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International Conference on control and Robots (ICCR)

作者： Tianen Ma Jianqi An School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Ministry of Education of Engineering Research Centre for Earth Exploration Intelligent Technology Wuhan China

ISBN: (数字)9781728175621

ISBN: (纸本)9781728175638

Since the working condition affects the chemical reactions in a blast furnace (BF), the relationship between the blast-supply parameters and the gas utilization ratio (GUR) varies with different working conditions. This paper presents a GUR prediction model based on working condition classification. First, this paper analyzes the influence of working conditions on the state parameters of a BF. Then, a fuzzy clustering method is used to identify the working condition by using some state parameters. Next, the GUR prediction model was designed based on an extreme learning machine under different working conditions. Finally, the simulation results verified the effectiveness of this method.

关键词： Employee welfare Extreme learning machines Simulation Clustering methods Predictive models Blast furnaces Robots

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Tolerance and detection for the edge disconnection in consensus problems of multi-agent systems with the time-delay

Tolerance and detection for the edge disconnection in consen...

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Chinese automation Congress (CAC)

作者： Junhao Ren Xiaofeng Zong Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In this paper, tolerance and detection problems for the edge disconnection in consensus issues of discrete-time multi-agent systems with the time-delay are investigated. We first discuss the tolerance of the edge disconnection in consensus problems. For the case with the strongly connected communication topology, the faulty system can still achieve consensus if the connectedness of the multi-agent system is not changed as the edge disconnection, but the consensus value of the faulty system might be different from the original one. Especially, the consensus value of the system with the edge disconnection will be consistent with the original one if the communication topology of the faulty system is undirected and connected. In addition, the detection problem of the edge disconnection in multi-agent systems is considered by transforming the detection problem into the discernibility problem between the faulty system and the original system. By the state augmentation method and observability properties of the system, some equivalent conditions for the discernibility of the edge disconnection are established.

关键词： Topology Image edge detection Delays Multi-agent systems Laplace equations Matrix decomposition Directed graphs

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Research on trajectory planning and motion control of 7-DoF sawyer manipulator 1

Research on trajectory planning and motion control of 7-DoF ...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Luo, Kun Xiong, Gang Wang, Yuxiao Hu, Bin Liu, Sheng Chen, Shichao Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijng China School of Artificial Intelligence University of Chinese Academy of Sciences Beijng China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Beijng China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijng China

ISBN: (纸本)9781665433372

Regarding human-machine collaborative task, generated trajectories of a robot manipulator should be able to avoid joint limits and singularities, but the 6 Degrees of Freedom(DoF) or lower DoF manipulators encounter difficulties in many schemes. In this paper, research is implemented on the methods of trajectory planning and motion control on the newly human-machine collaborative 7-DoF Sawyer manipulator. We try to pay more attention to these approaches and find a better combination between trajectory planners and motion controllers for Sawyer manipulator. First of all, comparison is proposed between the methods about trajectory planning in task space and joint space, drawing a conclusion that the latter has the advantage of quickness and smoothness on trajectories in real time. Next, we choose to plan trajectory in the joint space by interpolating positions and orientations. Three approaches, i.e., trapezoidal velocity trajectory, cubic polynomial trajectory and basic spline trajectory, are applied to interpolate positions. Experimental results show that it results in the smoothest trajectory using basic spline trajectory planning. We also compare linear and nonlinear orientation interpolations to address the angle wrapping issue, which leads to difficulties in smooth orientation interpolation between several waypoints. Combining polynomial trajectory planning methods with the proportional-derivative (PD) motion controller and the computed-torque motion controller, we focus on the performance of the two different combinations. It is found that trajectories with computed-torque controller have shorter path with a congruous convergence on joint position, and more accurate trajectories with less overshoots in position than others. © 2021 IEEE.

