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Optimal PID control of Spatial Inverted Pendulum With Big Bang–Big Crunch Optimization

IEEE/CAA Journal of Automatica Sinica 2020年第3期7卷 822-832页

作者： Jia-Jun Wang Tufan Kumbasar School of Automation Hangzhou Dianzi UniversityHangzhou 310018China IEEE Control and Automation Engineering Department Faculty of Electrical and Electronics EngineeringIstanbul Technical UniversityIstanbul TR-34469Turkey

As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear,unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multipleinput and multiple-output(MIMO) system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP,the control structure with five PID controllers will be *** parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang – Big Crunch(BBBC) optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization(PSO). Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.

关键词： Big Bang–Big Crunch(BBBC) optimal PID control spatial inverted pendulum(SIP) spatial trajectory tracking

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Vision-Based Autonomous Landing of a Quadrotor UAV on a Double-Layered Nested Landing Marker

Vision-Based Autonomous Landing of a Quadrotor UAV on a Doub...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Target recognition technology for unmanned ships based on improved YOLOv5 4

Target recognition technology for unmanned ships based on im...

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2024 4th International Conference on Intelligent Traffic Systems and Smart City, ITSSC 2024

作者： Yuan, Mingkai Liang, Bingnan Wang, Haoliang Dong, Yixuan School of Marine Engineering Dalian Maritime University Dalian116026 China Department of Automation Shanghai Jiaotong University Shanghai200240 China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China

ISBN: (纸本)9781510686304

To enable safe and efficient autonomous navigation of unmanned ships in complex marine environments, particularly when encountering overtaking, head-on, or crossing scenarios, it is crucial to accurately identify and detect unknown unmanned vessels. This paper proposes a lightweight object detection algorithm tailored to these challenges. The lightweight network Ghostnet is used to improve the backbone network of the YOLOv5s algorithm, achieving lightweight target detection. By introducing the ECA attention mechanism, the model can better focus on important information in the image, enhancing the ability of feature representation, and improving the model's capability for complex scene understanding and target recognition and localization. Finally, the MPDIoU is used as the bounding box loss function for the YOLOv5s algorithm, which not only improves convergence speed but also obtains more accurate regression results. Comparative experiments show that the proposed improved algorithm outperforms models such as YOLOv5-BiFPN, YOLOv5-CBAM, and YOLOv5-SE in terms of model size, computational complexity, parameter count, detection speed, and average precision. © 2025 SPIE.

关键词： Marine navigation

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Batch-to-Batch Optimization with Model Adaptation Leveraging Gaussian Processes: The Case of Optogenetically Assisted Microbial Consortia 23

Batch-to-Batch Optimization with Model Adaptation Leveraging...

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23rd International Conference on control, automation and Systems, ICCAS 2023

作者： Espinel-Rios, Sebastian Kok, Rudolph Klamt, Steffen Avalos, Jose L. Findeisen, Rolf Analysis and Redesign of Biological Networks Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany Princeton University Department of Chemical and Biological Engineering Princeton United States Institute for Automation Engineering Otto von Guericke University Magdeburg Magdeburg Germany Control and Cyber-Physical Systems Laboratory TU Darmstadt Germany

ISBN: (纸本)9788993215274

Microbial consortia are promising biotechnological production systems with the potential to divide complex metabolic pathways into smaller submodules, as well as make products and consume substrates that monocultures cannot. Maintaining optimal cell population levels and preventing mono culture formation challenge bioproduction by microbial consortia. Optogenetics allows for regulating the expression of key growth-regulatory genes through light to modulate cell population levels. Model-based dynamic optimization can determine optimal light trajectories and inoculum sizes that maximize product synthesis while satisfying system constraints, e.g., safety, economic, or technical aspects. Further-more, closed-loop dynamic optimization can address system uncertainty to a certain extent;however, its implementation is challenging due to limited online sensors. Alternatively, here we propose to perform open-loop optimization with batch-to-batch model adaptation based on Gaussian processes for maximizing bioproduction by optogenetically assisted consortia. The proposed approach enables knowledge transfer from existing to new models, improving predictability and optimization performance in each batch while avoiding costly and time-consuming modeling experiments. Compared to closed-loop optimization, this strategy is easier to implement as it does not rely on online monitoring, contributing to the state of the art in optimizing bioproduction by microbial consortia. We outline the applicability of the approach using simulation experiments of an optogenetically assisted consortium for the biosynthesis of the flavonoid naringenin, considering both parameter and model structure uncertainty. © 2023 ICROS.

