检索结果-内蒙古大学图书馆

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhu, Xiaohan Bu, Ran Li, Zhen Xu, Fan Wang, Hesheng School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Automation China Artificial Intelligence Research Institute School of Information and Control Engineering China University of Mining and Technology China

ISBN: (纸本)9781665481090

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works). © 2024 IEEE.

关键词： Robotic surgery

来源：评论

学校读者我要写书评

暂无评论

Privacy-Preserving Average Consensus Algorithm Under Round-Robin Scheduling Protocol

引用

IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1705-1707页

作者： Yingjiang Guo Wenying Xu Haodong Wang Jianquan Lu Shengli Du the School of Mathematics Southeast UniversityNanjing 21189China the School of Electronic Information and Electrical Engineering Chengdu UniversityChengdu 610106Chengdu 610106China the School of Artificial Intelligence and Automation Beijing University of TechnologyBeijing 100124 the Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of EducationBeijing 100124China

Dear Editor,Over the past decades,cooperative control and distributed optimization have gained significant research attention due to their broad applications such as signal processing,robotics,and social networks[1],[2].As a fundamental component of distributed control and optimization,the issue of average consensus has become a recurring topic of interest[3],[4].

关键词： optimization Round Robin

来源：评论

学校读者我要写书评

暂无评论

Quality-Relevant Modeling and Monitoring of Industrial Cyber-Physical Systems: The Semi-Supervised Dynamic Latent Variable Models

IEEE Transactions on Industrial Cyber-Physical Systems

引用

IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 39-47页

作者： Zhou, Le Wang, Yaoxin Wu, Yuanqing He, Shenghuang Song, Zhihuan Zhejiang University of Science and Technology Department of Automation and Electrical Engineering Hangzhou310023 China Guangdong University of Technology Department of Automation Guangzhou510006 China Dongguan University of Technology Department of Computer Science and Technology Dongguan523808 China Ningbo Industrial Internet Institute Ningbo315012 China Zhejiang University Department of Control Science and Engineering Hangzhou310027 China

In modern industrial cyber-physical systems, a mass of process variables has been obtained by the high-sampling online sensors. Meanwhile, the key quality indexes are usually obtained infrequently from the laboratory. Hence, these quality variables are with low sampling rate. To avail of the complete process and quality variables with various sampling rates in the dynamic processes, a set of semi-supervised dynamic latent variable models are proposed for dynamic modeling and quality-relevant monitoring. The proposed models have built a unified structure to consider both the auto-correlations and cross-correlations between the process and quality variables with unbalanced sampling sizes. Hence, the feature extraction of the time series data is dynamically adjusted under the guidance of the quality variables. Then, the quality-relevant monitoring schemes are proposed, which is validated by a numerical case and an actual wastewater treatment process. © 2024 IEEE. All rights reserved.

关键词： Indexes Probabilistic logic Kalman filters Noise Cyber-physical systems Analytical models Parameter estimation Time series analysis Process monitoring Numerical models

来源：评论

学校读者我要写书评

暂无评论

Dynamic Quantized control of Fuzzy Semi-Markov Jump Systems With Fading Channels: An Improved Event-Triggered Mechanism

引用

IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3519-3531页

作者： Hu, Meng-Jie Park, Ju H. Cheng, Jun Wang, Yan-Wu China University of Mining and Technology School of Information and Control Engineering Xuzhou221116 China Yeungnam University Department of Electrical Engineering Gyeongsan38541 Korea Republic of Guangxi Normal University School of Mathematics and Statistics Guilin541006 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan430074 China

This article focuses on the dynamic quantized control for Takagi-Sugeno fuzzy semi-Markov jump systems (T-S FSMJSs) under fading channels and deception attacks, employing an improved event-triggered mechanism (ETM) strategy. Specifically, a more generalized semi-Markov process (SMP) that is governed by a higher-level deterministic switching signal (HLDSS) is addressed. A novel dynamic ETM is skillfully developed based on the information of quantization and two internal dynamic adjusting variables to further enhance the network bandwidth utilization. The dual asynchronous phenomenon between the plant and controller (asynchronous modes and mismatched premise variables) is addressed. This implies that the designed controller is not required to share the same membership functions and modes as the plant, establishing a more rational structure. The hidden semi-Markov model (HSMM) is attained to characterize the stochastic varying channel fading amplitudes. The Lyapunov function incorporating mode and fuzzy information is constructed to establish sufficient criteria ensuring the strictly dissipative performance and mean-square exponential stability (MSES) of the resulting closed-loop systems, and a new security fuzzy dual asynchronous controller is then developed. Finally, the efficacy and applicability of the results are demonstrated through numerical and practical examples. © 2025 IEEE.

