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IEEE International Conference of Intelligent Robotic and control engineering (IRCE)

作者： Xiulian Wang Jinggao Lin Xi Jin Changqing Xia Chi Xu College of Automation and Electrical Engineering Shenyang Ligong University China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

With the rapid development of edge computing, industrial automation has evolved a two-layer distributed computing architecture, including local controllers communicating through wired networks and edge controllers communicating wirelessly. The edge controllers in existing studies use WIFI, which has a limited working distance and requires independent network deployment, so they are unsuitable for future large-scale complex industrial production. At present, 5G technology is undergoing rapid development in the field of industrial automation, with wide coverage and excellent mobility, gradually becoming suitable for future large-scale and complex industrial production scenarios. Therefore, this paper proposed an SW5G method based on 5G, which combined the local controller with the edge controller. The controllers were switched according to the constantly changing 5G network transmission delay, thereby optimizing the overall system control performance. Finally, simulation experiments demonstrated good control performance of SW5G in various network scenarios.

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Performance Evaluation and Comparative Study of Single and Two Stages Inverters Used in Grid-Connected Photovoltaic systems

Performance Evaluation and Comparative Study of Single and T...

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electrical engineering and Automatic control (ICEEAC), International Conference on

作者： Fayçal Hadj Mihoub Sidi Moussa Abdelkader Morsli Abdelhalim Tlemçani Hocine Belmili Hassan Nouri Electrical Engineering and Automation Research Laboratory (LREA) University of Medea Medea Algeria Solar Equipment Development Unit (UDES) Renewable Energy Development Center (CDER) Bou-Ismail Tipaza Algeria Department of Engineering Design and Mathematics Power Systems Electronics and Control Research Group Bristol U.K

ISBN: (数字)9798350349740

ISBN: (纸本)9798350349757

This comparative study between two topologies of three-phase grid-connected photovoltaic inverters, namely the single-stage inverter and the two-stage inverter, was modeled and simulated using Matlab Simulink. The control of the two-level inverter is by the synchronous reference frame method, and the tracker of the PV array power is by the incremental conductance MPPT algorithm. In this paper, performance analysis of PV grid-connected inverters based on the overall efficiency and harmonic distortion. The simulation results indicate satisfaction with the quality of the current and voltage inj ected into the electrical grid, where THD is according to the recommendations of the IEEE-519 standard, and both topologies are efficient, but the single-stage inverter performs better than the two-stage inverter.

关键词： Photovoltaic systems Total harmonic distortion Software packages Inverters Mathematical models Topology Voltage control

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IEEE Transactions on Instrumentation and Measurement 2024年 1-1页

作者： Wu, Jin Wang, Chaoqun Li, Chong Jiang, Yi Zhang, Chengxi Huang, Yulong Qi, Yuhua Xue, Bohuan Jiao, Jianhao Fan, Rui Zhang, Wei Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China School of Control Science and Engineering Shandong University Jinan China Department of Automation and Measurement Ocean University of China Qingdao China Department of Electrical Engineering City University of Hong Kong Hong Kong China School of Internet of Things Jiangnan University Wuxi China Department of Automation Harbin Engineering University Harbin China School of Systems Science and Engineering Sun Yat-Sen University China College of Electronics and Information Engineering Tongji University Shanghai China

Similarity transformation problems are important in robotic instrumentation and computer vision based measurements since in many cases the information of visually observed scene scale is unknown and must be restored for accurate 3-dimensional reconstruction. In existing solvers, the scale is often considered as a scalar, i.e., isotropic, which may be invalid for anisotropic-scale setups. This paper exploits some mathematical coincidences that will lead to efficient solution to these problems. Possible further applications also include hand-eye calibration and structure-from-motion. We revisit pose estimation problems within the framework of similarity transformation, the one that considers scale-stretching, rotation and translation simultaneously. Two major problems are taken into account, i.e., the scale-stretching point-cloud registration and perspective-n-points (PnP). It has been found out that these two problems are quite similar. Moreover, we solve the anisotropic-scale registration problem that is important and is a remaining unsolved one in previous literatures. To compute the globally optimal solution of these non-convex problems, algebraic solution is obtained to compute all local minima using computationally efficient methods. The designed algorithm is deployed for robotic-arm pose estimation. We also extend the algorithm for solving the problem of robust magnetometer calibration. Visual pose experiments verify the superiority of the proposed method compared with representatives, including P3P, Lambda-Twist P3P and EPnP, which can be reproduced by repository in https://***/zarathustr/APnP. IEEE

