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Controllability of heterogeneous networked sampled-data systems

Science China(Information Sciences) 2025年第3期68卷 302-318页

作者： Zixuan YANG Lin WANG Xiaofan WANG Guanrong CHEN Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China School of Mechatronic Engineering and Automation Shanghai University School of Electrical and Electronic Engineering Shanghai Institute of Technology Department of Electrical Engineering City University of Hong Kong

This study investigates the controllability of a general heterogeneous networked sampled-data system(HNSS) consisting of nonidentical node systems, where the inner coupling between any pair of nodes can be described by a unique *** signals on control and transmission channels are sampled and held by zero-order holders, and the control sampling period of each node can be different. Necessary and sufficient controllability conditions are developed for the general HNSS, using the Smith normal form and matrix equations, respectively. The HNSS in specific topology or dynamic settings is discussed subsequently with easier-to-verify conditions derived. These heterogeneous factors have been determined to independently or jointly affect the controllability of networked sampled-data systems. Notably, heterogeneous sampling periods have the potential to enhance the overall controllability, but not for systems with some special dynamics. When the node dynamics are heterogeneous,the overall system can be controllable even if it is topologically uncontrollable. In addition, in several typical heterogeneous sampled-data multi-agent systems, pathological sampling of single-node systems will necessarily cause overall uncontrollability.

关键词： network controllability sampled-data system heterogeneous system inner coupling multi-agent system

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A Constant Switching Frequency Real-Time Digital Control for ZVS Four-Switch-Buck-Boost Converter

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IEEE Transactions on Power Electronics 2025年第7期40卷 9649-9659页

作者： Yang, Fei Guo, Wenyu Zheng, Donglian Ruan, Xinbo Yao, Kai Gu, Ling Nanjing University of Science and Technology School of Automation Nanjing210094 China Nanjing University of Aeronautics and Astronautics Center for More-Electrical-Aircraft Power System College of Automation Engineering Nanjing211106 China

In this article, a constant switching frequency real-time digital control scheme is proposed for the four-switch buck-boost converter. With this control scheme, all the power switches can realize zero-voltage-switching, and the ripple and root-mean-square value of the inductor current can be minimized in the whole voltage and load ranges. Since all the control variables in any operation mode are obtained in real-time with one closed-loop PI controller and simple calculations, the inductor current in each switching cycle is optimized, and smooth operation mode transition and high dynamic response in the step change of load or input voltage is achieved. The effectiveness of the proposed control scheme is verified with a 300 W prototype. © 1986-2012 IEEE.

关键词： Buck converter

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Differential Protection Method of Stator and Rotor Current with Different Frequencies for Variable Speed Pumped Storage Units

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IEEE Transactions on Power Delivery 2025年第3期40卷 1531-1539页

作者： Qiao, Jian Yu, Haoyuan Wang, Yikai Wang, Kai Yin, Xin Chen, Linxu State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Baoding China Wuhan University of Technology School of Automation Wuhan China

Rotor winding short-circuit fault (RWSF) is a common fault type of variable speed pumped storage unit (VSPSU). However, the RWSF protection in engineering typically depends on the integrated over-current protection of the AC excitation system, which has poor sensitivity to reflect the RWSF and makes it difficult to fulfill the requirements of safe operation of VSPSU. Inspired by transformer differential protection, a different frequency differential protection method using both stator and rotor phase currents is proposed. In terms of working principle and structure, the stator and rotor windings of the VSPSU are similar to the primary and secondary windings of the transformer, and there are conditions for differential protection. Furthermore, the Clark transformation is used to analyze the characteristic changes of stator and rotor currents after the RWSF. On this basis, the criterion form of different frequency differential protection is constructed based on the trapezoidal area method. Finally, the effectiveness of the proposed method is verified by dynamic simulation experiments. © 1986-2012 IEEE.

关键词： Stators

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Full-Range Non-Resonant PWM Zero-Voltage-Switching Power Converters With Minimized Inductor Current Ripple

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年第2期13卷 2014-2026页

作者： Liu, Fei Ruan, Xinbo Yao, Kai Gu, Ling Yang, Fei Tse, Chi K. Nanjing University of Aeronautics and Astronautics Center for More-Electrical-Aircraft Power System College of Automation Engineering Nanjing211106 China Nanjing University of Science and Technology School of Automation Nanjing210094 China City University of Hong Kong Department of Electrical Engineering Hong Kong

Soft-switching techniques can greatly reduce the switching loss, thus improving the efficiency, power density, and reliability of power converters. Focusing on the non-resonant pulsewidth modulation (PWM) converters, this article proposes a novel approach to realize zero-voltage-switching (ZVS) with constant frequency in the full operation range while minimizing the current ripple. First, the basic quadrilateral current modulation unit (QCMU) is proposed, where an inductor is spanned across the midpoint of two half-bridge legs, so that the inductor current is shaped as quadrilateral with its minimum value constant. Based on that, a family of full-range non-resonant PWM ZVS converters, including dc-dc, dc-ac, and ac-dc converters, is generated. Then, the optimal operating mode and control scheme based on the combined PWM and phase-shift control for the proposed ZVS converters are presented. Experimental results of dc-dc converter, and simulation results of dc-ac inverter and ac-dc rectifier as an extension, are provided to verify the effectiveness of the proposed non-resonant PWM ZVS converters. © 2013 IEEE.