关键词： Membership functions

来源：评论

学校读者我要写书评

暂无评论

Performance Evaluation of Axial-Flux Machine with Water-Cooling and Fractional-Slot Distributed-Winding 11

Performance Evaluation of Axial-Flux Machine with Water-Cool...

引用

11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Chen, Qixu Li, Guoli Qian, Zhe Sun, Zehui Wang, Qunjing Anhui University School of Electrical Engineering and Automation Hefei China Anhui University National Engineering Laboratory of Energy-Saving Motor and Control Technology Hefei China

ISBN: (纸本)9788957083505

The reduction of space harmonic in winding magnetic motive force (MMF) is important for axial-flux permanent magnet synchronous machine (AFPMSM). For the 12-slot/10-pole winding and 24-slot/10-pole winding, comparative analysis of winding MMF is finished with winding function method(WFM). Analysis results show that fractional-slot distributed-winding (FSDW) have much lower total harmonic distortion (THD) than that of fractional-slot concentrated-winding (FSCW). It is beneficial to reduce eddy-current loss in PMs. An AFPMSM prototype with a 24-slot/10-pole combination is manufactured and tested at no-load condition. No-load back-EMF wave is measured at 1000rpm and 3000rpm. Theory and experiment prove that AFPMSM with FSDW layout has a better balance between THD of winding MMF and THD of no-load back-EMF. © 2023 The Korean Institute of Power Electronics.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

Study on Inertia-Resistant Disturbance Speed control of Permanent Magnet Synchronous Motor Based on Exponential Integral Time-Varying Sliding Mode 2nd

Study on Inertia-Resistant Disturbance Speed Control of Perm...

引用

Conference Proceedings of 2022 2nd International Joint Conference on Energy, electrical and Power engineering

作者： Ni, Shilin Xie, Fang Wang, Houying School of Electrical Engineering and Automation Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei China

ISBN: (纸本)9789819943333

To enhance the dynamic performance of speed control when the moment of inertia changes during the operation of permanent magnet synchronous motor (PMSM), this paper investigates an anti-inertia disturbance method based on exponential integral time-varying sliding mode control (EITSMC). First, the paper analyzes the relationship between moment of inertia and motor speed using the mathematical analytical model of PMSM. Secondly, to track the change of the inertia moment immediately, the model reference adaptive system (MRAS) is applied to estimate the inertia change online and improve its tracking accuracy. Thirdly, To solve the issues of unstable motor speed under the sudden change of inertia, the sliding mode control method of exponential integration time variable is proposed, and the introduction of this method can not only better enhance the stability of motor speed, but also improve the fast performance of motor speed. Then, the identifiable moment of inertia is refreshed in real time to the exponentially integrated time-varying SMC, which realizes the adaptive speed control of the PMSM and satisfies the dynamic speed performance of the motor when the inertia changes. Eventually, the feasibility and effectiveness of the proposed method are verified by experiments. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Speed control

来源：评论

学校读者我要写书评

暂无评论

Torque Ripple Reduction of Permanent Magnet Synchronous Motor Based on Least Mean Square Algorithm 2nd

Torque Ripple Reduction of Permanent Magnet Synchronous Moto...

