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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Ye, Jiahui Yang, Chunxi Zhang, Xiufeng Zhang, Jin Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Kunming650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment China Kunming University of Science and Technology Faculty of Information Engineering and Automation Kunming650504 China

ISBN: (纸本)9798350361674

Panax notoginseng is one of economic crop with significant medicinal value in southwest China. However, traditional extensive fertilization and irrigation method usually damages the soil, making it difficult to achieve sustainable cultivation of Panax notoginseng. In order to assess the growth status of Panax notoginseng and take timely action, this paper proposed an Informer-LSTM-EWMA model to predict the growth trend of Panax notoginseng in cultivation fields. In the experimental greenhouse, we set up two experimental fields A and B to verify the feasibility of the proposed method. Firstly, wavelet denoising is utilized on the date collected by the sensor. Then, Informer and Long short-term Memory (LSTM) are used to train the denoised data to obtain data prediction. Further process the predicted data through Exponential Weighted Moving Average (EWMA) for trend prediction. Finally, the early intervention time is obtained by searching for the maximum value. The results indicate that the model can predict early intervention time and its predictive performance is far better than that of a single model. © 2024 IEEE.

关键词： Prediction models

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Output Current Pulsation Reduction with Multi-coil Receiver in the Dynamic Wireless Charging Systems for Electric Vehicles 12

Output Current Pulsation Reduction with Multi-coil Receiver ...

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12th IEEE International Conference on control, automation and Information Sciences, ICCAIS 2023

作者： Hiep, Tran Duc Minh, Nguyen Huu Diep, Nguyen Thi Minh, Tran Trong Trung, Nguyen Kien Hanoi University of Science and Technology School of Electrical and Electronic Engineering Viet Nam Hanoi University of Industry Faculty of Electrical Engineering Viet Nam Electric Power University Faculty of Control and Automation Viet Nam

ISBN: (纸本)9798350328783

Dynamic wireless charging (DWC) systems for electric vehicles are an important solution for electric vehicles to be used more commonly in the future. However, when the electric vehicle is moving and charging in the DWC lane, the charging current is pulsated. This charging current pulse will affect the battery life. This paper proposes a multi-coil receiver structure to reduce the pulsation of the output current. The proposal has been verified by simulation and experimental results, the output current pulsation achieved is 3.1%. © 2023 IEEE.

关键词： Electric vehicles

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USDE-Based Task-Space Bilateral Teleoperator control Design with Time Delay 16th

USDE-Based Task-Space Bilateral Teleoperator Control Design ...

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16th International Conference on Modelling, Identification and control, ICMIC 2024

作者： Luo, Xin Ma, Jun Wang, Xian Na, Jing Xing, Yashan Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Kunming650500 China

ISBN: (纸本)9789819617760

In this paper, we present a control strategy for bilateral teleoperators operated in the task space, which is designed to estimate the uncertain dynamics. To implement this proposed strategy, we develop a straightforward yet robust unknown system dynamics estimator (USDE) by incorporating a low-pass filtering operation. By using the USDE, we can eliminate the impact of unmodeled system dynamics without the need to measure the acceleration signal. Furthermore, the proposed USDE offers the advantages of requiring only one tuning parameter and being easily adjustable compared to conventional estimators. The convergence of the estimation error associated with the unmodeled system dynamics and the stability of the closed-loop control system are both rigorously demonstrated through Lyapunov’s theorem. Ultimately, the superior performance of our method, as evidenced by enhancing motion synchronization and stability, is confirmed through simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Time delay

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Force-Based Pick-and-Place Along Curved Surfaces Exploiting Robot Repeatability 54

Force-Based Pick-and-Place Along Curved Surfaces Exploiting ...

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54th International Symposium on Robotics, ISR Europe 2022

作者： Reinhold, Jan Elsner, Lukas Meurer, Thomas Automation and Control Group Faculty of Engineering Kiel University Kaiserstraße 2 Kiel24143 Germany

ISBN: (纸本)9783800758920

Monotonous pick-and-place applications in manufacturing are often automated using robots. Depending on the quantity of units, the geometry of the construction, the know-how of the collaborating workers, and the possibility to use external sensors, different approaches are generally implemented. To achieve high accuracy, the in general teached or pose controlled systems must be calibrated or measured at great expense, which limits their flexibility. In this contribution, the placing of bushings or bolts that need to be welded along a curved surface is considered. An approach exploiting the robot’s repeatability to achieve high precision without the need for interference-prone external sensors for pose control is introduced, guaranteeing low setup costs. The introduced robot-assisted automation includes autonomous surface scanning, force-based sensing for surface unevenness, and pose adjustment to ensure that a relative alignment of the bushings or bolts to each other is fulfilled so that further components can be mounted to them. Since the robot performs both the detection and the setting by evaluating its direct kinematics at the same poses, the robot’s repeatability can be exploited, which is significantly more accurate than the absolute accuracy of robots that would have to be utilized if the poses were specified externally by the underlying CAD drawing, as it is usually done in the conventional approaches. The evaluation of the precise setting procedure is performed by using a standard industrial robot Stäubli TX2-90 with UNIVAL DRIVE combined with a force-torque sensor in a real experimental setup. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Robots