关键词： Motion control

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Feature Selection and Learning-Based Model for Uav Path Planning on Rough Terrains

SSRN

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SSRN 2022年

作者： Ali, Hub Xiong, Gang Husnain, Haider Muhammad Tamir, Tariku Sinshaw Dong, Xisong Shen, Zhen State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing100190 China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China Qingdao Academy of Intelligent Industries Qingdao266109 China Chengdu610054 China

Path planning and obstacle avoidance in 3D terrain have been identified as a monumental challenge for a UAV in a variety of autonomous missions, such as disaster management and search and rescue operations. In large terrain areas, it’s a key problem for traditional approaches to search within the point-cloud maps to find a global path for a UAV considering the flight safety, maneuverability, weather constraints, and fuel cost. Hence, this paper proposes a trajectory planning technique for global and local path planning of a fixed-wing UAV above 3D terrain under static and dynamic constraints. For global path generation, a novel Feature Selection and Learning-based Model (FSLM) has been introduced to select the features of a point-cloud map and transform them into the feature set. The feature set is utilized by an improved A* planner with an extensive search area to deliver an optimal global path. The global path is assumed as the UAV's reference waypoints. The motion of the UAV on reference waypoints is simplified with two coordinates (R, d), where R is the cumulative distance covered by the UAV along the reference waypoints and d is its offset distance from the reference line segment in time t. For any local collision, offset trajectories are generated along with reference waypoints to avoid collision. Cost functions have been added so that the best global and local path can be chosen, taking into account altitude, weather, and fuel constraints. The simulation results show the performance of this approach in various complex terrains by considering weather and dynamic constraints, and the results are also compared to other 3D UAV path planning techniques. © 2022, The Authors. All rights reserved.

关键词： Motion planning

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S$^{\text{4}}$TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2023年第2期9卷 3220-3231页

作者： Xiao Wang Ke Tang Xingyuan Dai Jintao Xu Quancheng Du Rui Ai Yuxiao Wang Weihao Gu Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei China Haomo Technology Company Ltd. Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S $^{\text{4}}$ TP) framework. Specifically, S $^{\text{4}}$ TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. SATP utilizes Transformers to effectively encode the driving scene and incorporates an AV's planned trajectory during the prediction decoding process. SADRF assesses the expected surrounding risk degrees during AVs-HDVs interactions, each with different social characteristics, visualized as two-dimensional heat maps centered on the AV. SADRF models the driving intentions of the surrounding HDVs and predicts trajectories based on the representation of vehicular interactions. S $^{\text{4}}$ TP employs an optimization-based approach for motion planning, utilizing the predicted HDVs' trajectories as input. With the integration of SADRF, S $^{\text{4}}$ TP executes real-time online optimization of the planned trajectory of AV within low-risk regions, thus improving the safety and the interpretability of the planned trajectory. We have conducted comprehensive tests of the proposed method using the SMARTS simulator. Experimental results in complex social scenarios, such as unprotected left-turn intersections, merging, cruising, and overtaking, validate the superiority of our proposed S $^{\text{4}}$ TP in terms of safety and rationality. S $^{\text{4}}$ TP achieves a pass rate of 100% across all scenarios, surpassing the current state-of-the-art methods Fanta of 98.25% and Predictive-Decision of 94.75%.

关键词： Trajectory Safety Vehicles Trajectory planning Autonomous vehicles Risk management Behavioral sciences

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Quadrotor UAV Trajectory Tracking control based on ASMC and Improved ARDC

Quadrotor UAV Trajectory Tracking Control based on ASMC and ...

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Chinese automation Congress (CAC)

作者： Ruru Jia Xiaofeng Zong School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In this paper, a new double closed-loop control method for trajectory tracking of quadrotor unmanned aerial vehicles (UAV) is proposed to attenuate wind gusts disturbance and effects of parameter uncertainties. The dynamics and kinematics equations of the quadrotor UAV are established by the Euler and Newton theorem. In the outer loop subsystem, the adaptive sliding mode control (ASMC) algorithm is proposed to estimate the payload variation and air disturbance, and it can realize the stable tracking of the target position. For the inner loop subsystem, this paper designs an improved active disturbance rejection control (ADRC), which replaces the extended state observer with a higher-order sliding modes observer, and improves nonlinear state error feedback by a new nonlinear functions. Simulation experiments are given to evaluate the robustness and effectiveness of the designed controller algorithm.

