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第40届中国控制会议

作者： Zixin Huang Yaosheng Zhou Zhen Chen Wei Wang Lejun Wang School of Electrical and Information Engineering Wuhan Institute of Technology Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University 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 Innovation and Entrepreneurship Wuhan Institute of Technology School of Information and Safety Engineering Zhongnan University of Economics and Law

This paper presents an unified control strategy based on the trajectory planning and tracking control for the planar 2-Do F underactuated manipulator. The trajectory of the active link is composed of two parts. The first part trajectories are designed according to the initial and target angles of the active link. The second part trajectories are designed based on the constraints between the underactuated link and the active link. Meanwhile, the parameters of the trajectories are optimized by the differential evolution algorithm(DEA) to ensure all links eventually reach to their target values by tracking the designed trajectories. Then,the sliding mode variable structure controller are designed to make the active link track their trajectories. The effectiveness of such strategy is demonstrated through simulation results.

关键词： Planar 2-DoF underactuated manipulator Trajectory planning Tracking control Differential evolution algorithm

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Lift Analysis and Anti-Rolling control system Design of Magnus Rotating Roll Stabilizer with Full Speed

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SSRN 2023年

作者： Sun, Mingxiao Lian, Houxin Luan, Tiantian Zhang, Xiaoshuang Wu, Baoqi Wang, Hanxu School of Automation Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Jiangsu Automation Research Institute No. 18 Shenghu Road Haizhou District Jiangsu Province Lianyungang City222000 China

To shorten the deviation between the roll motion model of ships equipped with Magnus rotating roll stabilizer and actual motion, a full-speed lift calculation method is proposed. By combining the micro-element method with the mechanism of the Magnus effect force, the lift law of the rotating stabilizer in different modes could be obtained theoretically. Subsequently, correction factors are fitted for different operating conditions to correct the full-speed lift model through hydrodynamic simulation analysis of the stabilizer. In addition, RBF neural networks are also introduced to address the uncertainty and nonlinearity of ship models under high winds and waves. This network is used to predict nonlinear ship models with uncertainty to optimize the anti-rolling effect of the sliding mode controller. As a result, the corrected lift model can accurately predict the real-time lift changes of the Magnus rotating stabilizer in both rotating and swing-rotating modes. The maximum deviation rate doesn’t exceed 8.5% compared to the simulation. The adaptability of the anti-rolling control system is improved. And the sliding mode control algorithm based on RBF neural network has the outstanding anti-rolling ability under various conditions, with a maximum anti-rolling efficiency of over 98%. © 2023, The Authors. All rights reserved.

关键词： Sliding mode control

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The Hybrid Path Planning Algorithm Based on Improved Artificial Potential Field and Grid Method for Uuv in 3d Environments

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SSRN 2023年

作者： Sun, Mingxiao Zhen, Liqiang Luan, Tiantian Zhang, Xiaoshuang Wu, Baoqi School of Automation Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Jiangsu Automation Research Institution No. 18 Shenghu Road Haizhou District Jiangsu Province Lianyungang City222000 China

The artificial potential field approach (APFA) has the advantages of short computation time and easy implementation, which is widely used in path planning. The problems of local oscillation and susceptibility to local minima for APFA are considered in three dimensions (3D) path planning application of unmanned underwater vehicle (UUV), and the artificial potential field grid method (APFG) is proposed. Firstly, the obstacles are rasterized in 3D map. The repulsive points are attached to the surface of the raster to change the repulsive influence range, which can compensate the shortcoming of the traditional APFA modelling idealization leading to the long planning path. At the same time, the repulsion function on the grid surface is changed so that the potential field on the grid surface is parallel to the grid surface, which will solve the local oscillation problem in the path planning of UUV. Then, virtual target points are introduced to avoid the UUV falling into local optimization. The simulations show that APFG effectively overcomes the shortcomings of local oscillations and the tendency to fall into local minima for UUV in 3D path planning, and the path planning is smooth and efficient. © 2023, The Authors. All rights reserved.

