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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023年第3期18卷 123-143页

作者： Yiming YAN Shuting WANG Yuanlong XIE Hao WU Shiqi ZHENG Hu LI School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China

To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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Compensation in PID control system for Valve Stiction Based on Equivalent-Input-Disturbance Approach 36

Compensation in PID Control System for Valve Stiction Based ...

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第36届中国控制会议

作者： Qi Lei Xi Lei Min Wu School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

In industrial processes,valve stiction often induces loop oscillations,and limits the control loop *** better control the plant with valve stiction,in this paper,the equivalent-input-disturbance（EID） approach is incorporated into the conventional PID control system to improve the ability of disturbance and nonlinearity *** newly proposed method uses a classic two-parameter stiction model to represent the nonlinearity of valve *** to the EID method,an EID estimator is constructed to estimate the influence of valve stiction on the system *** controller is based on the basic proportional-integral-derivative（PID） *** a simulation example is provided to demonstrate the validity of this method.

关键词： Valve Stiction Equivalent-Input-Disturbance（EID） Proportional-Integral-Derivative（PID） Compensation

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Extended Dissipative control for Drill-String systems with Input Time-Varying Delays 38

Extended Dissipative Control for Drill-String Systems with I...

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第三十八届中国控制会议

作者： Chengda Lu Min Wu Luefeng Chen Aoxue Yang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Software and Electrical Engineering Swinburne University of Technology

ISBN: (纸本)9781728123295;9789881563972

The objective of this paper is to design an extended dissipative controller for drill-string systems by taking into account input time-delays. A multi-degree-of-freedom lumped parameter model is established for the drill-string and a state space model in perturbation coordinates is derived correspondingly. By using the Lyapunov-Krasovskii functional method, two sufficient conditions are provided to make extended dissipativity analysis of the drill-string and design a suitable extended dissipative controller for the system. The effectiveness of our results is verified through a numerical example.

关键词： Drill-string extended dissipative control time-delay

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Valve Stiction Compensation Based on Equivalent-Input-Disturbance Approach 29

Valve Stiction Compensation Based on Equivalent-Input-Distur...

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第29届中国控制与决策会议

ISBN: (纸本)9781509046584

The presence of stiction in a control valve causes loop oscillation,and limits the control loop *** address this problem,the paper proposes a method based on equivalent-input-disturbance（EID） to control valve *** this method,a classic two-parameter stiction model is ***,an EID estimator is utilized to estimate the effects of valve stiction in control *** the controller is designed in the spirit of repetitive *** simulation control results are compared with the traditional *** results demonstrate that the proposed EID method can effectively improve the control performance of valve stiction and eliminate the stiction-induced oscillations.

关键词： Valve Stiction EID Repetitive control Compensation

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Second-order time-varying sliding mode control for reentry vehicle

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International Journal of intelligent Computing and Cybernetics 2013年第3期6卷 272-295页

作者： Jie Geng Yongzhi Sheng Xiangdong Liu Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of TechnologyMinistry of EducationBeijingPeople’s Republic of China

Purpose-The purpose of this paper is to design a global robust and continuous control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach-First,feedback linearization is applied to the model of reentry vehicle,resulting in three independent uncertain *** a new second-order time-varying sliding function is proposed,based on which a continuous second-order time-varying sliding mode control(SOTVSMC)law is proposed for each *** global robustness and convergence performance of the closed-loop reentry vehicle control system under the proposed control law are ***-Simulation is made for a reentry vehicle through the assumption that there is external disturbance to aerodynamic moment and the aerodynamic parameters as well as the atmospheric density are *** results verify the validity and robustness of the proposed ***/value-The SOTVSMC attitude controller based on feedback linearization is proposed for the reentry *** advantages of the proposed SOTVSMC are ***,the global second order sliding mode is established,which implies that the closed-loop system is global robust against matched parameter uncertainties and disturbances in ***,the chattering problem is significantly alleviated.

关键词： Flight control Nonlinear control Real-time systems Robust control Variable structure control

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Identification of Protein complex Based on a Novel Multi-Objective Method 37

Identification of Protein Complex Based on a Novel Multi-Obj...

