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Output-Feedback Adaptive Neural Network control for Uncertain Nonsmooth Nonlinear Systems With Input Deadzone and Saturation

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IEEE Transactions on Cybernetics 2023年第9期53卷 5957-5969页

作者： Zong, Guangdeng Xu, Qian Zhao, Xudong Su, Shun-Feng Song, Limei Tiangong University School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Tiangong University School of Control Science and Engineering Tianjin300387 China Qufu Normal University School of Engineering Rizhao276826 China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian116024 China National Taiwan University of Science and Technology Department of Electrical Engineering Taipei106 Taiwan

Nonsmooth nonlinear systems can model many practical processes with discontinuous property and are difficult to be stabilized by classical control methods like smooth nonlinear systems. This article considers the output-feedback adaptive neural network (NN) control problem for nonsmooth nonlinear systems with input deadzone and saturation. First, the nonsmooth input deadzone and saturation is converted to a smooth function of affine form with bounded estimation error by means of the mean-value theorem. Second, with the help of approximation theorem and Filippov's differential inclusion theory, the given nonsmooth system is converted to an equivalent smooth system model. Then, by introducing a proper logarithmic barrier Lyapunov function (BLF), an output-feedback adaptive NN strategy is set up by constructing an appropriate observer and adopting the adaptive backstepping technique. A new stability criterion is established to guarantee that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB). Finally, comparative simulations through Chua's oscillator are offered to verify the effectiveness of the proposed control algorithm. © 2013 IEEE.

关键词： Stability criteria

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Pursuit-Evasion Game of Multiple Pursuers and Evaders with intelligent Cooperation and Obstacle Avoidance in a Complex Environment 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Chen, Maoxing Yang, Chunxi Zhang, Xiufeng Li, Gengen Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming China

ISBN: (数字)9789819733248

ISBN: (纸本)9789819733231

To address the problem of multiplayer pursuit-evasion games in complex environments, a pursuit strategy based on artificial potential field (APF) and Apollonius circles is proposed. Firstly, the scenario of the pursuit is described. Simultaneously, the allocation problem is solved by use the allocation algorithm based on Apollonius circle. Subsequently, the APF method is employed to achieve the collaborative collision avoidance and obstacle avoidance among USVs, and the corresponding strategies for both the pursuers and evaders were presented. Finally, the effectiveness of the proposed strategy is validated through simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Collision avoidance

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Online Model Construction of RFA Based on a Consensus Protocol 7th

Online Model Construction of RFA Based on a Consensus Pro...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

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

ISBN: (纸本)9789819733354

In response to the challenges inherent in conventional rotorcraft UAVs, a reconfigurable flight array (RFA) has been introduced, which is designed with the ability to rapidly assemble different configurations to accommodate complex environments. However, different configurations entail distinct control strategies. Hence, configuration recognition is a vital prerequisite for achieving stable flight. This paper analyzes the process of topology identification, configuration identification, and online modeling of an RFA, which establishes the foundational framework for the subsequently stable flight. By classifying modules into active modules and passive modules based on their behaviors, and the system’s topology structure can be identified. Furthermore, the configuration structure is analyzed, then the coordinate information of each module for the specific configuration is used for building the dynamic model of an RFA. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Dynamic models

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Dynamic Modeling of Integrated Wind-Wave Offshore Floating Platform with Parameter Uncertainty

Dynamic Modeling of Integrated Wind-Wave Offshore Floating ...

