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Constrained Moving Path Following control for UAV With Robust control Barrier Function

IEEE/CAA Journal of Automatica Sinica 2023年第7期10卷 1557-1570页

作者： Zewei Zheng Jiazhe Li Zhiyuan Guan Zongyu Zuo Seventh Research Division School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100191 Beijing Institute of Control Engineering Beijing 100094China

This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind *** vehicle is required to converge to a reference path moving with respect to the inertial frame,while the path following error is not expected to violate the predefined *** from existing moving path following guidance laws,the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem.A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance *** guarantee that the path following error will not exceed the prescribed bounds,a robust control barrier function is developed and incorporated into controller design with quadratic program based *** proposed method does not require the initial position of the UAV to be within predefined *** the safety margin concept makes error-constraint be respected even if in a noisy *** proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-theloop(HIL)experiments.

关键词： Moving path following(MPF) robust control barrier function safety margin shipboard landing unmanned aerial vehicle(UAV)

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Model-Free Current Predictive control for PMSMs With Ultralocal Model Employing Fixed-Time Observer and Extremum-Seeking Method

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IEEE Transactions on Power Electronics 2025年第8期40卷 10682-10693页

作者： Lin, Xinpo Liu, Jianxing Liu, Zhuang Gao, Yabin Peretti, Luca Wu, Ligang Harbin Institute of Technology Department of Control Science and Engineering Weihai264209 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China KTH Royal Institute of Technology Division of Electric Power and Energy Systems Stockholm10044 Sweden

Conventional model predictive current control of permanent magnet synchronous machines (PMSMs) relies heavily on a precise mathematical model, which may be challenging to obtain in certain cases. To address this issue, this article proposes a model-free predictive current controller for PMSMs. Specifically, the dynamic model of the motor currents is represented using two ultralocal models, which express the derivatives of a controlled output as the sum of an amplified control input and an unknown offset term. All system parameters, nonlinear terms, and unmodeled dynamics are encapsulated into two offset terms. Online estimation of these two offset terms is performed using a second-order fixed-time convergence observer without requiring exact knowledge of the system parameters in advance. In contrast to both the linear extended state observer and the super-twisting observer, the fixed-time observer enhances convergence speed while concurrently sustaining minimal chatting. To get rid of the need for model rated parameters, an extremum-seeking approach is utilized to tune the control gains in the ultralocal model, where the amplitude of the disturbance item in extremum-seeking approach is adaptively attenuated, resulting in effective reduction of the fluctuations of both the control gains and PMSM's currents in steady state. Subsequently, a predictive controller is designed using this ultralocal model. Finally, the effectiveness and advantages of the proposed control scheme are confirmed through experimental results. © 1986-2012 IEEE.

关键词： Permanent magnets

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Cooperative Look-ahead Lane Change System for Improving Driving Intelligence of Automated Vehicles in Critical Scenarios

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 1-13页

作者： Kamal, Md Abdus Samad Bakibillah, A.S.M. Hayakawa, Tomohisa Yamada, Kou Imura, Jun-ichi Division of Mechanical Science and Technology Graduate School of Science and Technology Gunma University 1-5-1 Tenjincho Kiryu Japan Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan

Traffic accidents often result in quick bottlenecks and increase injudicious lane changes near incidents (or lane blockage), worsening collision risks, congestion, and fuel consumption. As a practical solution, this paper proposes a novel cooperative look-ahead lane change (Co-LLC) system for automated vehicles (AVs) to mitigate sudden accident-induced traffic effects by improving driving intelligence and safety in critical scenarios. The proposed Co-LLC system comprises the state prediction model, safety and impact evaluation unit, and decision system. Firstly, we analyze the immediate impacts of traffic accidents and identify that a lack of anticipation causes a lane change hot spot near the incident. Consequently, most attempts to change lanes early are unsuccessful due to uncooperative behavior from vehicles in the destination lane. Secondly, we design anticipatory and cooperative lane change systems for AVs to decide the need and feasibility of a lane change in advance. Thus, the proposed system enables AVs to change lanes smoothly and cooperate with other vehicles during lane changes. Finally, we investigate the impact of different penetration rates of AVs using the proposed system on overall traffic performance. The performance of our proposed system is compared to the traditional driving system, and the results show that our proposed system improves the lane-changing behavior of AVs, assists traditional vehicles in changing their lanes smoothly, and mitigates sudden accident-induced traffic impacts. Moreover, the proposed system improves the overall traffic performance with increased penetration rates. Our proposed system is computationally efficient and suitable for real-time driving in critical traffic scenarios. IEEE

