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2022 Chinese automation Congress, CAC 2022

作者： Wen, Jie Wu, Jikuo Tian, Yukai North University of China Department of Automation Taiyuan China North University of China School of Electrical and Control Engineering Taiyuan China

ISBN: (纸本)9781665465335

We address the levitation control of the single-point levitation system for maglev train by using the cascade control strategy in this paper. The levitation system is divided into two subsystems, i.e., electromagnetic system and motion system. In order to stabilize the levitation system more faster and roust, we design the sliding mode controller and fuzzy Proportional Integral Derivative (PID) controller, which constitute the cascade control, to control the electromagnetic system and motion system, respectively. The effectiveness and robustness of the cascade control are also verified in the numerical simulations. © 2022 IEEE.

关键词： Sliding mode control

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Adapted Mapping Estimator in Visual Servoing control for Model-Free Robotics Manipulator 16th

Adapted Mapping Estimator in Visual Servoing Control for Mod...

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Tian, Jun Zhong, Xungao Luo, Jiaguo Peng, Xiafu School of Aerospace Engineering Xiamen University Xiamen361005 China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen361024 China

ISBN: (纸本)9789819964857

This paper presents a model-free approach to visual servoing control of a robotic manipulator operated in unknown environments. A mapping estimator with the learning network is applied to visual servoing control of model-free robotic manipulator, which can online estimate the vision-motor relationship in a stochastic environment without knowledge of noise statistics. The dynamic mapping identification problems are solved by incorporating the improved Kalman filtering (KF) and network learning techniques, moreover, an observation correlation updating method is used to estimate the variance of the noises via online learning. Various grasping positioning experiments are conducted to verify the proposed approach by using an eye-in-hand robotic manipulator without calibration. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Mapping

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DR-Informed-RRT* Algorithm: Efficient Path Planning for Quadruped Robots in Complex Environments 16th

DR-Informed-RRT* Algorithm: Efficient Path Planning for Quad...

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Jiang, Haoyu Zhou, Qiao Zhang, Yulong Zhong, Xungao Zhong, Xunyu School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China School of Aerospace Engineering Xiamen University Xiamen361005 China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen361024 China

ISBN: (纸本)9789819965007

Quadruped robotics system possesses superior trafficability. However, path planning for these robots in complex environments continues to present challenges. We propose a DR-Informed-RRT* (Dual-attached and reconstructed informed-RRT*) algorithm to address issues such as poor search optimality, low sampling efficiency, and excessive planning time. The path planning process is divided into two parts: initial path generation and path optimization. In the initial path generation phase, a dual sampling point approach with multiple sampling probabilities is employed to sample random points, reducing the number of futile node expansions and providing directionality to the growth of the random tree, thereby improving the algorithm’s efficiency. Furthermore, the reconstruction of parent nodes and the elimination of redundant nodes are incorporated in the path optimization phase, introducing different types of parent nodes to optimize the path and reducing redundancy in the planned path. Our algorithm showed promising performance in simulations and successfully validated its feasibility on a quadruped robot. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Motion planning

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BiGAIL: Learning Intention-based Driving Policy from Multi-task Demonstrations

BiGAIL: Learning Intention-based Driving Policy from Multi-t...

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2022 Chinese automation Congress, CAC 2022

作者： Huang, Lin Wu, Huai-Ning Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beijing100191 China Peng Cheng Laboratory Shenzhen518000 China

ISBN: (纸本)9781665465335

With the rapid development of traffic intelligence, autonomous driving technology has gradually attracted the interests of researchers. Behavioral decision-making is one of the most important parts of autonomous driving system (ADS). As a common solution, imitation learning (IL) provides a more natural and intuitive way of learning through the prior knowledge of experts. Generative adversarial imitation learning(GAIL), which is a branch of IL, is often used to learn the driving policy because of its robustness and capacity of handling large-scale problems. However, modal collapse caused by GAIL may make the generated policies lack diversity resulting in the failure of multi-task learning. In the paper, we propose an algorithm named as bidirectional generative adversarial imitation learning (BiGAIL) that allows the agent to learn the map between task intentions and driving policies, so as to achieve the goal of learning intention-based driving policy. Through simulation verification, the agent trained with BiGAIL is able to select the appropriate policy based on the current environment and learn different driving policies from multi-task demonstrations. © 2022 IEEE.

