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Chinese automation Congress (CAC)

作者： Jiangyong Hu Xin Xin Yuhang Yan Zhiyu Peng Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study a ring gymnastic robot, which is a planar robot with three links moving in the vertical plane with only the last joint activated. First, we use the energy-based strategy to study the swing-up control task of the rings gymnastic robot, and obtain the sufficient and necessary condition for non-existence of singularities in the energy-based controller. Second, we derive the invariant set approached by the closed-loop system. Third, we propose an optimization algorithm to obtain the parameters of the energy-based controller to swing up the rings gymnastic robot into a close neighbourhood of a desired equilibrium point. Fourth, we check on the feasibility of the devised controller and parameter optimization algorithm through simulation.

关键词： automation Numerical models Closed loop systems Task analysis Robots Optimization

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Swing-Down Control of a Rings Gymnastic Robot

Swing-Down Control of a Rings Gymnastic Robot

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Chinese automation Congress (CAC)

作者： Zhijie Jin Xin Xin Zhiyu Peng Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study the swing-down control of a rings gymnastic robot, which is a 3-link planar robot moving in a vertical plane with only the last joint being actuated. The control objective is to swing the rings gymnastic robot from the DUU (Down–Up–Up) equilibrium point to the DDD (Down–Down– Down) equilibrium point and stabilize it around the latter. We present an SD (sinusoidal-derivative) controller, which is linear feedback of sinusoidal function of the angle of the actuated joint and linear feedback of its angular velocity. We analyze globally the motion of the rings gymnastic robot under the proposed controller, and provide a sufficient condition for achieving the control goal. We study how to find control gains to achieve an exerllent control performance, and verify the effectiveness of the proposed control via simulation.

关键词： Sufficient conditions automation Stability analysis Angular velocity Robots

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Cascade-Frequency Electric Drive: Structure, Control, Energy Saving, Mathematical Modeling 2

Cascade-Frequency Electric Drive: Structure, Control, Energy...

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2nd International Conference on Control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2020

作者： Shishlin, Denis Lipetsk State Technical University Automation and Computer Science Faculty Lipetsk Russia

ISBN: (纸本)9781728188409

The creation of energy-saving AC electric drives is an urgent task for the modern production. Most electric drives of general industrial mechanisms are equipped with asynchronous squirrel-cage motors, which are powered by frequency converters. At the same time, a number of production mechanisms are equipped with asynchronous motors with a phase rotor (cranes, ball mills, some types of conveyors and turbo-mechanisms). The beneficial use of slip energy and its return to the mains supply or to the stator circuit of the engine can increase the efficiency of the electrical installation. This is typical for circuits based on asynchronous valve cascades. As part of the modernization of electric drives, it seems appropriate to develop hybrid circuits based on frequency control circuits and cascade electric drive circuits, their control system. Mathematical modeling of electric drives of this type will allow analyzing the static and dynamic characteristics of the given modes of their operation. © 2020 IEEE.

关键词： Control systems

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Energy-based Control of Three-Link Planar Robot with Last Active Link

Energy-based Control of Three-Link Planar Robot with Last Ac...

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Chinese automation Congress (CAC)

作者： Yongjia Wang Xin Xin Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

This paper studies the energy-based control for a 3-link planar robot with last active link, for which the angle between the last link and the vertical is actuated. The swing-up and stabilizing task around the robot’s upright equilibrium point (UEP) is investigated. An energy-based controller is derived to control both its overall energy and actuated variable. By presenting a property of the robot that holds under arbitrary physical parameters, this paper proves that almost all initial states converge to an invariant set where the last link is upright and the robot’s overall energy equals its value at the UEP, providing certain requirements on control gains are satisfied. This paper provides simulation verification for the obtained theoretical results, in which a local stabilizing controller is utilized to accomplish stabilization at the UEP.

关键词： Analytical models automation Switches Control systems Trajectory Task analysis Robots

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Trajectory Planning and Tracking Control for the Pendubot

Trajectory Planning and Tracking Control for the Pendubot

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Chinese automation Congress (CAC)

作者： Bin Xu Xin Xin Yuhang Yan Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study the trajectory planning and tracking control for the Pendubot, which is a two-link robot has a single actuator at the base joint of the first link. We realize a fast swing-down control under the sinusoidal-derivative (SD) controller which introduces a damper and spring, and obtain a desired trajectory of the state and the control input by using the swing-down controller and the time-reversal method. To track such a trajectory, we derive the linearized time-varying model of the Pendubot around the trajectory, and design a linear state feedback control along with a feedforward term determined by the trajectory of the control input. We study several obtained trajectories and focus on two issues: 1) the linear controllability of the corresponding linearized time-varying model for each trajectory; 2) the sufficient condition in the literature for checking the stability of the tracking control of the linearized time-varying model. Through our numerical investigation, we find that we have to choose appropriate control gains of the SD controller to guarantee the linear controllability, and that the sufficient condition is difficult to be satisfied.

关键词： Sufficient conditions State feedback Trajectory planning Trajectory tracking Controllability Stability analysis Trajectory

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Balance Control for a Class of Underactuated Systems via Compensation Signals

Balance Control for a Class of Underactuated Systems via Com...