关键词： Traffic congestion

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Dynamic Charging and Path Planning for UAV-Powered Rechargeable WSNs Using Multi-Agent Deep Reinforcement Learning

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IEEE Transactions on Automation science and engineering 2025年 22卷 15610-15626页

作者： Betalo, Mesfin Leranso Leng, Supeng Seid, Abegaz Mohammed Abishu, Hayla Nahom Erbad, Aiman Bai, Xiaoshan Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China University of Electronic Science and Technology of China School of Information and Communication Engineering Chengdu611731 China Hamad Bin Khalifa University Division of Information and Computing Technology College of Science and Engineering Doha Qatar Shenzhen University College of Mechatronics and Control Engineering National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China

Unmanned Aerial Vehicle (UAV)-powered 5G/6G networks integrated with rechargeable wireless sensor networks (RWSNs) offer promising solutions for extending system lifetime, collecting data, and providing computing services and power to sensor nodes (SNs). UAVs offer significant advantages, including exceptional mobility, cost-effective deployment, and the ability to be easily reprogrammed for a wide range of missions. However, the limited onboard power capacity of UAVs, coupled with the lack of dynamic and intelligent charging station (CS) management and inefficient path planning, can lead to SN failure in dynamic mobile environments. To address these challenges, we propose an energy-efficient laser-charged UAV (LCU)-enabled RWSN environment, wherein UAVs, powered by laser beams from ground-based stations, provide services, collect data, and transfer energy to SNs. We formulate a joint optimization problem involving power allocation, dynamic charging strategy (DCS), and path planning to minimize task completion time and sensor node death time. Given the NP-hard nature of the problem, we employ a stochastic game model based on a Markov decision process (MDP) for its solution. To solve this problem, we propose a deep reinforcement learning (DRL) based algorithm that enables real-time charging scheduling decisions while optimizing network performance. We introduce a multi-agent double deep Q-network (MA-DDQN) model to determine the optimal trajectories for all UAVs in large and complex environments. Simulation results demonstrate that the MA-DDQN approach outperforms state-of-the-art techniques, showing significant improvements in terms of average delay, energy consumption, and task completion time. © 2004-2012 IEEE.

关键词： Stochastic models

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Switching control for Identification Deception in Cyber-Physical Systems 63

Switching Control for Identification Deception in Cyber-Phys...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Mavridis, Christos Kanellopoulos, Aris Sandberg, Henrik Johansson, Karl Henrik Kth Royal Institute of Technology Division of Decision and Control School of Electrical Engineering and Computer Science Stockholm Sweden

ISBN: (纸本)9798350316339

We investigate the problem of deceiving a malicious agent employing an identification method to estimate the closed-loop dynamics of a cyber-physical system. In particular, we propose a moving target defense mechanism that utilizes stochastic switching between linear closed-loop dynamics to drive a linear system identification process of a potential adversary to sub-optimal solutions with non-vanishing error. We provide a statistical analysis of the induced identification error and show that it is not possible for any linear system identification method to reconstruct the average dynamics of a stochastic switched linear system. Finally, we utilize the theory of Markov jump linear systems to guarantee asymptotic stability of the switching system, and formulate the switching control problem as an optimization problem that guarantees stability while taking into account the trade-off between security and switching effort. Simulation results showcase the efficacy of the proposed approach in inducing identification error for the adversary using minimal switching. © 2024 IEEE.