关键词： Calibration

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GPU-Accelerated Policy Optimization via Batch Automatic Differentiation of Gaussian Processes for Real-World control

arXiv

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arXiv 2022年

作者： Taheri, Abdolreza Pajarinen, Joni Ghabcheloo, Reza Faculty of Engineering and Natural Sciences Tampere University Finland Department of Electrical Engineering and Automation Aalto University Finland Intelligent Autonomous Systems TU Darmstadt Germany Control Systems R&D HIAB Sweden

The ability of Gaussian processes (GPs) to predict the behavior of dynamical systems as a more sample-efficient alternative to parametric models seems promising for real-world robotics research. However, the computational complexity of GPs has made policy search a highly time and memory consuming process that has not been able to scale to larger problems. In this work, we develop a policy optimization method by leveraging fast predictive sampling methods to process batches of trajectories in every forward pass, and compute gradient updates over policy parameters by automatic differentiation of Monte Carlo evaluations, all on GPU. We demonstrate the effectiveness of our approach in training policies on a set of reference-tracking control experiments with a heavy-duty machine. Benchmark results show a significant speedup over exact methods and showcase the scalability of our method to larger policy networks, longer horizons, and up to thousands of trajectories with a sublinear drop in speed. © 2022, CC BY-NC-ND.

关键词： Gaussian distribution

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controllability analysis of multi-agent systems with switching topology over finite fields

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Science China(Information Sciences) 2019年第1期62卷 80-94页

作者： Zehuan LU Lin ZHANG Long WANG School of Automation Science and Electrical Engineering Beihang University Center for Systems and Control College of Engineering Peking University

In this paper, we investigate the controllability problem of multi-agent systems with switching topology over finite fields. The multi-agent system is defined over finite fields, where agents process only values from a finite alphabet. Under leader-follower structure, one agent is selected as a leader for each subsystem. First, we prove that a multi-agent system with switching topology is controllable over a finite field if the graph of the subsystem is a spanning forest, and the size of the field is sufficiently large. Second,we show that, by appropriately selecting leaders, the multi-agent system with switching topology can be controllable over a finite field even if each of its subsystems is not controllable. Specifically, we show that the number of leaders for ensuring controllability of the switched multi-agent system is less than the minimum number of leaders for ensuring the controllability of all subsystems. Finally, it is proved that the multi-agent system is controllable over a finite field if the union of the graphs is a directed path graph or a star graph.

关键词： multi-agent systems leader-follower structure controllability finite fields switching topology

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GAS-LIQUID COUPLING ATTENUATOR ARRAY FOR FLUID PULSATION IN VARIABLE PRESSURE HYDRAULIC systems

GAS-LIQUID COUPLING ATTENUATOR ARRAY FOR FLUID PULSATION IN ...

