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Robotics, Artificial Intelligence and intelligent control (RAIIC), International Conference on

作者： Qilong Wang Junlei Song Chao Zuo Kaifeng Dong Fang Jin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo- Exploration Ministry of Education Wuhan China Wuhan Second Ship Design and Research Institute Wuhan China

ISBN: (数字)9798350352627

ISBN: (纸本)9798350352634

Aeromagnetic surveys, renowned for their operational flexibility and high efficiency, serve as a crucial technique for measuring the geomagnetic field. However, aeromagnetic surveys are easily affected by magnetic interference from navigation platforms, making the compensation of aeromagnetic interference a crucial step in the measurement process. To address the inadequate consideration of nonlinear magnetic field interference in traditional compensation algorithms, this paper introduces an aeromagnetic compensation approach based on broad learning system. The broad learning system employs an incremental learning mechanism aimed at enhancing the precision of the network alongside the increase in nodes. With each expansion of the network node, computation is streamlined to calculating the pseudo-inverse of the expansion node, eliminating the necessity for retraining the entire network structure. Leveraging the nonlinear fitting characteristics of the broad learning system, this paper improves the accuracy of aeromagnetic interference compensation. Through UAV flight experiments, the broad learning system is compared with methodologies using particle swarm optimization (PSO) and BP neural network. Compared with PSO, training time was reduced by $21.3 \%$ and magnetic interference by $33.6 \%$. Compared with BP neural networks, training time was reduced by $34.9 \%$ and magnetic interference by $28.6 \%$. This paper provides references and ideas for the selection of aeromagnetic interference compensation algorithms.

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Discrete-time inverse linear quadratic optimal control over fnite time-horizon under noisy output measurements

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control Theory and Technology 2021年第4期19卷 563-572页

作者： Han Zhang Yibei Li Xiaoming Hu Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Department of Mathematics KTH Royal Institute of Technology10044 StockholmSweden

In this paper,the problem of inverse quadratic optimal control over fnite time-horizon for discrete-time linear systems is *** goal is to recover the corresponding quadratic objective function using noisy ***,the identifability of the model structure for the inverse optimal control problem is analyzed under relative degree assumption and we show the model structure is strictly globally ***,we study the inverse optimal control problem whose initial state distribution and the observation noise distribution are unknown,yet the exact observations on the initial states are *** formulate the problem as a risk minimization problem and approximate the problem using empirical *** is further shown that the solution to the approximated problem is statistically consistent under the assumption of relative *** then study the case where the exact observations on the initial states are not available,yet the observation noises are known to be white Gaussian distributed and the distribution of the initial state is also Gaussian(with unknown mean and covariance).EM-algorithm is used to estimate the parameters in the objective *** efectiveness of our results are demonstrated by numerical examples.

关键词： Inverse optimal control Linear quadratic regulator Statistical consistency EM-algorithm

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Dynamic Event-Triggered control for Nonlinear systems:A Small-Gain Approach

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系统科学与复杂性学报（英文版） 2020年第4期33卷 930-943页

作者： ZHAO Qingtao SUN Jian BAI Yongqiang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

An event-triggered control (ETC) system transmits data packages and updates control inputs only when the predefined criterion is *** this way,network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling ***-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC *** from traditional ETC models,stability criteria are proposed in the form of input to state stability (ISS) gain to design the triggering *** paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered *** conditions to guarantee the stability of the system are derived with the help of cyclic-small-gain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical *** simulations are given to demonstrate the effectiveness of our approach.

关键词： Cyclic-small-gain theorem event-triggered control input-to-state stability (ISS) nonlinear systems

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Bearing-based Formation Tracking of Nonholonomic Agents in the Leader's Local Frame

Bearing-based Formation Tracking of Nonholonomic Agents in t...

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2021 China Automation Congress, CAC 2021

作者： Lv, Ke Yang, Ziwen Zhu, Shanying Wang, Lin Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665426473

This paper investigates the formation tracking control problem of nonholonomic agents in the leader's local frame, based on bearing measurements. Most of existing works on formation tracking are aimed at tracking a given formation in the global frame, which cannot meet the needs of many applications such as a fleet of cars driving on the highway. In this case, if the cars cannot keep a fixed formation in the leader's local frame, they may drive off the highway. Thus we propose an integrated approach consisting of a bearing-based estimator and a tracking controller, to track a given formation in the leader's local frame. In order to eliminate the estimation error in formation tracking, a persistently exciting leader is characterized by conditions. The stability of the integrated method is proved rigorously. Simulation results prove the effectiveness of the proposed approach. © 2021 IEEE

关键词： Integrated control

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Bearing-only Formation control of Nonholonomic Agents with Unknown Dynamic Leaders

Bearing-only Formation Control of Nonholonomic Agents with U...

