultan Bazil, Gulmira Department of Automation and Control Almaty University of Power Engineering and Telecommunications named after Gumarbek Daukeyev Almaty Kazakhstan

ISBN: (纸本)9798350374865

In this paper, a dynamic model of a cylindrical robot manipulator of RPP (Revolute-Prismatic-Prismatic) type based on classical laws of mechanics including Euler-Newton, Kane and Lagrange approaches is developed and presented. MATLAB Robotics Toolbox tools are used to demonstrate and analyze the manipulator working environment. The main model parameters include generalized coordinate vector (q), generalized velocity vector (dt/dq) and generalized acceleration vector (dt2/dq), which provides a comprehensive approach to controlling the robot dynamics. The presented code is characterized by simplicity and high efficiency in the implementation of robot manipulator control. A key feature of the model is the ability to specify user-defined points, which allows real-time tracking and analysis of the manipulator trajectory, ensuring its adaptability and flexibility under different operating conditions. © 2024 IEEE.

关键词： Robot applications

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Event-triggered consensus control of heterogeneous multi-agent systems: model-and data-based approaches

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Science China(Information Sciences) 2023年第9期66卷 151-167页

作者： Xin WANG Jian SUN Fang DENG Gang WANG Jie CHEN School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This article addresses the model-and data-based event-triggered consensus of heterogeneous leader/follower multi-agent systems(MASs). A dynamic periodic transmission protocol is developed to alleviate the communication and computational burden, where the followers can interact locally with neighbors to approach the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived as linear matrix inequalities(LMIs), along with a design method for obtaining distributed event-triggered controllers and the associated triggering *** collecting noise-corrupted state-input measurements in offline open-loop experiments, a data-based leader/follower MAS representation is derived and employed to address the data-driven consensus control problem without explicit MAS models. This result is subsequently generalized to guarantee an H∞-consensus control performance. Finally, a simulation example is given to corroborate the efficiency of the proposed distributed triggering scheme and the data-driven consensus controller.

关键词： data-driven control multi-agent system consensus looped-functional LMI

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A Model-Based Unmatched Disturbance Rejection control Approach for Speed Regulation of a Converter-Driven DC Motor Using Output-Feedback

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 365-376页

作者： Lu Zhang Jun Yang Shihua Li School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education IEEE Department of Aeronautical and Automotive Engineering Loughborough University

The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current(DC)motor driven by a buck *** lumping all unknown matched/unmatched disturbances and uncertainties together,the traditional active disturbance rejection control(ADRC)approach provides an intuitive solution for the problem under ***,for such a higher-order disturbed system,the increase of poles for the extended state observer(ESO)therein will lead to drastically growth of observer gains,which causes severe noise *** paper aims to propose a new model-based disturbance rejection controller for the converter-driven DC motor system using *** of estimating lumped disturbances directly,a new observer is constructed to estimate the desired steady state of control signal as well as errors between the real states and their desired steady-state ***,a controller with only speed measurement is proposed by utilizing the *** performance of the proposed method is tested through experiments on *** is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains.

关键词： Bandwidth widening converter-driven direct current(DC)motor disturbance observer model-based disturbance rejection speed regulation

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Targets capture by distributed active swarms via bio-inspired reinforcement learning

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Science China(Physics,Mechanics & Astronomy) 2025年第1期68卷 206-217页

作者： Kun Xu Yue Li Jun Sun Shuyuan Du Xinpeng Di Yuguang Yang Bo Li Institute of Biomechanics and Medical Engineering Applied Mechanics LaboratoryDepartment of Engineering MechanicsTsinghua UniversityBeijing 100084China Institute of Nuclear and New Energy Technology Tsinghua UniversityBeijing 100084China Shanghai Aerospace Control Technology Institute Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Natural swarms arranged from cells to herds are usually decentralized but display intriguing collective intelligence in coordinating individuals across large scales to efficiently achieve their common *** from nature may provide new strategies for controlling collective dynamics of synthetic swarms to accomplish specific ***,we present a bioinspired computational framework that steers distributed active swarms to collectively capture and merge targets via reinforcement *** exploit collective milling structures of natural herds to cage the targets,and adopt a switching control policy inspired by sperms’chiral dynamics to optimize the trajectories of individuals,through which the active swarms can selforganize to enclose single or multiple distant targets in a dynamical,adaptive and scalable *** exists a critical swarm size,beyond which the excessive competition between agents would generate large mechanical forces,leading to capture instability but enabling the transition from short-distance to long-distance merging capture of multiple *** work provides physical insights into distributed active swarms and could offer a multilevel,decentralized strategy toward controlling swarm robotics in wide applications such as bio-medical devices,machine immunity,and target clearance.

关键词： swarm intelligence robotics multi-tasks artificial intelligence bionics

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Fixed-time-synchronized control: a system-dimension-categorized approach

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Science China(Information Sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

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Managing Battery Performance Degradation Using Physics-Informed Learning Scheme for Multiple Health Indicators

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7309-7321页

作者： Qin, Linxiao Sun, Tao Sun, Xi-Ming Xia, Weiguo Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Dalian University of Technology School of Control Science and Engineering Dalian116024 China Tsinghua University Department of Automation Beijing100084 China

To address the challenges in battery health management, this paper introduces a physics-informed neural network predictor-estimator scheme. In the framework, the predictor forecasts health degradation, setting benchmarks for the estimator, while the estimator provides calibrations for the predictor as substitution to infeasible measurement techniques. For the predictor design, a linear-exponential model is employed for two-stage degradation prediction, enabling online parameter updates and knee point detection. For the estimator design, three neural networks embedded with Coulomb counting and equivalent circuits are proposed to estimate state of charge, internal resistance, and capacity, respectively. Experimental results on the A123 dataset demonstrate superior accuracy of our scheme, with a maximum R-squared improvement of 22.8% in prediction tasks and 11.5% in estimation tasks, while maintaining lightweight network structures with fewer than 1000 floating point operations and 200 parameters. © 2015 IEEE.

关键词： Electronic health record

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