关键词： Unmanned underwater vehicles

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Society 5.0: Metaverse Facilitated Human-centric “5H” Services Across Cyber-Physical-Social Spaces

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IFAC-PapersOnLine 2024年第3期58卷 159-164页

作者： Xiao Wang Jun Huang QingHua Ni Zhe Wan HuaDan Xue Larry Stapleton Fei-Yue Wang Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei 230601 China Macau University of Science and Technology Macau 999078 China Beijing Normal University Beijing 100875 China Department of Radiology Peking Union Medical College Hospital Shuaifuyuan Beijing 100730 Dongcheng District China Brownsbarn Thomastown Co. Kilkenny Ireland R95D8P2 Qingdao Academy of Intelligent Industries Qingdao 266109 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Cyber-Physical-Social systems bridge the gap between social resource organization and distribution, and give birth to Society 5.0, which represents a transformative vision aimed at realizing the human-centric paradigm for more efficient and effective sustainable development. In this paper, we discuss the decentralized paradigm in fostering human needs-driven smart services, in line with Maslow’s hierarchy of needs theory. Societies 5.0 is committed to optimizing the use of natural, artificial, and social resources by enhancing democratic participation and ensuring that decision-making processes are more transparent, reliable, and aligned with the needs of the populace in sustainable ways. Moreover, our discussion extends to how Society 5.0’s principles correlate with the United Nations Sustainable Development Goals (SDGs), providing a framework that supports health, education, and poverty reduction, among other targets. This approach also aligns with the Human Development Index (HDI), reinforcing the notion that technological progress in Society 5.0 does not overshadow but rather complements and enhances human values, paving a synergistic path towards sustainable development that is both advanced and fundamentally human-centric.

关键词： Cyber-Physical-Social systems Society 5.0 Human-Centric Services Socio-technical synergistic sustainable development

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3d Path Planning for Uuv Based on Artificial Potential Field Grid Method

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SSRN 2023年

关键词： Motion planning

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Analysis and circuit implementation of a new fourth-order multi-wing chaotic system based on memristors

Analysis and circuit implementation of a new fourth-order mu...

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Chinese automation Congress (CAC)

作者： Lei Jia Xiaowei Jiang Xianhe Zhang Ming Chi Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Geodetection Technology Ministry of Education School of Automation China University of Geosciences Wuhan P. R. China School of Electrical Engineering and Automation Hubei Normal University Huangshi P. R. China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan P. R. China

ISBN: (纸本)9781665426480

In this paper, a new fourth-orders memristor chaotic system is obtained by introducing a smooth memristor model as the feedback term based on the modified three-orders chaotic system. The system can generate double-wing, four-wing chaos or hyperchaos for different parameters and initial conditions. Through the analysis of Lyapunov exponent and other dynamics, we can see that the system has complex chaotic, hyperchaotic, and continuous chaotic. Other dynamical behaviors such as multi-stability and extreme multi-stability are found by comparing phase and bifurcation diagrams, and equilibrium point calculations. Finally, the chaotic behavior is successfully verified by circuit simulation.

关键词： Chaos automation Circuit simulation Buildings Memristors Bifurcation Encryption

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Comparison of the Smith-Waterman and Needleman-Wunsch algorithms for online similarity analysis of industrial alarm floods

Comparison of the Smith-Waterman and Needleman-Wunsch algori...

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IEEE Canada Electric Power Conference, EPEC

作者： Md Rezwan Parvez Wenkai Hu Tongwen Chen University of Alberta Edmonton Alberta Canada School of Automation and Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan China

ISBN: (数字)9781728164892

ISBN: (纸本)9781728164908

Alarm floods are considered to be the major obstacles that prevent the smooth process operations of large-scale industrial facilities. During an alarm flood situation, industrial operators often get confused by too many alarms and thus have difficulties in observing and handling critical alarms. In recent years, sequence alignment based similarity analysis has emerged as an effective way to handle alarm floods. Alarm floods caused by the same fault are very likely to consist of the same group of alarms in a certain sequential order. Conducting realtime sequence alignment of industrial alarm floods can help operators to quickly recall the root cause and make prompt corrective actions. This paper proposes the online similarity analysis of alarm floods based on the Smith-Waterman and Needleman-Wunsch algorithms, and compares their differences and application conditions. Case studies are provided to illustrate the proposed online similarity analysis methods and the differences of the two sequence alignment algorithms.

