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第35届中国控制会议

作者： WANG Lijun JIAO Ruihua LI Qing YIN Yixin ZHENG Qing School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Department of Electrical and Computer Engineering Gannon University

ISBN: (纸本)9781509009107

The servo systems are always difficult to design with high-accuracy due to nonlinear stick-slip at the low velocities and the uncertainties of friction dynamic model.A linear active disturbance rejection control(ADRC) dynamic compensation solution is presented independent of the friction *** deal with the problem of observing or tracking for unknown discontinuous signals of friction with Stribeck effect,a kind of linear extended state observer(LESO) algorithm is *** a linear control law is proposed to compensate the friction disturbance *** comparison with proportional-integral-derivative(PID) controller,the simulation results show that the proposed method not only has better accuracy of the discontinuous friction signal tracking,but also ensures better dynamic friction compensation at the low velocities.

关键词： Disturbance rejection Extended state observer Servo systems Stribeck friction Discontinuous tracking

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control Lyapunov function based feedback design for quasi-polynomial systems

Control Lyapunov function based feedback design for quasi-po...

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9th IFAC Symposium on Nonlinear control Systems, NOLCOS 2013

作者： Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9783902823472

The aim of this work is to present an entropy-like Lyapunov function based dynamic feedback design technique for quasi-polynomial and Lotka-Volterra systems. It is shown, that the dynamic feedback design problem is equivalent to the feasibility of a bilinear matrix inequality. The problem is also formulated as a control Lyapunov function based feedback design when the Lyapunov function parameters are given, the solution of this problem can be obtained by solving a linear matrix inequality. The developed method is illustrated on a simple numerical example. © IFAC.

关键词： Design

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Consensus control and feedback graph co-design for MIMO discrete-time multi-agent systems

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Journal of control and Decision 2014年第1期1卷 18-33页

作者： Guoxiang Gu Fei Liu Xiang Chen Department of Electrical and Computer Engineering Louisiana State UniversityBaton RougeLAUSA Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education)China Institute of AutomationJiangnan UnniversityWuxiP.R.China Department of Electrical and Computer Engineering University of WindsorWindsorCanada

This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedback *** weakest consensusability condition is obtained for MASs over both directed and undirected graphs,which extends the existing results to MIMO discrete-time *** synthesis procedures are also *** work demonstrates the importance of the graph and controller co-design based on resource allocation for MIMO discrete-time MASs.

关键词： consensus control gain margin multi-agent systems

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Performance assessment of nonlinear state filters

Performance assessment of nonlinear state filters

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8th International Symposium on Advanced control of Chemical processes, ADCHEM 2012

作者： Tulsyan, A. Huang, B. Gopaluni, R.B. Forbes, J.F. Department of Chemical and Materials Engineering Computer Process Control Group University of Alberta Edmonton T6G-2G6 Canada Department of Chemical and Biological Engineering Process Modeling and Control Lab University of British Columbia Vancouver V6T-1Z3 Canada

ISBN: (纸本)9783902823052

Nonlinear state filters of different approximations and capabilities have been developed in the last decade. The quality of different nonlinear filters, in terms of the mean squared error (MSE) of the estimates, depends on the approximations used in the filtering algorithm;however, there are no known methods for effectively evaluating the relative performance of these filters. A new method which measures the performance of different state filters against the theoretical posterior Cramér-Rao lower bound (PCRLB) is proposed. The complex high-dimensional integrals in PCRLB are approximated using sequential Monte-Carlo (SMC) methods. Efficacy of the proposed method is illustrated through a simulation example. © 2012 IFAC.

关键词： Mean square error

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Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator

Robust H-infinity trajectory tracking controller for a 6 D.O...