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International Conference on Applied Nonlinear Dynamics, Vibration and control, ICANDVC 2024

作者： Yuan, Bozhong Huang, Yingbo Na, Jing 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)9789819633166

Advanced model-based control strategies can significantly improve energy conversion efficiency and equipment safety. However, current hybrid wind-wave energy system model can often accurately describe the system response but are complex in structure, and they are more suitable for performance analysis than controller design. In this paper, a dynamic model is proposed, which contains six degrees of freedom (DOFs), the surge, pitch and heave of the floating offshore wind turbine (FOWT), and one pitch for each of the three wave energy conversions (WECs). The model is derived from Newton’s second law so that it has the same physical significance as the real system, and an adaptive algorithm is used to estimate the unknown parameters in the model. The model is validated by AQWA/ANSYS and proved to accurately predict the motion response of the platform under different environmental conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Wave energy conversion

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Escape with Self-adaptive Decision Radius based on Deep Deterministic Policy Gradient in Pursuit Games 13

Escape with Self-adaptive Decision Radius based on Deep Dete...

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

作者： Zhou, Xiaojie Yang, Chunxi Wang, Wenbo Sun, Pengqi Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Kunming650500 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming650500 China

ISBN: (纸本)9798350361674

The Pursuit-Evasion (PE) game of Unmanned Surface Vehicles (USVs) is a classic antagonistic problem for the intelligent agent system. To enhance the escaping success rate of evaders with better effort, this paper proposes an escape strategy based on the geometrical characteristics of Apollonius circles. An improved self-adaptive escaping strategy for the evader utilizing the deep deterministic policy gradient algorithm is proposed. Then, the criteria for successful encirclement by pursuer are given. A DDPG algorithm-based framework is proposed on the basis of markov decision process formulation. Specifically, an action space based on adaptive decision radius of evader is designed. Our simulation shows the proposed method has more advantages in terms of escape distance and escape time. © 2024 IEEE.

关键词： Unmanned surface vehicles

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Finite Element Analysis and Error Compensation for Wrinkled Bellow-Like Soft Robotic Manipulator Kinematics Modeling

Finite Element Analysis and Error Compensation for Wrinkled ...

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International Conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

作者： Huang, Haibin Li, Yingjie Huang, Yingbo Na, Jing Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming650500 China

ISBN: (纸本)9789819705535

In this paper, a finite element analysis (FEA) and error compensation method are conducted for the wrinkled bellow-like soft robotic manipulator (WBSRM) kinematics modeling. Firstly, WBSRM is designed, which has good axial expansibility and radial bending deformation. The link and restriction of the interference plate make the WBSRM have better motion effect and can be better used implemented for FEA. The wrinkled bellow actuator has good axial scalability. Then, the model of WBSRM based on the constant small curvature (CSC) methodology is established. To verify the accuracy of the established kinematics model, the FEA approach is employed, in which the local coordinate system is established to obtain the local coordinate value and the curve length is calculated by curve fitting and integration, such that the idealized constraint limit of the common actuator length can be avoided. Finally, the FEA simulation result and the established kinematics model are compared and analyzed. Concerning on the modeling error between the established mathematical model and the simulation result, the back propagation neural network (BPNN) technique is introduced to realize the error compensation. The obtained method results show that the compensation method can effectively eliminate the modeling error and then dedicates to characterize the detailed kinematics model of the WBSRM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Finite element method

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Integrated Inspection of QoM, QoP, and QoS for AOI Industries in Metaverses

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2071-2078页

作者： Yutong Wang Yonglin Tian Jiangong Wang Yansong Cao Shixing Li Bin Tian IEEE The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China North Automatic Control Technology Institute in Taiyuan ShanxiChina Qingdao Academy of Intelligent Industries Shandong 266109China

With the rapid development of information technologies such as digital twin, extended reality, and blockchain,the hype around "metaverse" is increasing at astronomical speed. However, much attention has been paid to its entertainment and social functions. Considering the openness and interoperability of metaverses, the market of quality inspection promises explosive growth. In this paper, taking advantage of metaverses, we first propose the concept of Automated Quality Inspection(Auto QI), which performs integrated inspection covering the entire manufacturing process, including Quality of Materials, Quality of Manufacturing(Qo M), Quality of Products, Quality of Processes(Qo P), Quality of Systems, and Quality of Services(Qo S). Based on the scenarios engineering theory, we discuss how to perform interactions between metaverses and the physical world for virtual design instruction and physical validation feedback. Then we introduce a bottomup inspection device development workflow with productivity tools offered by metaverses, making development more effective and efficient than ever. As the core of quality inspection,we propose Quality Transformers to complete detection task,while federated learning is integrated to regulate data *** summary, we point out the development directions of quality inspection under metaverse tide.