关键词： Demonstrations

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Distributed Nash equilibrium for pursuit-evasion game with one evader and multiple pursuers

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Science China(Information Sciences) 2025年

作者： Libing WANG Zhixin LIU Shuo YUAN Zhiqiang PU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Wayne State University Institute of Automation Chinese Academy of Sciences

This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers have different objectives based on whether they can receive the information of the evader. The subgroup of pursuers who can observe the evader(called leaders) tries to be close to the evader, and the other subgroup of pursuers(called followers) tries to synchronize with their neighbors. When the subgraph formed by all leaders is complete, sufficient conditions are given to guarantee that the pursuers capture the evader and the pursuit-evasion game composed of the evader and leaders reaches Nash equilibrium. Furthermore, for the incomplete subgraph case, the distributed observers are proposed to estimate the relative positions between the evader and all leaders. It is shown that the distributed control strategy based on the observers converges exponentially to the Nash equilibrium solution, and makes the pursuers capture the evader. Finally, simulation examples are provided to verify the effectiveness of the proposed strategies.

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Small-Signal Stability Analysis of Flux-controlled Grid-Forming DFIG Under Symmetrical Fault

Small-Signal Stability Analysis of Flux-Controlled Grid-Form...

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International Conference of electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Li, Weibing Wang, Wenhe Hu, Yufei Li, Junxian Hua, Xiaojun Jiang, Dingguo Huang, Meng Tian, Zhen Laboratory of Hydro-Wind-Solar Multi-Energy Control Coordination Wuhan430014 China School of Electrical Engineering and Automation Wuhan University Wuhan430072 China Institute of Science and Technology China Three Gorges Corporation Beijing100038 China

ISBN: (纸本)9789819620791

Due to the dislocation distribution of wind resources and load centers in China, large-scale wind power stations usually need long-distance transmission to connect with the load center, which leads to the weakening of the power grid strength at the access point of wind power stations and frequent short-circuit faults. In this paper, a small signal state space model of flux-controlled grid-forming DFIG grid-connected system is constructed for the continuous condition of symmetrical fault in weak grid scenario, and the oscillation mode analysis of the system is carried out. Based on the fault ride-through requirements and electromagnetic equations of wind turbines, the calculation method of the balanced operating point of DFIG during symmetrical fault duration is derived. Then, based on the system characteristic root trajectory and the participation factor matrix, the small-disturbance stability of the system under different fault conditions and converter control parameters is analyzed, and the influence of each dynamic link on the small-disturbance stability of the system is explored. Finally, the accuracy of the theoretical analysis results in this paper is verified by simulation analysis and comparison, which provides guidance for parameter optimization of DFIG during fault duration. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Wind turbines

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DYNAMIC COUPLING ANALYSIS OF OIL FILM IN SLIPPER PAIR OF AXIAL PISTON PUMP

DYNAMIC COUPLING ANALYSIS OF OIL FILM IN SLIPPER PAIR OF AXI...

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Zhang, Yunhao Chen, Rentong Zhang, Chao Wangia, Shaoping Han, Hailiang School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China AVIC Xi'an Flight Automatic Control Research Institute Xi'an710065 China

In this paper, the dynamic coupling characteristics of the oil film of the slipper pair of the axial piston pump are analysed to achieve optimize the performance of the pump and prolong its *** oil chamber pressure model of the slipper is first established to obtain the boundary conditions of the lubricated surface of the slippers. Then the multi-field coupling model is established based on Reynolds *** finite difference and Newton-Raphson methods were utilized to simulate the fluctuating oil film thickness. The findings indicate that the oil film's temperature peaks under high pressure and dips under low pressure, with a more pronounced tilt in the latter. These numerical insights shed light on the complex interactions within the slipper pair's oil film dynamics. © The Institution of engineering & Technology 2024.