关键词： Substrates

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Modeling and end vibration suppression of space manipulators based on structural flexibility 4

Modeling and end vibration suppression of space manipulators...

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2024 4th International Conference on Measurement control and Instrumentation, MCAI 2024

作者： Liu, Qingyu Ding, Yongkang Wang, Yuqing Zhang, Hongkang Yang, Han Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Wuhan430081 China Department of Mechanical Automation Wuhan University of Science and Technology Wuhan430081 China Hubei Provincial Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan430081 China

With the rising demand for more flexibility and larger workspaces in collaborative robots, rigid-flexible coupling robotic systems have garnered increasing attention. This study focuses on trajectory tracking and vibration suppression for RFCRSs operating in 3D space. The nonlinear coupling between angular joint positions and flexible structural displacement leads to complex vibration behaviors. To address this issue, the assumed mode method is employed to curve-fit the first-order modal shape of the flexible arm, resulting in a shape function. This approach simplifies the nonlinear infinite-dimensional dynamics of RFCRSs into a fourth-order dynamical system. The reference trajectory is planned using the polynomial programming method based on the established kinetic model. The reference trajectory is tracked with a model reference adaptive control (MRAC) method to reduce the robot end vibration. Finally, the effectiveness of the robot model reduction method and the associated control strategy is validated through a comparison with PD control and MRAC, which does not account for arm flexibility. © Published under licence by IOP Publishing Ltd.

关键词： Model reference adaptive control

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2024 China automation Congress, CAC 2024

作者： Lang, Yumin Wu, Jiande Lang, Xun Yu, Wanke Yang, Chuanyan Su, Hongye Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) ofthese RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data. © 2024 IEEE.

关键词： Power spectral density

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Fast and Robust Energy Router control in Dynamic Conditions Using Flatness-Based control Theory

Fast and Robust Energy Router Control in Dynamic Conditions ...

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Compatibility in Power Electronics (CPE)

作者： Mohammadreza Azizi Oleksandr Husev Carlos Roncero-Clemente Oleksandr Veligorskyi Ryszard Strzelecki Department of Radiotechnic and Embedded Systems Chernihiv Polytechnic National University Chernihiv Ukraine Department of Electric Electronic and Automation Engineering University of Extremadura Badajoz Spain Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

ISBN: (数字)9798331515171

ISBN: (纸本)9798331515188

In this paper, flatness-based control theory is developed to enhance the dynamic performance of a multiport energy router. The energy router integrates multiple power sources and sinks, including photovoltaic systems, battery storage, the grid, and various loads. Consequently, any sudden change in a subsystem can induce dynamic conditions across the entire system. The presented method controls the grid-side inverter and regulates the de link voltage. To implement this control approach, the system equations have been established, and it has been demonstrated that the system is differentially flat. Afterward, the controller design has been addressed. The simulation results confirm the proper performance of this method, and the comparisons made validate the high speed and accuracy of the system responses compared to conventional solutions.

关键词： Photovoltaic systems Power engineering Accuracy Simulation Modulation control systems Inverters Mathematical models control theory Voltage control

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EFEAR-4D: Ego-Velocity Filtering for Efficient and Accurate 4D radar Odometry

arXiv

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arXiv 2024年

作者： Wu, Xiaoyi Chen, Yushuai Li, Zhan Hong, Ziyang Hu, Liang The Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China