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Chinese automation Congress (CAC)

作者： Yue Li Xin Xin Yuhang Yan School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

As a typical underactuated experimental platform for robotics and control theory, the rotary inverted pendulum (RIP) system is nonlinear, multi-variable, and strongly coupled. We study the swing-up and balance control for the RIP system with system uncertainty. The classical energy-based swing-up control without compensation for the uncertainty and the signal compensation-based balance control are adopted. In the balance control, from the linearized state-space model near the upright equilibrium point (UEP) and the estimated discrete-time model, a signal compensation-based balance control is constructed to eliminate and suppress the system uncertainty. Simulation results verify the effectiveness of the controllers.

关键词： Uncertainty automation Simulation Control systems State-space methods Control theory Robots

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Strong stabilization of two-link underactuated planar robots

Strong stabilization of two-link underactuated planar robots

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Chinese automation Congress (CAC)

作者： Ziyu Wang Xin Xin Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Janpan

Strong stabilization refers to designing stable feedback controllers that stabilize a given plant. The second-order stable stabilizing controller design of two-link underactuated planar robots around their UEP (Upright Equilibrium Point) is concerned in this paper. The proposed method can obtain explicit transfer function of the controller by solving a set of inequalities, which is relatively more concise and the final set of stable controllers is larger than the existing results. Simulation results of both the Acrobot and the Pendubot are presented to verify the effectiveness and robustness of proposed stabilizing controllers.

关键词： automation Simulation Transfer functions Robustness Adaptive control Robots

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Code Converters Based on a Dynamic Optical RAM for Information System Facilities

Code Converters Based on a Dynamic Optical RAM for Informati...

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IEEE International Conference on Electronics and Nanotechnology (ELNANO)

作者： Andriy Semenov Serhii Tsyrulnyk Olena Semenova Anton Khloba Andrii Rudyk Serhii Baraban Faculty of Information Electronic Systems Vinnytsia National Technical University Vinnytsia Ukraine Department of Computer Science and Economic Cybernetics Vinnytsia National Agrarian University Vinnytsia Ukraine Department of Automation Electrical Engineering and Computer-Integrated Technologies National University of Water and Environmental Engineering Rivne Ukraine Faculty of Computing and Telecommunications Poznan University of Technology Poznan Poland

ISBN: (数字)9798350368178

ISBN: (纸本)9798350368185

In this paper, the authors propose a new dynamic optical RAM based on a fiber-optic line. This device significantly increases the speed of information flows by reducing the time required to operate the RAM by 10. The proposed optical RAM increases the productivity and efficiency of information exchange between slow and fast devices of information and communication systems without software costs, which reduces the probability of failure by two times with the same buffer memory capacity. The authors proposed variants of the practical application of the new dynamic optical RAM. On its basis, a shift register, a serial-to-parallel code converter, a parallel-to-serial code converter, and a TDM switch for information system facilities were created. The time characteristics of signals in code converters based on a dynamic optical RAM are presented.

关键词： Optical fibers Codes Optical switches Optical buffering Random access memory Time division multiplexing Shift registers Optical fiber devices High-speed optical techniques Information systems

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Adaptive outer synchronization between two delayed oscillator networks with cross couplings

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science China(Information sciences) 2020年第10期63卷 267-269页

作者： Jianbao ZHANG Ancai ZHANG Jinde CAO Jianlong QIU Fuad E.ALSAADI School of Automation Southeast University School of Information Science and Engineering Linyi University Department of Electrical and Computer Engineering Faculty of EngineeringKing Abdulaziz University

Dear editor,Chaos synchronization is a typical kind of collective behaviors induced by external control or mutual couplings between chaotic nodes [1].During the past decades,increasing interest has been devoted to study the interplay between network topology and chaos synchronization [1,2].Many types of synchronization phenomena have been proposed such as complete synchronization,cluster synchronization [3],and outer synchroni-

关键词： Adaptive control Complex networks Lyapunov method Outer synchronization Cross coupling

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The Prediction of COVID-19 Pandemic Situation in Indonesia Using SVR and SIR Algorithm

The Prediction of COVID-19 Pandemic Situation in Indonesia U...

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International Conference on Information Technology, Information Systems and Electrical Engineering (ICITISEE)

作者： Ainul Yaqin Majid Rahardi Ferian Fauzi Abdulloh Kusnawi Slamet Budiprayitno Siti Fatonah Faculty of Computer Science Universitas Amikom Yogyakarta Yogyakarta Indonesia Department of Electrical and Automation Engineering Vocational Faculty Institut Teknologi Sepuluh Nopember Surabaya Indonesia

The COVID-19 epidemic, which initially surfaced at the end of 2019, has since expanded to every corner of the globe and has profoundly impacted all facets of human existence. This case started to emerge in Indonesia at the end of February 2020, and until this point, there has been a spike in new patients. Researchers have run several models and projections for COVID-19 cases in Indonesia, but the results are not yet entirely reliable. Predictions produced at the national level must take into account these variations in patterns because this is likely related to the distinct patterns in each region. In this study, the prediction process will be conducted for cases of COVID-19 by using the SVR algorithm and mathematical models to predict reproduction numbers. SVR analysis to overcome the problem of nonlinearity of data in model formation. The modeling is done based on the SIR model, whose parameters are estimated based on the data. Testing result by using 3 kernels is different on each test, prediction of data cases and the level of mistake room are by using Kernel ’ RBF ‘ with a value of C = 1E3, and gamma = 0.1 with the value of MAPE and MSE respectively are 4.5% and 4.2.

关键词： COVID-19 Analytical models Sociology Prediction algorithms Mathematical models Data models Kernel

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