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

作者： Yang, Haodong Xu, Yuanzhi Wang, Renyuan Liao, Jian Zhou, Fuming Yu, Shuai Zhang, Hongbo Jiao, Zongxia School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Key Laboratory of Advanced Airborne Systems Beihang University Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China Tianmushan Laboratory Hangzhou310023 China Institute of Vibration and Noise Naval University of Engineering Wuhan430033 China State Key Laboratory of Ship Vibration and Noise Wuhan430033 China Shanghai Hunter Hydraulic Control. Technology-Co. Ltd Shanghai201612 China CSSC-No. 704-Research-Institution Shanghai200031 China

The pressure pulsation of variable pressure hydraulic system has the characteristics of wide range and wide frequency band, aiming at the pressure pulsation suppression demand of this system, this paper proposes a wide-pressure and wide-frequency gas-liquid coupling attenuator array structure. This structure utilizes the gas-liquid coupling principle to absorb pulsation, achieving complete coverage of the system's variable pressure range in the time domain and broadening the optimal pulsation absorbing frequency band in the frequency domain through the simultaneous use of multiple attenuators pre-charged with different pressure gases. This paper analyses the principle of gas-liquid coupling for absorbing flow pulsation, establishes a mathematical model of the device, studies the frequency-domain impedance characteristics of the structure using the impedance method, and utilizes the simulation software AMESim to investigate the impact of the array structure on the pulsation attenuation capabilities in the time and frequency domains. The simulation results are analysed to verify the wide-pressure and wide-frequency characteristics of the proposed array structure. © The Institution of engineering & Technology 2024.

关键词： Frequency domain analysis

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Distributed Optimization with Finite Bit Adaptive Quantization for Efficient Communication and Precision Enhancement

Distributed Optimization with Finite Bit Adaptive Quantizati...

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IEEE Conference on Decision and control

作者： Apostolos I. Rikos Wei Jiang Themistoklis Charalambous Karl H. Johansson Artificial Intelligence Thrust of the Information Hub The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Department of Computer Science and Engineering The Hong Kong University of Science and Technology Clear Water Bay Hong Kong China Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Department of Electrical and Computer Engineering School of Engineering University of Cyprus Nicosia Cyprus Division of Decision and Control Systems KTH Royal Institute of Technology SE-100 44 Stockholm Sweden

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In realistic distributed optimization scenarios, individual nodes possess only partial information and communicate over bandwidth constrained channels. For this reason, the development of efficient distributed algorithms is essential. In our paper we addresses the challenge of unconstrained distributed optimization. In our scenario each node’s local function exhibits strong convexity with Lipschitz continuous gradients. The exchange of information between nodes occurs through 3-bit bandwidth-limited channels (i.e., nodes exchange messages represented by a only 3 -bits). Our proposed algorithm respects the network’s bandwidth constraints by leveraging zoom-in and zoom-out operations to adjust quantizer parameters dynamically. We show that during our algorithm’s operation nodes are able to converge to the exact optimal solution. Furthermore, we show that our algorithm achieves a linear convergence rate to the optimal solution. We conclude the paper with simulations that highlight our algorithm’s unique characteristics.

关键词： Adaptation models Quantization (signal) Heuristic algorithms Bandwidth Distributed algorithms Optimization Convergence

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Simulation and Analysis of Dynamic Stiffness of Electro-hydrostatic Actuators 9

Simulation and Analysis of Dynamic Stiffness of Electro-hydr...

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9th International Conference on Fluid Power and Mechatronics, FPM 2023

作者： Jiang, Chaofan Shang, Yaoxing Yu, Tian Li, Mingyang Wu, Shuai Liu, Zhicheng School of Automation Science and Electrical Engineering Beihang University Beijing China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Ningbo Institute of Technology Beihang University Ningbo China Tianmushan Laboratory Xixi Octagon City Yuhang District Hangzhou China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Research Institute for Frontier Science Beihang University Beijing China

ISBN: (纸本)9798350304947

With the development of multi-electrochemical aircraft, the application of electro-hydrostatic actuators(EHA) in aircraft actuator system is increasing. The dynamic stiffness of the actuator has a non-negligible effect on the fluttering characteristics of the rudder surface. So it is necessary to study the dynamic stiffness of EHA. In this research, a method for calculating the dynamic stiffness of EHA is proposed. The mathematical model of EHA is established. The bulk modulus of hydraulic oil affected by gas content and pressure is added to the model. Build the simulation model in Simulink. The dynamic stiffness of EHA is simulated in frequency domain. Analyze the simulation results. The EHA dynamic stiffness decreases with the increase of hydraulic oil gas content in the whole frequency range. The trough frequency of dynamic stiffness amplitude decreases with the increase of hydraulic oil gas content. The EHA dynamic stiffness decreases with the increase of pump leakage coefficient in low frequency band. Therefore, in order to improve the dynamic stiffness of EHA, the hydraulic oil gas content and the piston pump leakage coefficient should be reduced. © 2023 IEEE.