关键词： Markov processes

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Utilizing hybrid faradaic mechanism via catalytic and surface interactions for high-performance flexible energy storage system

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Journal of Energy Chemistry 2023年第8期83卷 541-548,I0013页

作者： Dong-Gyu Lee Hyeonggeun Choi Yeonsu Park Min-Cheol Kim Jong Bae Park Suok Lee Younghyun Cho Wook Ahn A-Rang Jang Jung Inn Sohn John Hong Young-Woo Lee Department of Energy Engineering Soonchunhyang UniversityAsan 31538Republic of Korea Division of Physics and Semiconductor Science Dongguk University-SeoulSeoul 04620Republic of Korea Jeonju Centre Korea Basic Science InstituteJeonju 54907Republic of Korea Division of Electrical Electronic and Control EngineeringKongju National UniversityCheonan 31080Republic of Korea School of Materials Science and Engineering Kookmin UniversitySeoul 02707Republic of Korea

Improving the capacitance and energy density is a significant challenge while developing practical and flexible energy storage system(ESS).Redox mediators(RMs),as redox-active electrolyte additives,can provide additional energy storing capability via electrochemical faradaic contribution on electrodes for high-performance flexible ***,determining effective material combinations between electrodes and RMs is essential for maximizing surface faradaic redox reactions for energy-storage *** this study,an electrode-RM system comprising heterostructured hybrid(carbon fiber(CF)/MnO_(2)) faradaic electrodes and iodine RMs(I-RMs) in a redox-active electrolyte is *** CF/MnO_(2)with the 1-RMs(CF/MnO_(2)-I) induces dominant catalytic faradaic interaction with the I-RMs,significantly enhancing the surface faradaic kinetics and increasing the overall energy-storage *** CF/MnO_(2)-I ESSs show a 12.6-fold(or higher) increased volumetric energy density of 793.81 mWh L^(-1)at a current of 10 μA relative to ESSs using CF/MnO_(2)without I-RMs(CF/MnO_(2)).Moreover,the CF/MnO_(2)-I retains 93.1% of its initial capacitance after 10,000 cycles,validating the excellent ***,the flexibility of the ESSs is tested at different bending angles(180° to 0°),demonstrating its feasibility for flexible and high-wear ***,CF/MnO_(2)electrodes present a practical material combination for high-performance flexible energy-storage devices owing to the catalytic faradaic interaction with I-RMs.

关键词： Energy storage system Redox mediators Faradaic electrodes Catalytic interactions Mechanical stability

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Fusing Multi-scale Binary Convolution with Joint Attention Face Expression Recognition Algorithm 19th

Fusing Multi-scale Binary Convolution with Joint Attention ...

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19th Chinese Intelligent Systems Conference, CISC 2023

作者： Qin, Minbo Li, Lin Automation Division Department of Control Science and Engineering University of Shanghai for Science and Technology Shanghai200093 China

ISBN: (纸本)9789819968855

Addressing the challenges of wild facial expression datasets being affected by illumination and pose variations, and the expression features being dispersed across multiple easily overlooked facial regions, this paper proposes a facial expression recognition network called Binary and Joint Attention Network. Firstly, The multi-scale binary convolution module integrates texture features of different granularities. Subsequently, the proposed Multi-head Joint Attention module focusing on multiple distinct facial areas through multiple attention heads. Lastly, the inter-attention map loss is designed to prevent attention overlap while assisting in classification. Experimental results on multiple datasets, including SFEW2.0, RAF-DB, FER2013, demonstrate that the proposed network can effectively recognize various facial expressions. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Local binary pattern

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Identification of system parameters of a large-scale dynamic multiaxial testing facility

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Earthquake engineering and Structural Dynamics 2024年第8期53卷 2468-2490页

作者： Lin, Wang-Chuen Yu, Chung-Han Lin, Chin-Cheng Lai, Yi-An Liu, Chiung-Lin Hsiung, Sih-Min Peng, Shen-Kai Wang, Shiang-Jung Structural Monitoring and Control Division National Center for Research on Earthquake Engineering Taipei Taiwan Tainan Experimental Technology Division National Center for Research on Earthquake Engineering Taipei Taiwan Department of Civil and Construction Engineering National Taiwan University of Science and Technology Taipei Taiwan