关键词： Unmanned aerial vehicles Mathematical model Rotors Payloads Observers Attitude control Heuristic algorithms

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MRAC Based Consensus control for Heterogeneous Discrete-Time Nonlinear Multi Agent systems Under Switching Typology with Unknown Dynamics

MRAC Based Consensus Control for Heterogeneous Discrete-Time...

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IEEE International Conference on systems, Man and Cybernetics

作者： Wenpeng He Xin Chen Hao Fu Yipu Sun School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China School of Computer Science and Technology Wuhan University of Science and Technology Wuhan P. R. China

ISBN: (纸本)9781665442084

This paper investigates the consensus problems of heterogeneous discrete-time (DT) nonlinear multi-agent systems (MASs) with unknown dynamics and switching typology. By adding a virtual model to each agent and using the model reference protocol to the actual model, the consensus problems of unknown nonlinear MASs are transformed into consensus problems of known virtual linear MASs, and a distributed control law is designed for the virtual model to make the virtual linear MASs achieve consensus under the switching typology. Two numerical simulations with nonidentical nonlinear dynamics and switching typology are given to prove the effectiveness of the proposed method.

关键词： Protocols Conferences Switches Consensus control Numerical simulation Numerical models Nonlinear dynamical systems

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Stability of switched systems with admissible switching signals

Research Square

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Research Square 2021年

作者： Wang, Hui-Ting He, Yong Wang, Qing-Guo Zhang, Chuan-Ke Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Institute of Artificial Intelligence and Future Networks Beijing Normal University Beijing Normal University-Hong Kong Baptist University United International College Zhuhai519087 China

In this paper, stability of switched systems is investigated for a class of switching signals which meet some admissibility conditions. Firstly, the admissible edge-dependent divergence time is defined in terms of admissible transition edges and it will vary with the compensation bounds. Then the admissible edgedependent bounded maximum average dwell time (BM ADT) is imposed on switching signals. As a result, a sufficient condition is obtained for globally uniformly exponential stability of switched nonlinear systems with such switching signals. Secondly, by setting the equal compensation bounds for the same reaching subsystems, the mode-dependent divergence time is defined, and then the mode-dependent BMADT is proposed. A stability condition under the mode-dependent BMADT is established. These stability results are then applied to switched linear systems. The numerical example is presented to show that the proposed techniques are less restrictive and more flexible in application, compared with the BMADT. © 2021, CC BY.

关键词： Linear systems

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Dynamic power systems line outage detection using particle filter and partially observed states

arXiv

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arXiv 2021年

作者： Yang, Xiaozhou Chen, Nan Zhai, Chao The Department of Industrial Systems Engineering and Management National University of Singapore Singapore117576 Singapore ETH Zurich Future Resilient Systems Singapore-ETH Centre 1 CREATE Way CREATE Tower Singapore138602 Singapore The School of Automation China University of Geosciences Wuhan430074 China The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Real-time transmission line outage detection is difficult because of partial phasor measurement unit (PMU) deployment and varying outage signal strength. Existing detection approaches focus on monitoring PMU-measured nodal algebraic states, i.e., voltage phase angle and magnitude. The success of such approaches, however, is largely predicated on strong outage signals and the presence of PMUs in the outage location's vicinity. To overcome these limitations, a unified framework is proposed in this work by utilizing both nodal voltage information and generator dynamic states, e.g., rotor angular position. The proposed scheme is shown to be faster and more robust to unknown outage locations through the incorporation of generator dynamics. Using the IEEE 39-bus system simulation data, the proposed scheme's properties and performances compared to existing approaches are presented. The new approach could help improve operators' real-time situational awareness by detecting outages faster and providing a breakdown of outage signals for diagnostic purposes, making future power systems more resilient. Copyright © 2021, The Authors. All rights reserved.

关键词： Monte Carlo methods

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Precedence-constrained path planning of messenger UAV for air-ground coordination

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control Theory and Technology 2019年第1期17卷 13-23页

作者： Yulong DING Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 700087 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.

关键词： Air-ground coordination curvature-constrained path planningz precedence constraints Dubins traveling salesman problem

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