关键词： Heuristic algorithms Indexes Prediction algorithms Power systems Pattern matching Frequency measurement Conferences

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$H_{\infty }$ PID control for Discrete-Time Fuzzy systems With Infinite-Distributed Delays Under Round-Robin Communication Protocol

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IEEE Transactions on Fuzzy systems 2021年第6期30卷 1875-1888页

作者： Yezheng Wang Zidong Wang Lei Zou Hongli Dong College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Department of Computer Science Brunel University London Uxbridge U.K. Institute of Complex Systems and Advanced Control and the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Daqing China

This article is concerned with the $H_{\infty }$ proportional–integral–derivative (PID) control problem for class of discrete-time Takagi–Sugeno fuzzy systems subject to infinite-distributed time delays and round-robin (RR) protocol scheduling effects. The information exchange between the sensors and the controller is conducted through a shared communication network. For the purpose of alleviating possible data collision, the well-known RR communication protocol is deployed to schedule the data transmissions. To stabilize the target system with guaranteed $H_{\infty }$ performance index, a novel yet easy-to-implement fuzzy PID controller is developed whose integral term is calculated based on the past measurements defined in a limited time window with hope to improve computational efficiency and reduce accumulation error. Based on the Lyapunov stability theory and the convex optimization technique, sufficient conditions are derived to ensure the exponential stability as well as the $H_{\infty }$ disturbance attenuation/rejection capacity of the underlying system. Furthermore, by utilizing the cone complementarity linearization algorithm, the nonconvex controller design problem is transformed into an iterative optimization one that facilitates the controller implementation. Finally, simulation examples are given to show the effectiveness and correctness of the developed control method.

关键词： PD control Protocols PI control control systems Symmetric matrices Communication networks Optimization

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Robotic arm calibration and teaching method based on binocular vision

Robotic arm calibration and teaching method based on binocul...

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第三十九届中国控制会议

作者： Ming Chen Xin Hong Longsheng Wei Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems CRRC Zhuzhou Locomotive Co. Ltd.

Aiming at the errors caused by the production and assembly of the robotic arm and the problem of low absolute positioning accuracy, a method of robotic arm calibration and teaching based on binocular vision is proposed in this paper. First,the joints of the robot arm is controled to rotate separately, and the motion trajectory data of the end of the robot arm is recorded by the binocular vision. Then the circle center and circle plane normal vector of each joint axis motion is optimized using Adam algorithm. After identification and calculation, accurate kinematic parameters are obtained, and then kinematically model the manipulator once again. After the calibration is completed, the user can use the teaching rod to define the trajectory under the camera, and the defined trajectory is converted to the robot arm coordinate system for inverse kinematics solution. Finally, the robotic armis controled to reproduce the trajectory. Experimental results show that the proposed method can complete the precise calibration of the kinematic parameters of the robotic arm. After calibration, the average error of the end of the robotic arm is within 1 mm, and the absolute positioning accuracy is improved by more than 80%. The method proposed in this paper has low cost and simple operation, and it is easy to be popularized and applied in industrial and desktop robotic arm calibration and teaching.

关键词： Binocular vision Calibration Kinematic modeling Teaching Positioning accuracy

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Survey on 6D Pose Estimation of Rigid Object

Survey on 6D Pose Estimation of Rigid Object

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第三十九届中国控制会议

作者： Jiale Chen Lijun Zhang Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems CRRC Zhuzhou Locomotive Co. Ltd.

Estimating 6 D pose of rigid objects has gained increasing attention as it has become an curcial problem in rapidly growing technology related to robotics, augmented reality and autonomous driving. Therefore, the research on 6 D pose estimation technology is of great significance. In this paper, firstly, current position of the field is summarized regarding object pose estimation. We found that deep learning combined with traditional methods can produce better results. Then, pose ambiguity which is an open problem needed further study is raised. Finally, the main problems of the current research and possible development directions are identified.

关键词： Pose Estimation Feature Detection Pose Ambiguity

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