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Trajectory Tracking for Directional Drilling in Underground Coal Mine Using Robust Model Predictive control 26

Trajectory Tracking for Directional Drilling in Underground ...

引用

26th International Conference on Industrial Technology, ICIT 2025

作者： Wu, Jiajun Lu, Chengda Li, Hao Wei, Hongchao Wu, Min School of Future Technology China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an710077 China China Coal Research Institute Beijing100013 China

ISBN: (纸本)9798331521950

This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension model is obtained by the linearization of a drilling tool kinematic model through the Taylor series expansion in the borehole depth domain. Then, in view of the influence of the uncertainty of the drilling tool slope and external interference, a robust model predictive control method is introduced in the form of an optimal control problem. A sufficient condition is obtained to calculate the corresponding controller gain matrix on the premise of satisfying the stability of the closedloop control system and the H∞ performance index. At last, the effectiveness of our method is illustrated through simulation analysis. Compared with model predictive control, robust model predictive control directly incorporates the uncertainty of the drilling tool slope and external interference into the control design, enabling it to better adapt to the complex and variable underground coal mine environment. © 2025 IEEE.

关键词： Predictive control systems

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A dulcimer keys positioning method based on improved Roberts operator

A dulcimer keys positioning method based on improved Roberts...

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2021 China automation Congress, CAC 2021

作者： Tang, De Zhang, Ziying Chen, Xin Xiao, Zhe Qin, Mengxi School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan430074 China School of Arts and Communication China University of Geosciences Wuhan430074 China

ISBN: (纸本)9781665426473

It is important for the dulcimer robot to obtain the spatial coordinates of the dulcimer phonemes. However, the traditional manual positioning method is both inefficient and does not meet the intelligence requirements of modern robot. A visual positioning method based on improved Roberts operator is proposed in this paper on account of solving these problems, which can obtain the 3D coordinates of the dulcimer keys in a short time. First, an improved Roberts edge detection operator is designed, which fully detects the edge information of the target by transforming the scale. Further, this paper proposes a dulcimer keys positioning method by fusing RGB and depth image information. This method has a better positioning effect for dulcimer keys with complex background and small size. The experimental results show that the visual positioning method proposed in this paper can effectively identify and locate the dulcimer keys, and it has better robustness to the lighting environment. © 2021 IEEE

关键词： Binocular vision

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Aerial battlefield targets grouping based on DTW-DBSCAN algorithm

Aerial battlefield targets grouping based on DTW-DBSCAN algo...

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第40届中国控制会议

作者： Shao Zhuang Chen Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

Targets grouping is the basis of second-level information fusion,which can effectively assist commanders to make *** aerial targets grouping algorithm only takes the radar acquisition data at the current time as the object and cannot update the clustering results automatically.A grouping method combining dynamic time warping(DTW) and the algorithm Density-Based Spatial Clustering of Applications with Noise(DBSCAN) is *** DTW distance of each attribute historical time-series data is used to measure the similarity between ***,an improved DBSCAN algorithm is used for *** simulation results show that the method has better grouping effect and can automatically cluster regularly.

关键词： targets grouping dynamic time warping density clustering

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Adaptive Sliding Mode control for Random Teleoperation system with Time-Varying Delay

Adaptive Sliding Mode Control for Random Teleoperation Syste...

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第40届中国控制会议

作者： Haitao Jian Shiqi Zheng Chenghao Zhao Haiming Li Shihao Wang 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

This paper focuses on the control problem of a class of random teleoperation systems. To overcome the difficulties caused by the random environment, a new adaptive sliding mode control method for random teleoperation system is *** with the previous work, the model in this paper is built by random differential equations. In addition, different time-varying delays are introduced between the two communication channels. Furthermore, a new design scheme for random teleoperation system with varying-time delay is proposed. Radial Basis Function neural network（RBFNN） is introduced to deal with the unknown nonlinearities of the system. Using this method, good position tracking performance and stability can be obtained.

关键词： Adaptive control Sliding mode Teleoperation Random Lagrangian system Time-varying delay

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Design of a prediction and optimization system for plate shape in roller quenching process

Design of a prediction and optimization system for plate sha...

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第40届中国控制会议

作者： Wen Zhang Min Wu Cong Chen Sheng Du Luefeng Chen 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

Plate shape is one of the key quality indices of steel plates after *** is of great significance to realize the prediction and optimization of plate shape for obtaining high quality steel *** paper designs a prediction and optimization system for plate shape in roller quenching ***,the roller quenching process is described in detail,the design objectives are analyzed,and the architecture of the system is ***,the system is designed from four parts:the prediction model of plate shape,the comprehensive evaluation model of plate shape,the intelligent optimization model of operating parameters and the case ***,the prediction and optimization system is applied to the industrial *** results of preliminary tests show that the system improves the quality of plate shape.

关键词： Roller quenching process Plate shape prediction intelligent optimization Case matching

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Detection Method for Overbreak and Underbreak of Tunnel Based on Three-Dimensional Laser Point Clouds

Detection Method for Overbreak and Underbreak of Tunnel Base...