Large-scale multiaxial testing facilities mainly serve to experimentally examine the horizontal behavior of full-scale critical structural members, such as columns and seismic isolation bearings, on which a large vertical compression load is exerted as they simultaneously undergo horizontal deformation. The system friction and inertia force play an important role in obtaining sufficiently reliable test results, and it is not easy to comprehensively grasp all the issues involved. To understand the system friction and inertia force of the Bi-Axial Dynamic Testing System (BATS) at the National Center for Research on Earthquake engineering Tainan laboratory and to avoid complexity caused by specimens as much as possible, a lubricated flat sliding bearing is chosen as the specimen to be tested under horizontal triangular and sinusoidal reversed loading together with a constant vertical compression load. When no specimens are installed, that is, without vertical compression loading, the system friction of BATS generated by the various sliding surfaces can be identified and mathematically characterized using the horizontal triangular reversed loading test results;then, the effective mass of BATS can be estimated using the horizontal sinusoidal reversal loading test results to solve the inertia force problem. When applying a vertical compression load, it is assumed that the system friction of BATS and the shear force of the specimen are simply related to the applied total normal force (or vertical compression load) and horizontal excitation rate. An iteration methodology is proposed to identify and mathematically describe the dependency of the friction performance of BATS and the specimen on total normal forces (or vertical compression loads) and horizontal excitation rates by iterating the horizontal triangular and sinusoidal reversed loading test results. Finally, a lead-rubber bearing and a direct force measurement system are connected in series such that the measurement

关键词： Friction

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On convergence of covariance matrix of empirical Bayes hyper-parameter estimator

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control Theory and Technology 2024年第2期22卷 149-162页

作者： Yue Ju Biqiang Mu Tianshi Chen School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong KongShenzhenShenzhen518172GuangdongChina Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technology10044StockholmSweden Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and System ScienceChinese Academy of SciencesBeijing100190China

Regularized system identification has become the research frontier of system identification in the past *** related core subject is to study the convergence properties of various hyper-parameter estimators as the sample size goes to *** this paper,we consider one commonly used hyper-parameter estimator,the empirical Bayes(EB).Its convergence in distribution has been studied,and the explicit expression of the covariance matrix of its limiting distribution has been ***,what we are truly interested in are factors contained in the covariance matrix of the EB hyper-parameter estimator,and then,the convergence of its covariance matrix to that of its limiting distribution is *** general,the convergence in distribution of a sequence of random variables does not necessarily guarantee the convergence of its covariance ***,the derivation of such convergence is a necessary complement to our theoretical analysis about factors that influence the convergence properties of the EB hyper-parameter *** this paper,we consider the regularized finite impulse response(FIR)model estimation with deterministic inputs,and show that the covariance matrix of the EB hyper-parameter estimator converges to that of its limiting ***,we run numerical simulations to demonstrate the efficacy of ourtheoretical results.

关键词： Regularized system identification Hyper-parameter estimator Empirical Bayes Convergence of covariance matrix

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Pre-combustion mercury removal with co-production of hydrogen via coal electrolysis

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Journal of Environmental sciences 2024年第2期136卷 382-389页

作者： Xiang Lyu Runming Tao Tianyu Zhang Chemical and Biomolecular Engineering Department Ohio University165 Stocker CenterAthensOH45701USA Electrification and Energy Infrastructures Division Oak Ridge National LaboratoryOak RidgeTN37831USA Beijing Key Lab for Source Control Technology of Water Pollution College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China Engineering Research Center for Water Pollution Source Control&Eco-remediation College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China

Pre-combustion mercury removal via coal electrolysis was performed and investigated on a bench-scale coal electrolytic cell(CEC)systemically,and factorial design was used to determine the effect of different operating conditions(coal particle size,operating temperature,operating cell voltage,and flow rate of slurry)on the percentage of mercury removal,percentage of ash removal,and dry heating value *** results showed that the operating cell voltage,as well as the interaction between operating cell voltage and coal particle size,are significant factors in the percentage of mercury *** is no significant factor in the percentage of ash removal and the dry heating value change,but the coal could be purified while keeping the dry heating value almost constant after electrolysis.A co-product of hydrogen could be produced during coal electrolysis with 50%lower energy consumption compared with water ***,a mechanism for mercury removal in coal was *** facts indicate that coal electrolysis is a promising method for precombustion mercury removal.

关键词： Pre-combustion mercury removal Coal electrolysis Ash removal Dry heating value Hydrogen production

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