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2021 China Automation Congress, CAC 2021

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665426473

In this paper, the problem of bearing-only formation tracking control of multiple nonholonomic agents is studied. A leader-follower structure is adopted, where the leaders are moving at an unknown constant linear velocity and time-varying orientation. To solve the problem using bearing-only measurements, a finite-time estimator is firstly proposed to estimate the leaders' orientation information. Then, an adaptation law for estimating the leaders' linear velocity is proposed, based on which control inputs for tracking the leaders in a predefined bearing-based formation are designed, so that formation tracking can be achieved asymptotically. Rigorous theoretical analysis of the closed-loop system is given. It is proved that both the estimation errors and formation errors converge to zero under the connectivity of the communication graph and conditions for bearing rigidity. Numerical simulations are presented to testify the effectiveness of the proposed method. © 2021 IEEE

关键词： Closed loop systems

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Disturbance Rejection for Pedaling Rehabilitation Robot Based on Integration of Equivalent-Input-Disturbance and Repetitive control Methods 32

Disturbance Rejection for Pedaling Rehabilitation Robot Base...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Zhou, Yujian She, Jinhua Wang, Feng Iwasaki, Makoto School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Tokyo University of Technology School of Engineering Tokyo Hachioji192-0982 Japan Nagoya Institute of Technology Department of Electrical and Mechanical Engineering Nagoya466-8555 Japan

ISBN: (纸本)9798350399714

This study integrated an improved equivalent-input-disturbance (EID) and a repetitive control methods to ensure reference tracking and enhance disturbance-rejection performance for a pedaling rehabilitation robot. A repetitive controller ensures steady-state tracking of a periodic reference input. An EID estimator with a state observer estimates and compensates for the effect of disturbances generated by patients with lower-limb impairment. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show the effectiveness of this method. © 2023 IEEE.

关键词： Disturbance rejection

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Optical funnel:broadband and uniform compression of electromagnetic fields to an air neck

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Photonics Research 2021年第9期9卷 1675-1682页

作者： FEI SUN YICHAO LIU YIBIAO YANG Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceCollege of Physics and OptoelectronicsTaiyuan University of TechnologyTaiyuan 030024China

An optical funnel,which performs as a passive electromagnetic compressor,can guide electromagnetic waves from a wide inlet to a narrow outlet without reflectance/scattering and squeeze electromagnetic fields uniformly to an air *** this study,an optical funnel is designed by precisely filling subwavelength ceramic blocks with a gradient refractive index inside a tapered *** gradient refractive index is designed by transformation optics,which is isotropic and all above unit,thus exhibiting a broadband *** to the mechanism of impedance matching over the whole funnel,extremely low reflectance/scattering and stable enhancement of fields can be *** field enhancement factor in different regions of the funnel(e.g.,in the air neck)can be flexibly designed just by modifying the funnel-width ratios.

关键词： scattering reflectance refractive

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采用高导热金刚石基底的高效散热钙钛矿激光

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Science China Materials 2023年第6期66卷 2400-2407页

作者：李国辉侯缜魏衍福赵若凡冀婷王文艳温荣郑凯波于盛旺崔艳霞 College of Physics and Optoelectronics Key Laboratory of Interface Science and Engineering in Advanced MaterialsKey Lab of Advanced Transducers and Intelligent Control System of Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030024China Division of Chemical Physics and NanoLund Lund UniversityBox 12422100LundSweden

具有低温升的高效散热方案是实现电泵浦激光的关键因素之一.高导热金刚石有望克服钙钛矿激光的散热限制.本文中,我们展示了一种可以将光泵浦过程中产生热量高效耗散的金刚石基底钙钛矿纳米片激光.此外,紧密光学束缚可以通过在纳米片和... 详细信息

具有低温升的高效散热方案是实现电泵浦激光的关键因素之一.高导热金刚石有望克服钙钛矿激光的散热限制.本文中,我们展示了一种可以将光泵浦过程中产生热量高效耗散的金刚石基底钙钛矿纳米片激光.此外,紧密光学束缚可以通过在纳米片和金刚石基底之间引入一层薄SiO_(2)间隔层而实现.该激光的品质因子高达~1962,激光阈值为52.19μJ cm^(-2).受益于金刚石基底,其泵浦能量密度相关温度灵敏度较低(~0.56±0.01 K cm~2μJ^(-1)).本工作有望促进电泵浦钙钛矿激光的发展.

关键词：金刚石钙钛矿温度灵敏度高效散热品质因子高导热激光阈值光泵浦

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control Strategy of 6-DOF Manipulator based on Improved Active Disturbance Rejection control

Control Strategy of 6-DOF Manipulator based on Improved Acti...

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第35届中国控制与决策会议

作者： Dongxu Zhang Lixiang Ma Bingyou Liu Pan Yang College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Anhui Institute of Information Technology Anhui Dar Intelligent Control System Stock Co. Ltd

Aiming at the problems of high coupling,parameter uncertainty and external environment interference in practical applications of six degrees of freedom manipulator,a control strategy based on improved active disturbance rejection control was ***,in order to improve the response speed of the system,the sliding mode control tracking differentiator(SMC-TD) is designed based on the synovial *** order to reduce the system jitter,the new sliding mode function is used to improve the sliding mode control law,which reduces the system jitter and improves the system response ***,the han function is constructed to realize the design of continuous smooth extended state observer,and the improved fractional extended state observer(FO-ESO) is designed in combination with fractional calculus,which enhances the anti-interference ability of the ***,combined with the traditional nonlinear error feedback control law(NLSEF),an improved active disturbance rejection controller was built,and different control strategies were used to compare the six degrees of freedom manipulator in the same *** experimental results show that the controller has good control effect and anti-disturbance robustness,which proves the effectiveness of the proposed method.

关键词： six degrees of freedom manipulator Sliding mode control Improved fractional ESO

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