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第32届中国过程控制会议(CPCC2021)

作者： Zhuoxuan Jiang Jianqi An Zhilin Tang Xin Chen 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

During the construction of the tunnel excavation with the method of drilling and blasting,overbreak and underbreak occur ***,overbreak and underbreak affect the cost,efficiency,and safety of tunnel *** paper presents a detection method for overbreak and underbreak of tunnels based on three-dimensional laser point ***,this paper obtains point cloud data of a tunnel by a 3 D laser scanner,preprocesses the point cloud data based on Gaussian filter,and extracts midlines of the tunnel based on random sampling consistency(RANSAC) to obtain attitude and trend information of the ***,cross-sections of the tunnel are extracted according to the midline of the ***,the position and value of the overbreak and underbreak are got according to comparing the projections of the cross-sections of the tunnel with a planned extent of the ***,this method was applied to an evaluation of overbreak and underbreak of a tunnel,and the results show that the method in this paper detects overbreak and underbreak easily,quickly,and accurately.

关键词： Overbreak and underbreak three-dimensional laser point cloud

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Electroencephalogram Emotion Recognition Using Variational Modal Decomposition Based Dispersion Entropy Feature Extraction

Electroencephalogram Emotion Recognition Using Variational M...

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第40届中国控制会议

作者： Si-Jun Hu Zhen-Tao Liu Xue-Wen Ding 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

Electroencephalogram（EEG） emotion recognition has gained considerable attention due to its ability to reflect people’s inner emotional states objectively and *** extraction is a critical step in EEG emotion recognition because of non-stationarity and irregularity of EEG signals.A feature extraction method using Variational Modal Decomposition（VMD）to extract Dispersion Entropy（DispEn） is proposed in this *** EEG signal is decomposed into several components,and DispEn of each component is extracted in eight emotion-related *** method was tested on DEAP dataset in which the EEG emotional states are accessed in Valence-Arousal emotional *** emotional states（i.e.,HVHA,HVLA,LVHA,LVLA） are classified by Support Vector Machine（SVM）.The experimental results show that the accuracy of emotion recognition is 77.87%,which demonstrates its effectiveness.

关键词： EEG Emotion recognition VMD Dispersion Entropy Feature Extraction SVM

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A New Dynamic Event-Triggered Mechanism Based Model Predictive control for systems with Polytopic Uncertainties

A New Dynamic Event-Triggered Mechanism Based Model Predicti...

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第40届中国控制会议

作者： Fan Wei Xiongbo Wan 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

This paper investigates the problem of model predictive control（MPC） for systems with polytopic uncertainties under the event-triggered communication mechanism. To save network resources, a new dynamic event-triggered mechanism（DETM） is proposed, which contains an adaptive internal dynamic variable（IDV） and a time-varying parameter. A "min-max"optimization problem is put forward to dealing with the MPC problem for systems with polytopic uncertainties. With the aid of a Lyapunov-like function dependent on the IDV of the DETM, an auxiliary optimization problem is devised with constraints in terms of linear matrix inequalities. By solving such an auxiliary optimization problem, sub-optimal feedback gains are obtained which ensure the input-to-state practical stability of the closed-loop system. A numerical example is provided to demonstrate the effectiveness of the devised MPC algorithm.

关键词： Model predictive control dynamic event-triggered mechanism networked systems input-to-state practical stability

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Event-Triggered Attack-Tolerant control for Quadrotor UAV

Event-Triggered Attack-Tolerant Control for Quadrotor UAV

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第40届中国控制会议

作者： Haiming Li Shiqi Zheng Chenghao Zhao Haitao Jian Shihao Wang 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

In view of the loss of speed caused by the attack of the four-rotor UAV executor, an adaptive control method is designed to maintain the altitude and posture of the UAV without the attack diagnostic mechanism. Adaptive event trigger control methods also consider the mechanism of event triggering. The main impact of attacks on UAVs is the loss of thrust from UAVs. The attack-tolerant method designed in this paper can ensure that the tracking error of multi-acting device can maintain altitude and attitude when attacked is gradually convergent. At the same time, the event trigger method reduces the use of communication resources. Simulation proves the validity of the method.

关键词： Adaptive control attack-tolerant method event-triggered quadrotor UAV

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Multi-condition recognition method based on LSTM＿GRU for heating processes

Multi-condition recognition method based on LSTM＿GRU for he...

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第40届中国控制会议

作者： Qingyi Zhu Weihua Cao Wenshuo Song 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

Aiming at the multi-condition problem of Continuous Annealing Processes(CAP), this paper proposes a new method based on Long Short-Term Memory(LSTM) and Gated Recurrent Unit(GRU) models to identify multiple conditions in ***, this work analyzes the parameters in CAP, selects the key variables that affect the working conditions, and then selects a piece of data in the CAP work process as the training data set to train the constructed LSTMRU neural network. This method realizes the recognition of different working conditions in CAP, which saves training time, simplifies internal *** with the traditional method, this method avoids the recognition error caused by personal experience factors, and the model accuracy has greatly improved.

关键词： Working condition recognition LSTMGRU Metallurgy Process industry CAP

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