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Bearing fault signal detection based on whale algorithm to optimize stochastic resonance parameters 34

Bearing fault signal detection based on whale algorithm to o...

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第34届中国控制与决策会议

作者： Huang Weichao Zhang Ganggang Faculty of automation and Information Engineering Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781665478977

Aiming at the problem that the traditional stochastic resonance system cannot adaptively adjust the structural parameters in the bearing fault signal detection,this paper proposes a parameter adaptive stochastic resonance bearing fault signal detection method based on the whale optimization *** method is based on the bistable stochastic resonance system model,and the structural parameters of the bistable stochastic resonance are optimized through the adaptive whale algorithm,so that the fault signal is enhanced,and the bearing fault signal detection is *** method was verified by actual bearing fault signals,and a series of comparative experiments were carried *** results show that the method in this paper has a simple model,few algorithm parameters,fast convergence speed,and a large output signal-to-noise ratio of the stochastic resonance system,which can accurately and efficiently detect bearing fault signals.

关键词： Stochastic Resonance Whale Optimization Algorithm Bearing Failure Signal

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Speed Profile Optimization for Autonomous Electric Bus in Urban Area: Based on Service Route Parameter in Thailand

Speed Profile Optimization for Autonomous Electric Bus in Ur...

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2023 International Conference on Power, Energy and Innovations, ICPEI 2023

作者： Sakulphaisan, Guntinan Son-In, Sirirat Junhuathon, Nitikorn Muankhaw, Theerapol Pathumwan Institute of Technology Faculty of Science and Technology Industrial Technology and Innovation Management Bangkok Thailand Bansomdejchaopraya Rajabhat University Faculty of Engineering and Industrial Technology Electrical Engineering and Automation Control Systems Bangkok Thailand Rajamangala University of Technology Faculty of Engineering Department of Electrical Engineering Thanyaburi Pathumthani Thailand

ISBN: (纸本)9798350344585

This study conducts a comprehensive analysis of optimizing the speed profile of an AE-bus, a critical step in enhancing its operational efficiency. It encompasses three distinct case studies, each targeting specific objectives. The first case emphasizes energy consumption reduction, contributing to overall resource efficiency. The second focuses on eco-conscious speed profiles within predefined travel durations, balancing environmental sustainability and timeliness. The third case prioritizes travel time minimization for streamlined efficiency. Detailed insights into speed adjustments, bus positions, and energy consumption patterns are provided for each case. The findings reveal tailored approaches for energy conservation, speed, and travel time optimization. Additionally, emissions analysis demonstrates that electric buses significantly reduce CO2 emissions compared to conventional NGV buses, showcasing their potential for environmental benefits. © 2023 IEEE.

关键词： Electric buses

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Adaptive Prescribed-Time Neural control of Nonlinear Systems via Dynamic Surface Technique

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第10期5卷 4948-4958页

作者： Wang, Ping Yu, Chengpu Lv, Maolong Zhao, Zilong Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Air Force Engineering University College of Air Traffic Control and Navigation Xi'an710051 China Delft University of Technology Faculty of Electrical Engineering Mathematics and Computer Science Delft2628 CD Netherlands

The adaptive practical prescribed-time (PPT) neural control is studied for multiinput multioutput (MIMO) nonlinear systems with unknown nonlinear functions and unknown input gain matrices. Unlike existing PPT design schemes based on backstepping, this study proposes a novel PPT control framework using the dynamic surface control (DSC) approach. First, a novel nonlinear filter (NLF) with an adaptive parameter estimator and a piecewise function is constructed to effectively compensate for filter errors and facilitate prescribed-time convergence. Based on this, a unified DSC-based adaptive PPT control algorithm, augmented with a neural networks (NNs) approximator, is developed, where NNs are used to approximate unknown nonlinear system functions. This algorithm not only addresses the inherent computational complexity explosion associated with traditional backstepping methods but also reduces the constraints on filter design parameters compared to the DSC algorithm that relies on linear filters. The simulation showcases the effectiveness and superiority of the devised scheme by employing a two-degree-of-freedom robot manipulator. © 2024 IEEE.