关键词： Resonant converters

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Enhanced Tube-Based Event-Triggered Stochastic Model Predictive Control With Additive Uncertainties

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 596-605页

作者： Chenxi Gu Xinli Wang Kang Li Xiaohong Yin Shaoyuan Li Lei Wang the School of Control Science and Engineering Shandong University IEEE the School of Electronic and Electrical Engineering University of Leeds the Qingdao University of Science and Technology the Department of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China

This paper proposes an event-triggered stochastic model predictive control for discrete-time linear time-invariant(LTI) systems under additive stochastic disturbances. It first constructs a probabilistic invariant set and a probabilistic reachable set based on the priori knowledge of system *** with enhanced robust tubes, the chance constraints are then formulated into a deterministic form. To alleviate the online computational burden, a novel event-triggered stochastic model predictive control is developed, where the triggering condition is designed based on the past and future optimal trajectory tracking errors in order to achieve a good trade-off between system resource utilization and control performance. Two triggering parameters σ and γ are used to adjust the frequency of solving the optimization problem. The probabilistic feasibility and stability of the system under the event-triggered mechanism are also examined. Finally, numerical studies on the control of a heating, ventilation, and air conditioning(HVAC) system confirm the efficacy of the proposed control.

关键词： Event-triggered mechanism heating, ventilation, and air conditioning (HVAC) control probabilistic reachable set stochastic model predictive control

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Study on Multi-Motor Synchronization Control for Nuclear Island Main Equipment Transporter Based on Improved Virtual Line-Shafting Structure 11th

Study on Multi-Motor Synchronization Control for Nuclear Isl...

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11th Frontier Academic Forum of electrical Engineering, FAFEE 2024

作者： Sheng, Beining Song, Beibei An, Yanbo Du, Hua Cui, Shumei School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

ISBN: (纸本)9789819788231

The existing drive method of the main equipment transporter of the nuclear island makes the transporter have frequent jamming problems when the transporter going straight and turning, which affects the safety during the transporter of the main equipment. Therefore, it is necessary to design an on-board multi-motor synchronous system with differential synchronization function. Although the traditional virtual line-shafting structure has the ability of same-speed synchronization and differential synchronization, there is a large synchronization error. For this reason, this paper proposes a multi-motor synchronous control method based on the improved virtual line-shafting structure, which can effectively solve the inherent synchronous delay problem of the virtual line-shafting. First, analyze and research the combination method of virtual line-shafting structure and deviation coupling structure, and designs the electronic differential to be able to adapt to the requirements of same-speed and differential synchronization. Then the influence of virtual line-shafting parameters on the system is analyzed using the root locus method, and a simplified parameter model of the virtual line-shafting is established, on the basis of which an improved virtual line-shafting control method with low synchronous delay is proposed. The results show that this method can significantly reduce the synchronization error compared with the traditional virtual line-shafting. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Root loci

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Relative Localizability and Localization for Multirobot systems

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IEEE Transactions on Robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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Cataract Surgical Instruments Segmentation Free of Motion Blur Influence 24

Cataract Surgical Instruments Segmentation Free of Motion Bl...

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13th International Conference on Bioinformatics and Biomedical Science, ICBBS 2024

作者： Sun, Xuebin Wang, Jinxi Yang, Xiaofei School of Electrical Automation and Information Engineering Tianjin University Tianjin China Department of Aerospace Laser Technology and System Shanghai Institute of Optics and Fine Mechanics Shanghai China

ISBN: (纸本)9798400717956

Most of the existing cataract surgical instrument segmentation algorithms fail to consider the motion blur caused by the surgeon's hand movement or defocused camera. Most prior deblurring methods are oriented to visual tasks to merely recover the structure information from motion-blurred images. However, during surgical instrument segmentation, it is important to obtain the exact location of the surgical instruments at the current time to pave the way for subsequent downstream tasks, such as tracking and position estimation. In this work, we propose a spatiotemporal (ST) information-based network, consisting of the deblurring module and a subsequent segmentation module, for cataract surgical instrument segmentation free of motion blur influence to address the missing gap in the existing literature. The ST recurrent network with a series of ST-LSTM and gradient highway units removes the motion blur, which then enables for accurate semantic segmentation. The ST network model subsequently captures the temporal and spatial correlation for semantic segmentation. Experimental results quantitatively and qualitatively demonstrate that our method outperforms the state-of-the-art on our self-constructed dataset and the CaDIS benchmark dataset. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Semantic Segmentation

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High-Misalignment Tolerance WPT system for UAV by Symmetric Rotating Magnetic Field 26

High-Misalignment Tolerance WPT System for UAV by Symmetric ...

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26th International Conference on Industrial technology, ICIT 2025

作者： Yang, Fengshuo Lan, Yu Zhang, Qingxuan Xiong, Mingxing Jiang, Jinhai Song, Kai Wang, Xudong Xu, Wanli School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Institute of System Engineering Academy of Military Science Beijing China

ISBN: (纸本)9798331521950

This paper proposes an novel solenoid magnetic coupler for omnidirectional wireless charging of unmanned aerial vehicles (UAVs). The magnetic coupler features asymmetry compensation, a compact structure, high rotational and misalignment tolerance, and low magnetic leakage interference. The transmitting coils consist of three groups of solenoid coils, each comprising a large coil and a small coil connected in series. The small coil compensates for the uneven coupling caused by axial misalignment of the UAV. The excitation current phase difference of 120° in each transmitter coil group generates rotating magnetic field. The transmitting coils primarily produce horizontal magnetic fields with minimal vertical components, significantly reducing electromagnetic interference with UAV equipment. Two groups of receiving solenoid coils are conformally installed on the UAV landing gear. The topology, where each group of receiving coils is rectified and then connected in series, compensates for the uneven coupling caused by radial misalignment. Simulation results indicate that the system maintains a stable received power of 379W-477W under angular offsets of 0-360° and positional offsets of ±60mm, demonstrating excellent misalignment tolerance. © 2025 IEEE.

关键词： Drones

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