引用

Conference Proceedings of 2022 2nd International Joint Conference on Energy, electrical and Power engineering

作者： Shen, Mengyuan Xie, Fang Zhang, Wenyu Zhang, Jinqiang School of Electrical Engineering and Automation Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei China

ISBN: (纸本)9789819943333

Current harmonic is one of the main causes of torque ripple in permanent magnet synchronous motor PMSM). Considering this problem, an adaptive filter is designed based on least square algorithm (LSM). Firstly, in order to better analyze the problem, this paper establishes the mathematical model of current harmonics, and establishes the mathematical relationship between current harmonics and torque. Secondly, the principle of the adaptive algorithm and the influence of the convergence coefficient on the filter are analyzed. Thirdly, an adaptive filter for current loop LMS algorithm is designed in synchronous rotating coordinate system. Finally, an experimental platform for harmonic suppression of PMSM is built to verify the effectiveness and feasibility of this method through experimental comparison. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Adaptive filters

来源：评论

学校读者我要写书评

暂无评论

Research on Multi-operating control Strategy of Vehicle Motor Based on ALO 2nd

Research on Multi-operating Control Strategy of Vehicle Moto...

引用

Conference Proceedings of 2022 2nd International Joint Conference on Energy, electrical and Power engineering

作者： Zhang, Wenyu Xie, Fang Shen, Mengyuan Zhang, Jinqiang School of Electrical Engineering and Automation Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei China

ISBN: (纸本)9789819943333

This paper studies an optimized control method of Ant lion algorithm (ALO) to optimize the dynamic response of vehicle permanent magnet synchronous motor under different working conditions, and then to improve the robust adaptability of the control system to disturbances and parameter changes in the range of full speed. Firstly, according to the current and torque matching, the correlation between the torque and the DQ axis current is analyzed, and the influence of the change of the DQ axis current on the controller is explained. Then, according to different errors, the ant lion algorithm is adopted to improve the controller parameters. Finally, simulation is set up to compare the control performance of different approaches to verify the effectiveness of this approach. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

A Sensorless control Method for Low-voltage and High-current BLDC Based on Back-EMF 6

A Sensorless Control Method for Low-voltage and High-current...

引用

6th IEEE International electrical and Energy Conference, CIEEC 2023

作者： Li, Wei Cui, Zhiwei Guo, Yiyang Ding, Shichuan Anhui University National Engineering Laboratory of Energy-Saving Motor & Control Technology Hefei China School of Electrical Engineering and Automation Anhui University Hefei China

ISBN: (纸本)9798350346671

For the position sensorless drive system of low-voltage high-current brushless DC (BLDC) motor for oil pump, a three-stage start-up control strategy to improve the voltage at the back electromotive force terminal voltage is studied. The back-EMF detection circuit is built with sampling resistor and comparator. The logical relationship between the comparator output signal and the power device switch is determined. Pre-positioning is achieved by energizing any two phases in the inverter and controlling the winding current. The BLDC is steadily accelerated by increasing the commutation signal frequency of the driver. When the motor accelerates to the predetermined speed, it can accurately detect the back-EMF zero-crossing signal and switch to the self-synchronization operation state. The proposed method is verified by simulation and experiment, and the results show that the speed and current closed-loop sensorless PI control strategy has good performance. © 2023 IEEE.

关键词： Brushless DC motors

来源：评论

学校读者我要写书评

暂无评论

Active Disturbance Rejection control for Uncertain Nonlinear Systems With Sporadic Measurements

引用

IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 893-906页

作者： Kanghui He Chaoyang Dong Qing Wang School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Delft Center for System and Control Delft University of TechnologyDelftthe Netherlands IEEE School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade form consisting of a continuous time estimator,a continuous observation error predictor,and a reset *** proposed ESO estimates not only the system state but also the total uncertainty,which may include the effects of the external perturbation,the parametric uncertainty,and the unknown nonlinear *** a reset compensator,whose state is reset to zero whenever a new measurement arrives,is used to calibrate the *** to the cascade structure,the resulting error dynamics system is presented in a non-hybrid form,and accordingly,analyzed in a general sampled-data system *** on the output of the ESO,a continuous ADRC law is then *** convergence of the resulting closed-loop system is proved under given *** numerical simulations demonstrate the effectiveness of the proposed control method.

关键词： Active disturbance rejection control(ADRC) extended state observer(ESO) sampled measurements,uncertain nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：