关键词： Flexible manipulators

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Learning control laws in simulated environments for motion gestures of humanoid robots 24

Learning control laws in simulated environments for motion g...

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24th International Conference on control Systems and Computer Science, CSCS 2023

作者： Mateescu, Andrei Stefan, Ioana-Livia Popescu, Dragos Constantin Sacala, Ioan Stefan Raileanu, Silviu University Politehnica of Bucharest Automatic Control and Systems Engineering Faculty of Automatic Control and Computers Splaiul Independentei No. 313 Bucharest060042 Romania University Politehnica of Bucharest Automation and Industrial Informatics Faculty of Automatic Control and Computers Splaiul Independentei No. 313 Bucharest060042 Romania

ISBN: (纸本)9798350313390

This article presents a way to implement a collection of fitness moves on an iCub (Cognitive Universal Body) robot, whose objective is to act as a fitness instructor and interact with humans. Due to the advantages of a simulation medium, the robot is simulated in the Gazebo simulator, on The Construct online platform. The control is done using Robot Operating System (ROS) with PID controllers for the robot joints, with the proportional, integral and derivative parameters tuned using a Genetic Algorithm. The scripts for the collection of moves and the algorithm used to tune the PID controllers are written in Python. © 2023 IEEE.

关键词： Python

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Dynamic event-triggered fault-tolerant cooperative resilient tracking control with prescribed performance for UAVs

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Science China(Information Sciences) 2024年第8期67卷 67-84页

作者： Rong YUAN Zhengcai AN Shuyi SHAO Mou CHEN Mihai LUNGU College of Automation Engineering Nanjing University of Aeronautics and Astronautics Science and Technology on Electro-optic Control Laboratory Faculty of Electrical Engineering University of Craiova Aerospace Engineering Doctoral School University Politehnica of Bucharest

In this paper, a resilient tracking control scheme with cooperative collision avoidance performance is studied for the fixed-wing unmanned aerial vehicle(UAV) leader-follower formation in the presence of actuator failures and external disturbances. Firstly, based on the control objectives of UAV formation tracking and collision avoidance, the transformation tracking errors are obtained using the prescribed performance control technique. Next, a fault detection mechanism is introduced to determine if there is the actuator fault. Subsequently, the event-triggered resilient fault observers are designed based on a dynamic eventtriggered mechanism to estimate actuator faults. Furthermore, the prescribed performance functions and the H∞ performance index are employed to ensure the UAV formation collision-free and mitigate the impact of disturbances. Moreover, the resilient controller is designed to minimize the effect of the perturbations for the control gain and the fault observer gain on the system. The stability of the system is also proven through the Lyapunov stability analysis, and the controller gains are calculated by solving the linear matrix ***, the validity of the proposed control strategy is demonstrated by the simulation analysis.

关键词： UAV formation cooperative collision avoidance event-triggered fault observer prescribed performance resilient control

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Improvement of VMD and Compensation Distance for Rolling Bearing Fault Detection Methods 43

Improvement of VMD and Compensation Distance for Rolling Bea...

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43rd Chinese control Conference, CCC 2024

作者： Guo, Kai Xiong, Xin Ma, Jun Kunming University of Science and Technology Faculty of Information Engineering and Automation Kunming650500 China Kunming University of Science and Technology Key Laboratory of Intelligent Control and Application of Yunnan Province Kunming650500 China

ISBN: (纸本)9789887581581

To address the problem of varying detection performance and the lack of universal standards for early fault detection in rolling bearings, a method for early fault detection in rolling bearings based on an improved variational modal decomposition (IVMD) and compensation distance (CD) is proposed from the perspective of constructing performance degradation curves. Firstly, the number of modes K for variational mode decomposition (VMD) is adaptively determined using the estimated signal-to-noise ratio (eSNR) method. Secondly, the probability density function (PDF) distribution of the intrinsic mode function (IMF) obtained from the decomposition is calculated, and the compensation distance (CD) degradation evaluation index is constructed by integrating the inter-class and intra-class distances. Then, a sliding window is used to repair the false fluctuations in the CD degradation index based on linear regression equations and the 3 σ principle, resulting in a sensitive degradation index that accurately characterizes the rolling bearing degradation process Improved Compensation Distance (ICD). Finally, the Chebyshev inequality is used to establish the relationship between the healthy threshold and the ICD index, enabling early fault detection in rolling bearings. Comparative analysis of one set of experiments shows that the proposed method can accurately characterize the degradation process of rolling bearings and effectively detect early faults, providing a new solution for early fault diagnosis of bearings. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Probability density function

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