Odometry is a crucial component for successfully implementing autonomous navigation, relying on sensors such as cameras, LiDARs and IMUs. However, these sensors may encounter challenges in extreme weather conditions, such as snowfall and fog. The emergence of FMCW radar technology offers the potential for robust perception in adverse conditions. As the latest generation of FWCW radars, the 4D mmWave radar provides point cloud with range, azimuth, elevation, and Doppler velocity information, despite inherent sparsity and noises in the point cloud. In this paper, we propose EFEAR-4D, an accurate, highly efficient, and learning-free method for large-scale 4D radar odometry estimation. EFEAR-4D exploits Doppler velocity information delicately for robust ego-velocity estimation, resulting in a highly accurate prior guess. EFEAR-4D maintains robustness against point-cloud sparsity and noises across diverse environments through dynamic object removal and effective region-wise feature extraction. Extensive experiments on two publicly available 4D radar datasets demonstrate state-of-the-art reliability and localization accuracy of EFEAR-4D under various conditions. Furthermore, we have collected a dataset following the same route but varying installation heights of the 4D radar, emphasizing the significant impact of radar height on point cloud quality - a crucial consideration for real-world deployments. Our algorithm and dataset will be available soon at https://***/CLASS-Lab/EFEAR-4D. © 2024, CC BY-NC-SA.

关键词： Millimeter waves

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Small defect detection on the surface of automobile differential housing based on FSSD and large receptive field

Small defect detection on the surface of automobile differen...

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2022 Chinese automation Congress, CAC 2022

作者： Chen, Tehuan Wang, Guodong Wang, Pengkai Cui, Jie Shanghai Jiao Tong University Department of Automation Shanghai China Ningbo University Department of Mechanical Engineering Ningbo China Zhejiang University College of Control Science and Engineering Hangzhou China Zhejiang Huashuo Technology Co. Ltd. Ningbo China

ISBN: (纸本)9781665465335

Due to the limited number of identifiable features that can be extracted, existing methods for detecting small defects on the surface of automobile differential housings have difficulty balancing detection speed and accuracy. This paper proposes a lightweight feature fusion single multibox detector with a larger receptive field (RFSSD) algorithm to improve the performance of small defect detection. Firstly, the model replaces VGG16, the backbone network of the feature fusion single shot multibox detector (FSSD) algorithm, with a lightweight MobileNet network to create a more practical feature fusion structure consisting of depthwise separable convolution. Subsequently, the improved receptive field block (RFB) module is introduced into the RFSSD model's shallow layer of a feature pyramid structure. Finally, the size of the default box is modified for the target defect's actual size. According to the experimental results, the mAP of the RFSSD model is 96.7 percent, up 12.4 percent from before the improvement. The detection speed of 158FPS and the model memory of 25.3MB outperform many state-of-the-art object detection models. Our model can detect various small defects of differential housings surface in real-time and accurately. © 2022 IEEE.

关键词： Object detection

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Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying Systems Under Eavesdropping Attacks: Tackling Secrecy Capacity

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 985-996页

作者： Lei Zou Zidong Wang Bo Shen Hongli Dong Guoping Lu College of Information Science and Technology Donghua UniversityShanghai 201620 Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Department of Computer Science Brunel University LondonUxbridgeMiddlesex UB83PHUK Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318 Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper is concerned with the problem of finitehorizon energy-to-peak state estimation for a class of networked linear time-varying *** to the inherent vulnerability of network-based communication,the measurement signals transmitted over a communication network might be intercepted by potential *** avoid information leakage,by resorting to an artificial-noise-assisted method,we develop a novel encryption-decryption scheme to ensure that the transmitted signal is composed of the raw measurement and an artificial-noise term.A special evaluation index named secrecy capacity is employed to assess the information security of signal transmissions under the developed encryption-decryption *** purpose of the addressed problem is to design an encryptiondecryption scheme and a state estimator such that:1)the desired secrecy capacity is ensured;and 2)the required finite-horizon–l_(2)-l_(∞)performance is *** conditions are established on the existence of the encryption-decryption mechanism and the finite-horizon state ***,simulation results are proposed to show the effectiveness of our proposed encryption-decryption-based state estimation scheme.

关键词： Artificial-noise-assisted technique eavesdropping encryption-decryption scheme energy-to-peak state estimation finitehorizon state estimation

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