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IEEE International Electric Machines and Drives Conference, IEMDC 2007

作者： Khelfi, M.F. Abdessameud, A. University of Oran Es-Sénia Computer Science Department Sciences Faculty Algeria University of Boumerdes Laboratoire d'Automatique Appliquée Process Control Algeria

ISBN: (纸本)1424407435

This paper deals with the design problem of an H∞ observer for robot manipulators in the presence of external perturbations. The proposed scheme is an application of an H∞ filter to the class of robotic manipulator systems in order to guarantee disturbance attenuation of the observation error and the asymptotic stabilization of the estimation error. Using a stabilizing control law, a stabilization result based on the weak detectability of the system is obtained and the semi-global asymptotic stability of the equilibrium point of the combined system is shown. Simulation results on a six D-O-F PUMA 560 robot manipulator show the asymptotic convergence of the reconstruction and tracking error vectors. © 2007 IEEE.

关键词： Manipulators

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Optical System Design of a Small-Diameter Abdominal Fluorescence Endoscope

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Laser and Optoelectronics Progress 2025年第9期62卷

作者： Nie, Pu Zhang, Zhijian Wang, Miao Ali, Shuaib Guo, Ya School of Internet of Things Engineering Jiangnan University Jiangsu Wuxi214122 China International Joint Research Center for Intelligent Optical Sensing and Applications Jiangnan University Jiangsu Wuxi214122 China Department of Nephrology The Affiliated Wuxi People’s Hospital of Nanjing Medical University Jiangsu Wuxi214000 China Biomedical Engineering Unit Kuwait University Safat13110 Kuwait Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University Jiangsu Wuxi214122 China

Abdominal fluorescence endoscopy significantly enhances the recognition effect of lesion tissue contours in minimally invasive surgery. However, most intra-abdominal endoscopic optical systems are designed with lens materials that consider only visible light transmission and imaging. Additionally, the existing laparoscopes are designed for adult surgery, typically exceeding 5 mm in diameter, with few options for small-diameter laparoscopes. To address this issue, this paper presents the design of an optical system for a small-diameter intraperitoneal fluorescence endoscope. The material selection considers the optical transmission characteristics of the visible and fluorescent bands. The designed system has an entrance pupil diameter of 0. 1 mm, a diameter of 3 mm, a distortion of less than 22. 7%, and a full field of view of 90°. At an object distance of 10 mm, the proposed system achieves center resolutions of 14 and 9. 9 lp/mm for visible light and near-infrared fluorescence, respectively. The tolerance analysis results indicate that the designed system meets the actual usage requirements. © 2025 Universitat zu Koln. All rights reserved.

关键词： Laparoscopy

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THD reduction with grid synchronized inverter's power injection of renewable sources

THD reduction with grid synchronized inverter's power inject...

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2010 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2010

作者： Gorbe, Peter Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia 8200 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute 1518 Budapest Hungary

ISBN: (纸本)9781424449873

A control method for small domestic power plants using renewable energy is described in this paper. This method is not only capable of optimizing the working point of the plant but also implements active power factor correction and lowers the extant harmonic distortion in the line. The novel element in the proposed complex controller structure is the upper harmonic controller that minimizes the amplitudes of the 3rd, 5th 7th, 9th, and the 11th upper harmonic component in the output voltage. The proposed controller has been investigated by simulation in Matlab environment, and as a result, substantial improvement of the output voltage and current waveform could be achieved. Robustness of the method against nonlinear loads has also been tested. 0 © 2010 IEEE.

关键词： Solar power generation

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Dexterous Manipulation through Imitation Learning: A Survey

arXiv

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arXiv 2025年

作者： An, Shan Meng, Ziyu Tang, Chao Zhou, Yuning Liu, Tengyu Ding, Fangqiang Zhang, Shufang Mu, Yao Song, Ran Zhang, Wei Hou, Zeng-Guang Zhang, Hong School of Electrical and Information Engineering Tianjin University Tianjin300072 China School of Control Science and Engineering Shandong University Jinan250061 China State Key Laboratory of General Artificial Intelligence Beijing100086 China Department of Mechanical and Process Engineering ETH Zurich Zurich8092 Switzerland Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China School of Informatics University of Edinburgh EH8 9AB United Kingdom Department of Computer Science University of Hong Kong 999077 Hong Kong State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology 999078 China

