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第41届中国控制会议

作者： Gang Li Xiaowei Jiang Le You Xianhe Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education School of Electrical Engineering and Automation Hubei Normal University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This work looks into the quantized impulsive consensus challenges of nonlinear leader-following multi-agent *** graph theory,principle of differential dynamics,logarithmic quantizer,matrix theory,and the Lyapunov function,among other things,are used to investigate the key discoveries on *** appropriate consensus protocols which contain quantized all agents' relative state information and quantized a part of agents' relative state *** the sake of reducing communication consumption and energy,we combine two control strategies and design two control protocols according to the characteristics of quantized control and impulsive *** a series of deductions,we find that under quantized impulsive control,multi-agent systems can achieve consensus as long as certain sufficient conditions are ***,the simulation example demonstrates the validity and correctness of this papers theoretical approach.

关键词： Multi-agent systems Leader-following Quantized impulsive consensus

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A Mobility Based Clustering Algorithm in MANETs Utilizing Learning Automata

A Mobility Based Clustering Algorithm in MANETs Utilizing Le...

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第三十二届中国控制会议

作者： GAO Xun School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479900305

There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.

关键词： Ad Hoc clustering mobility Learning Automata

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Pattern Matching of Industrial Alarm Floods Using Word Embedding and Dynamic Time Warping

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 1096-1098页

作者： Wenkai Hu Xiangxiang Zhang Jiandong Wang Guang Yang Yuxin Cai School of Automation China University of GeosciencesWuhan 430074Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex SystemsWuhan 430074 Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

Dear Editor,This letter proposes a new pattern matching method based on word embedding and dynamic time warping(DTW)to identify groups of similar alarm ***,alarm messages are transformed into numeric values that represent alarms and also reflect the relationships between alarm ***,similarities between numerically encoded alarm flood sequences are calculated by DTW and groups of similar floods are identified via *** effectiveness of the proposed method is demonstrated by a case study with alarm&event data obtained from a public industrial simulation model.

关键词： Word Alarm DTW

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control of Bilateral Teleoperation with Time Delay Considering Operator Force Sending 34

Control of Bilateral Teleoperation with Time Delay Consideri...

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第三十四届中国控制会议

作者： QIN Yongming XIA Yuanqing School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.

关键词： bilateral teleoperation,time delay,force sending,position tracking,contact force

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The Forecasting Research on the Model of the Hysteresis Brake based on Elman Multi-Hidden Layers Neural Network Algorithm with the Speed and Directional Factor 35

The Forecasting Research on the Model of the Hysteresis Brak...

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第35届中国控制会议

作者： ZHANG Bo SHEN Wei WANG Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Hysteresis brake,which provides for step-less torque and high speed,is a stable and reliable device used for loading,but with some problems,such as the large time-lag,strong nonlinearity,and difficulty in modeling et *** to the above-mentioned issues,the special working conditions of hysteresis brake developed by our project team and the advantage of the dynamical performance of the Elman Multi-Hidden Layers Neural Network,this paper employs modified neural network algorithm with Elman dynamic recursive structure to accomplish the model of hysteresis brake,and guarantees the accuracy of output loaded *** this algorithm,we introduce the speed,the given and desired torque,and a directivity factor respectively as a disturbance variable and two input vectors of the system,and then train the model and *** numerical results validate the effectiveness of the algorithm proposed.

关键词： Hysteresis brake strong nonlinearity neural network algorithm with Elman dynamic recursive structure

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A Composite controller Strategy for Electromechanical Actuator Using a Permanent-Magnet Synchronous Motor 33

A Composite Controller Strategy for Electromechanical Actuat...

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第三十三届中国控制会议

作者： WANG Chenyi GAN Minggang QIAO Zhi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Electromechanical Actuator,PMSM,Non-Singular Terminal Sliding Mode,Extended State Observer,hinge moment

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A Novel Link Scheduling for Special Re-use TDMA on Ad Hoc Networks 33

A Novel Link Scheduling for Special Re-use TDMA on Ad Hoc Ne...

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第三十三届中国控制会议

作者： Li Weijie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free channel access combined with special reuse of the channel provides significant benefits in the energy/throughput trade-off. However, the protocol may introduce scheduling delay if, on the same path, an outbound link on a router is scheduled to transmit before an inbound link on that router. The total scheduling delay can be quite large since it accumulates at every hop on a path. This paper presents a method to solve this problem to improve the performance of the network system. Compared to the origin STDMA protocol, simulation results present us the superior performance of the proposed algorithm.

关键词： STDMA,multi-hop ad Hoc networks,scheduling delay

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Fractional-Order Impedance control for a Wheel-Legged Robot 29

Fractional-Order Impedance Control for a Wheel-Legged Robot

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第29届中国控制与决策会议

作者： Yinghui Chen Jiangbo Zhao Junzheng Wang Duoyang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a useful framework to provide robot's leg *** conventional impedance control employs second-order mass-damping-spring system as a force disturbance *** this paper,position-based impedance control is applied to legged locomotion of the wheel-legged robot and a novel impedance controller with fractional order form is put forward to increase the system degrees of freedom for *** simulation tests of electric cylinder actuator and leg systems are carried out to demonstrate the effectiveness of the proposed algorithm.

关键词： wheel-legged robot legged locomotion impedance control fractional-order

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Analysis of coupled axial-torsional vibration of drill-string with an inclination angle 41

Analysis of coupled axial-torsional vibration of drill-strin...

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第41届中国控制会议

作者： Jiahao Zhang Chengda Lu Hengyu Huang Jun Gao Min Wu 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 CCTEG Xi'an Research Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drill-string vibration has a great negative influence on the safety and efficiency of geological *** that the influence of drill-string inclination is not well considered in the literature,this paper develops a novel drill-string vibration model for geological drilling with inclined ***,the correlation between the inclination angle of borehole and the axial and torsional forces on the drill-string is *** on this,a drill-string motion model with the parameters of inclination angle is ***,the bit-rock interaction is considered as two processes,axial cutting and torsional friction,and an axial-torsional coupled bit-rock interaction model with state-dependent time delay is *** combining the established drill-string motion model and bit-rock interaction model,a coupled axial-torsional vibration model of drill-string in inclined borehole is obtained with the effect of borehole wall friction taken into *** drill-string vibration model proposed in this paper is more general,and includes the existing coupled drill-string vibration model of vertical borehole,which is closer to the actual situation.

关键词： drill-string vibration drill-string inclination bit-rock interaction

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Global MPPT for PV systems under Partially Shaded Conditions Based on Voltage Band 33

Global MPPT for PV Systems under Partially Shaded Conditions...

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第三十三届中国控制会议

作者： Fan Xinyu DENG Fang LI Fengmei School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

This paper presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Voltage band method and restricted voltage scanning method is used to increase the scanning speed. A method is proposed to determine whether partial shading occurs. The main advantage of the proposed method is the ability to search the global peak *** results shows the good performance of proposed method.

关键词： Maximum Power Point Tracking(MPPT),Voltage band,Partially Shaded Conditions

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