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37th Chinese control Conference, CCC 2018

作者： Yuan, Zhu Xiaoyu, Peng Chong, Wu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System China University of Geosciences Wuhan430074 China

ISBN: (纸本)9789881563941

systematic identification of protein complexes is an important application of data mining in bioscience. The existing computation methods of detecting protein complexes are usually based on the topological properties of protein-protein interaction(PPI) network data. However, limited by the inherent single structure of the PPI network, the mining of protein complexes may not be fully resolved. In this paper, we propose an original multi-objective optimization strategy based protein complex detection method, which is used Adaptive Multi-Objective Black Hole algorithm, called AMOBH. In the selection of objective function strategy, we integrate the topological structure of PPI network data with semantic similarity based on GO (Gene Ontology) annotation data. Experiments demonstrate that the method we adopt provide more convinced results and higher computational efficiency compared with the existing prediction measures. © 2018 Technical Committee on control Theory, Chinese Association of automation.

关键词： Gene Ontology

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Surface displacement monitoring of small slow landslide based on vision system 4

Surface displacement monitoring of small slow landslide base...

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4th IEEE advanced Information Technology, Electronic and automation control Conference, IAEAC 2019

作者： Hou, Xianhe Sang, Xianzhen Yang, Shuaimeng China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China

ISBN: (纸本)9781728119076

The occurrence of landslide is uncertain, and its surface displacement data is an important physical quantity reflecting the occurrence process of landslide. Therefore, we propose a visual based small displacement landslide surface displacement monitoring method. The method uses binocular stereo vision technology to monitor small slow landslides, and through image preprocessing, feature extraction, three-dimensional coordinate solving and other methods to solve the displacement of the marker body, so as to achieve the purpose of obtaining the displacement of the landslide surface. The experimental results show that the method has small measurement error, low cost and easy implementation. © 2019 IEEE.

关键词： Landslides

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United Impedance Stability Analysis for Multi-port Converter Considering Bidirectional Energy Flow 41

United Impedance Stability Analysis for Multi-port Converter...

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第41届中国控制会议

作者： Zhiguo Wei Zhijian Fang Fei Xie Yuangeng Xia Jie Cai School of Automation China University of Geosciences (Wuhan) Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Stability analysis is very important for multiport *** most stability analysis methods are published only for unidirectional energy flow conditions,which cannot be used for multiport *** thispaper,a stability analysis method is proposed for multi-port converter with bi-directional energy flow,which uses the unified impedance model of bidirectional converter to analyze the system ***,the bidirectional converter is modeled uniformly and the output impedance characteristics of bi-directional converter are *** the unified impedance criterion is used to judge its *** stability of the system under charging and discharging conditions is *** results show that the system stability is higher during charging than during discharging when the power of the battery is the ***,the correctness of the criterion is verified by simulation.

关键词： small signal model stability analysis bidirectional converter

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Transfer learning from generic model to specific model for street object detection 5

Transfer learning from generic model to specific model for s...

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Liu, Wei Chen, Shu Liu, Zhen-Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Japan

High accurate rate of street objects detection is significant to realize intelligent vehicles. Algorithms based on Convolution Neural Network (CNN) have already shown their reasonable performance on general object detection. For example SSD and YOLO can detection wide variety of objects on 2D images in real time, but the performance is not good enough on street objects detection especially on complex urban street environment. In this paper, instead of proposing and training a new CNN model, we use transfer learning methods to learn from generic CNN model to our specific model to achieve good performance. The transfer learning methods include fine-tuning the pretrained CNN model with self-made dataset and adjusting CNN model structure. We analyze transfer learning results on fine-tuning Single shot multibox detector (SSD) with self-made datasets. The experimental results based on transfer learning method show that the proposed method is effective.

关键词： Object detection

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A noise reduction method based on PSR-fastICA for spectrum-induced polarization data 2

A noise reduction method based on PSR-fastICA for spectrum-i...

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2nd International Conference on Electronic Information Technology, EIT 2023

作者： Cen, Wei Li, Zhihua School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9781510666627

ISBN: (纸本)9781510666610

Spectrum-induced polarization (SIP) is a widely used geophysical exploration approach, but it is prone to noise. To address this issue, this paper proposes a noise reduction method that combines phase space reconstruction (PSR) and fast independent component analysis (fastICA). The proposed approach enhances the signal-to-noise ratio of SIP data by effectively removing noise. Experimental results show that the PSR-fastICA method significantly reduces noise in SIP signals. © 2023 SPIE.

关键词： Signal to noise ratio

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