关键词： Automated Optical Inspection Metaverses Quality Inspection Transformers

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Enhanced Nature Inspired-Support Vector Machine for Glaucoma Detection

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Computers, Materials & Continua 2023年第7期76卷 1151-1172页

作者： Jahanzaib Latif Shanshan Tu Chuangbai Xiao Anas Bilal Sadaqat Ur Rehman Zohaib Ahmad Engineering Research Center of Intelligent Perception and Autonomous Control Faculty of Information TechnologyBeijing University of Technology100124BeijingChina College of Information Science Technology Hainan Normal UniversityHainan ProvinceHaikou571158China Department of Computer Science University of SalfordManchesterUK Faculty of Information Technology Beijing University of Technology Chaoyang District BeijingChina

Glaucoma is a progressive eye disease that can lead to blindness if left *** detection is crucial to prevent vision loss,but current manual scanning methods are expensive,time-consuming,and require specialized *** study presents a novel approach to Glaucoma detection using the Enhanced Grey Wolf Optimized Support Vector Machine(EGWO-SVM)*** proposed method involves preprocessing steps such as removing image noise using the adaptive median filter(AMF)and feature extraction using the previously processed speeded-up robust feature(SURF),histogram of oriented gradients(HOG),and Global *** enhanced Grey Wolf Optimization(GWO)technique is then employed with SVM for *** evaluate the proposed method,we used the online retinal images for glaucoma analysis(ORIGA)database,and it achieved high accuracy,sensitivity,and specificity rates of 94%,92%,and 92%,*** results demonstrate that the proposed method outperforms other current algorithms in detecting the presence or absence of *** study provides a novel and effective approach to Glaucoma detection that can potentially improve the detection process and outcomes.

关键词： Glaucoma detection grey golf optimization support vector machine feature extraction image classification

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Photographic Analysis and Optical Diagnosis of Kilowatt Microwave Plasma Torch with Air Carrier Gas

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Chemical Research in Chinese Universities 2023年第6期39卷 1051-1057页

作者： YU Dengjie YU Bingwen ZHANG Xuchen HUANG Shiluo YING Yangwei YAN Yuwei JIN Yining JIN Wei Research Center for Analytical Instrumentation Institute of Cyber-Systems and ControlCollege of Control Science and EngineeringZhejiang UniversityHangzhou 310058P.R.China Research Center for Analytical Instruments and Intelligent Systems Huzhou Institute of Zhejiang UniversityHuzhou 313002P.R.China Faculty of Engineering University of Alberta116 St.and 85 Ave.EdmontonAlbertaCanada

The spatiotemporal motion characteristics of the kilowatt argon microwave plasma torch with the air carrier gas(kW-AC-ArMPT)and the behavior of the plasma filaments are investigated with a digital single-lens reflex(SLR)camera and a high-speed *** with the introduction of the air,both the volume of the central channel and the rotational frequency of the plasma filament are ***,the excitation temperature(Texc),rotational temperature(Trot),and density of electron number(ne)of the kW-AC-ArMPT are measured with optical *** is clearly shown that the introduction of air contributed to the rise of Trot and ne of the plasma,which is beneficial to improving the analytical performance of the *** the detection limits of some heavy metal elements are measured by kW-AC-ArMPT,which are in the ppb *** experimental results show that the kW-ArMPT has a high tolerance to air injection at least 1.0 L/min,which allows the direct extraction of air from the environment for analysis and therefore has the potential for online and in-situ detection of ambient air quality and industrial exhaust gases.

关键词： Air carrier gas Microwave plasma torch Photographic analysis Optical diagnosis

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