关键词： Elastic moduli

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Fault Localization and State Estimation of Power Grid under Parallel Cyber-Physical Attacks

arXiv

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arXiv 2025年

作者： Ren, Junhao Zhao, Kai Zhang, Guangxiao Liu, Xinghua Zhai, Chao Xiao, Gaoxi School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Institute of Catastrophe Risk Management Nanyang Technological University Singapore639798 Singapore Future Resilient Systems Singapore-ETH Centre Singapore138602 Singapore School of Electrical Engineering Xi’an University of Technology Xi’an710048 China Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Parallel cyber-physical attacks (PCPA) refer to those attacks on power grids by disturbing/cutting off physical transmission lines and meanwhile blocking transmission of measurement data to dwarf or delay the system protection and recovery actions. Such fierce hostile attacks impose critical threats to the modern power grids when there is a fusion of power grids and telecommunication technologies. In this paper, we investigate the fault diagnosis problem of faulty transmission lines under a broader spectrum of PCPA for a linearized (or DC) power flow model. The physical attack mechanism of PCPA includes not only disconnection but also admittance value modification on transmission lines, for example, by invading distributed flexible AC transmission system (D-FACTS). To tackle the problem, we first recover the information of voltage phase angles within the attacked area. Using the information of voltage phase angle and power injection of buses, a graph attention network-based fault localization (GAT-FL) algorithm is proposed to find the locations of the physical attacks. By capitalizing on the feature extraction capability of the GAT on graph data, the fault localization algorithm outperforms the existing results when under cyber attacks, e.g., denial of service (DoS) attacks. A line state identification algorithm is then developed to identify the states of the transmission lines within the attacked area. Specifically, the algorithm restores the power injection of buses within the attacked area and then identities the state of all the transmission lines within the attacked area by solving a linear programming (LP) problem. Experimental simulations are conducted on IEEE 30/118 bus standard test cases to demonstrate the effectiveness of the proposed fault diagnosis algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Cyber attacks

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Data-Driven Learning and control with Event-Triggered Measurements

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IEEE Transactions on Automatic control 2025年

作者： Feng, Shilun Shi, Dawei Chen, Tongwen Shi, Ling Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Kowloon Hong Kong

Event-triggered control has attracted considerable attention for its effectiveness in resource-restricted applications. To make event-triggered control as an end-to-end solution, a key issue is how to effectively learn unknown system dynamics from event-triggered measurements and consequently, develop a learning-based event-triggered controller. Existing works learn system dynamics based on periodic time-triggered measurements, and it is yet to know how to learn a controller with performance guarantee based on event-triggered measurements. To address this issue, we consider the problem of learning an event-triggered state feedback controller for an unknown linear system based on event-triggered state measurements in this work. In particular, we first analyze the event-triggered measurements within a set-membership framework. We prove that the estimation error belongs to a bounded ellipsoid determined by the historical measurements and the event-triggering condition. Subsequently, we demonstrate that all admissible systems compatible with the collected data samples can be explicitly represented in the form of quadratic matrix inequalities using the state estimates. With the acquired set of admissible systems, a co-design problem for the data-driven controller and event-triggering condition is solved using the linear matrix inequality technique, with guaranteed closed-loop stability and L2-gain performance. Finally, numerical examples and comparisons are provided to illustrate the effectiveness of the proposed event-triggered learning and control approach. © 1963-2012 IEEE.

关键词： Networked control systems

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