关键词： Newton-Raphson method

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Maritime Target Saliency Detection for UAV Based on Raptor Vision Perception Enhancement Mechanism

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IEEE Aerospace and Electronic Systems Magazine 2025年

作者： Liu, Yuhang Wei, Chen Duan, Haibin Deng, Yimin Beihang University National Key Laboratory of Aircraft Integrated Flight Control School of Automation Science and Electrical Engineering Beijing100083 China

Inspired by the enhanced perception mechanism of raptor vision in various hunting environments, we propose a biological raptor vision perception enhancement algorithm for Unmanned Aerial Vehicles (UAVs) to detect medium-distance maritime targets in complex and dynamic ocean environments. Firstly, we summarize the various perception enhancement capabilities based on the physiological structure and functional characteristics of the raptor visual system. Secondly, we establish mathematical models for light perception enhancement, foreground perception enhancement, contrast perception enhancement, and perception balance based on the raptor vision's enhanced perception mechanism. Finally, our proposed biological raptor vision perception enhancement method is experimentally tested in different scenarios and compared with seven other algorithms. The results of the comparative experiments and relevant evaluation indicators show that the algorithm effectively retains the feature information of maritime targets while suppressing interference from the environmental background. This maritime target saliency detection algorithm can be applied to the vision system of sea UAVs, providing a feasible solution for the medium-distance recovery of UAVs in complex and dynamic ocean environments. © 1986-2012 IEEE.

关键词： Aircraft detection

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Learning Probabilistic Coordinate Fields for Robust Correspondences

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2023年第10期45卷 12004-12021页

作者： Zhao, Weiyue Lu, Hao Ye, Xinyi Cao, Zhiguo Li, Xin Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Wuhan430074 China West Virginia University The Lane Department of Computer Science and Electrical Engineering MorgantownWV26506-6109 United States

We introduce Probabilistic Coordinate Fields (PCFs), a novel geometric-invariant coordinate representation for image correspondence problems. In contrast to standard Cartesian coordinates, PCFs encode coordinates in correspondence-specific barycentric coordinate systems (BCS) with affine invariance. To know when and where to trust the encoded coordinates, we implement PCFs in a probabilistic network termed PCF-Net, which parameterizes the distribution of coordinate fields as Gaussian mixture models. By jointly optimizing coordinate fields and their confidence conditioned on dense flows, PCF-Net can work with various feature descriptors when quantifying the reliability of PCFs by confidence maps. An interesting observation of this work is that the learned confidence map converges to geometrically coherent and semantically consistent regions, which facilitates robust coordinate representation. By delivering the confident coordinates to keypoint/feature descriptors, we show that PCF-Net can be used as a plug-in to existing correspondence-dependent approaches. Extensive experiments on both indoor and outdoor datasets suggest that accurate geometric invariant coordinates help to achieve the state of the art in several correspondence problems, such as sparse feature matching, dense image registration, camera pose estimation, and consistency filtering. Further, the interpretable confidence map predicted by PCF-Net can also be leveraged to other novel applications from texture transfer to multi-homography classification. © 1979-2012 IEEE.

关键词： Image registration

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Low-Frequency Damping Analysis of Flux-controlled Grid-Forming DFIG

Low-Frequency Damping Analysis of Flux-Controlled Grid-Formi...

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International Conference of electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Hu, Yufei Li, Weibing Deng, Youhan Jiang, Dingguo Huang, Meng Tian, Zhen Laboratory of Hydro-Wind-Solar Multi-Energy Control Coordination Wuhan430014 China School of Electrical Engineering and Automation Wuhan University Wuhan430072 China Institute of Science and Technology China Three Gorges Corporation Beijing100038 China

ISBN: (纸本)9789819620791

To improve the small-signal stability of system, the damping torque model of flux-controlled grid-forming DFIG is constructed based on the small-signal model. And the low-frequency damping characteristics of system are analyzed by adopting the complex torque coefficient method. Then, analogous to the principle of PSS, a low-frequency oscillation damping method is proposed, which can efficiently optimize the low-frequency damping characteristics of system. Finally, based on the simulation results, the accuracy of theoretical analysis results and the effectiveness of proposed method are verified. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Damping

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