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactions similar to human hand dexterity. With recent advances in robotics and machine learning, there is a growing demand for these systems to operate in complex and unstructured environments. Traditional model-based approaches struggle to generalize across tasks and object variations due to the high-dimensionality and complex contact dynamics of dexterous manipulation. Although model-free methods such as reinforcement learning (RL) show promise, they require extensive training, large-scale interaction data, and carefully designed rewards for stability and effectiveness. Imitation learning (IL) offers an alternative by allowing robots to acquire dexterous manipulation skills directly from expert demonstrations, capturing fine-grained coordination and contact dynamics while bypassing the need for explicit modeling and large-scale trial-and-error. This survey provides an overview of dexterous manipulation methods based on imitation learning (IL), details recent advances, and addresses key challenges in the field. Additionally, it explores potential research directions to enhance IL-driven dexterous manipulation. Our goal is to offer researchers and practitioners a comprehensive introduction to this rapidly evolving domain. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers

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A pattern catalogue of surgical interventions for computer-supported operation planning

A pattern catalogue of surgical interventions for computer-s...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Münchenberg, J. Wörn, H. Brief, J. Hassfeld, S. Mühling, J. Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany Clinic for Cranio-Maxillo-Facial-Surgery University of Heidelberg 69120 Heidelberg Germany

ISBN: (纸本)1586030140

In this paper we present a new operation planning system which was evaluated in the clinic for Cranio-Maxillo-Facial-Surgery at the University of Heidelberg. In opposite to commercial systems our goal was, that the system considers the complete surgical intervention and not only a single procedure of it. A second goal was, that the system enables managing of complex operations, independent of which way the intervention will be intraoperatively performed (without technical support, with passive navigation support or active support by robots). Our system supports the surgeon during the preoperative planning as well as during the intraoperative execution phase. Therefore we developed a course model by which the managing of surgical interventions is possible. The focus of this paper is on this course model. At first we introduce instruction graphs and describe the structure of each activity observing its attributes and their context. Additionally, various surgical scopes will be presented which enable the surgeon to select one view among different ones of the individual operation procedures in accordance to medical and technical knowledge as well as in accordance to different degrees of abstraction. At last we demonstrate operation patterns, used as expert knowledge.

关键词： Robots

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Modeling and identification of fractional-order dynamical systems

Modeling and identification of fractional-order dynamical sy...

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11th International Multidisciplinary Scientific Geoconference and EXPO, SGEM 2011

作者： Dorčák, Ľubomír Valsa, Juraj Terpák, Ján Horovčák, Pavel Gonzalez, Emmanuel Process Control and Geotechnology Institute of Control and Informatization of Production Processes Technical University of Košice Slovakia Brno University of Technology Czech Republic Department of Computer Technology College of Computer Studies De La Salle University Manila Philippines

One of the most characteristic features of the processes in the area of mining and processing of earth resources is their complexity. The modern methods of investigation, monitoring and control of these processes utilize approaches based upon modeling of the processes. In this paper we will focus only on the dynamical processes, where the mathematical models are differential equations. As it results from the last research works, majority of the real objects in general are fractional-order systems. Fractionalorder models are more adequate for the description of dynamical systems than integerorder models. But appropriate methods for the numerical calculations of fractional-order differential equations are needed in such cases and also methods for the identification of such systems. In this contribution we describe and compare some previous methods used for simulation purposes with the methods based on approximate formulas for numerical inversion of Laplace transforms. The verification and comparison will be based mainly on the accuracy and computing time. Also an experimental method of identification is given. The verification of identification method was performed on systems with known parameters. © SGEM2011 All Rights Reserved by the International Multidisciplinary Scientific GeoConference SGEM.

关键词： Differential equations

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