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3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Zhang, Yu Li, Yajing Ran, Guangtao Yu, Hao Ma, Guangfu Department of Automation Shenzhen518055 China Shanghai Institute of Aerospace System Engineering Shanghai200241 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798331540319

This paper proposes a dynamic event-triggered control method for first-order multi-agent systems with input delays and disturbances under switching topologies. The controller design and its properties of dynamic event-triggered fixed-time consensus are presented in detail. Furthermore, agents can achieve consensus in a fixed time for any initial conditions and topologies that comply with the control protocol. Zeno behavior is avoided. Simulation examples demonstrate the effectiveness of the proposed algorithm and simulate scenarios in which the communication environment deteriorates due to external disturbances affecting the MASs. © 2024 IEEE.

关键词： Multi agent systems

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Optimization Design of the Anti-Interturn Short-circuit Fault High-Speed Permanent Magnet Starter Generator for Aviation

Optimization Design of the Anti-Interturn Short-circuit Faul...

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2024 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2024

作者： Jia, Chen Ye, Qingpan Wan, Yuan Zhang, Xu Avic Nanjing Engineering Institute Of Aircraft System Nanjing China Nanjing University Of Science And Technology School Of Automation Nanjing China

ISBN: (纸本)9798331529277

The interturn short-circuit (ITSC) fault, being a frequently occurring issue, often leads to a significant ITSC current in the high-speed permanent-magnet starter generator (HSPMSG), thereby limiting their application to industries with strict reliability requirements, such as aviation. Moreover, the tolerance of ITSC faults typically contradicts power density. This paper conducted a multi-objective optimization design of HSPMSG to achieve a balance between power density and ITSC current, ensuring the possibility of long-term operation under ITSC fault while maintaining competitive power density. Firstly, the key parameters that affect ITSC current and power density were selected as the optimized variables, and then the multi-physics field constraints were studied. Subsequently, an optimized design process was developed and implemented. Finally, the optimal scheme was confirmed considering its performance and technological feasibility. The research will facilitate the rapid utilization of HSPMSGs in aviation power generation systems. © 2024 IEEE.

关键词： Permanent magnets

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Position Measurement Based Slave Torque Feedback Control for Teleoperation systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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Modeling and Analysis on In-line Four-cylinder Vehicle Engine system 8

Modeling and Analysis on In-line Four-cylinder Vehicle Engin...

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8th International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023

作者： Shi, Chunyang Liu, Guotong Bian, Yushu Fan, Ming School of Mechanical Engineering and Automation Beihang University Beijing100191 China Research Institute of System Engineering Beijing China

ISBN: (纸本)9781510668331

The vehicle engine is affected by the external excitation force in the actual work, which will make the engine work in a bad condition and easily produce vibration and noise. Therefore, it is necessary to model the engine to control the engine vibration first. In this paper, a type of vehicle engine is taken as the research object, and the six-degree-of-freedom dynamic equation of the engine is established according to the Lagrange Method. The natural frequency of the engine vibration system is calculated by numerical and simulation analysis. The engine vibration is analyzed, and the two results are compared to verify the correctness of the model. This research lays a foundation for the vibration control of the engine. © 2023 SPIE.

关键词： Numerical methods

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A Seamless Pedestrian Localization system Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年第11期12卷 16653-16667页

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite system (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation system (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： Location awareness Global navigation satellite system Accuracy Pedestrians Filtering Sensors Prediction algorithms Predictive models Smart phones Kalman filters

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Learning Visual Representation for Autonomous Drone Navigation via a Contrastive World Model

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第3期5卷 1263-1276页

作者： Zhao, Jiang Wang, Yibo Cai, Zhihao Liu, Ningjun Wu, Kun Wang, Yingxun School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Flying College Beihang University Beijing100191 China Unmanned System Research Institute Beihang University Beijing100191 China

Visuomotor policy learning for vision-based navigation tasks is still challenging and necessary for autonomous systems. Learning a task-specific policy from scratch simplifies the training pipeline while suffering from poor data efficiency and transfer ability. This problem intends to be more intractable under a low-data regime. In this work, we present a self-supervised representation learning architecture that incorporates Spatial and Temporal information via a Contrastive world model (STC) to extract image representation for vision-based navigation tasks. Specifically, STC leverages the dynamics transition model based on a recurrent neural network to construct a joint low-dimensional latent space for spatial and temporal representations. We simultaneously optimize all components of this architecture using a multiobjective contrastive training loss. The resulting pretrained encoder model acts as a standalone feature extractor to promote the policy learning procedure. We evaluate the final optimized visuomotor policy on both the simulated drone navigation environment and the out-of-domain dataset. Experimental results demonstrate that our proposed method outperforms task-specific and representative contrastive learning baselines in challenging complex visual environments withmore than half the improvement in data efficiency and provides significant gains in learning speed as well as the final performance. Code and video are available at: https://***/yibow-wang/cwm4drone. Impact Statement-Image data is one of the most critical perception methods for autonomous systems. However, visual observations are naturally high-dimensional and noisy, which makes it complicated for data processing and utilization. The visual representation learning method proposed in this work leads to a feature extractor that efficiently extracts task-relevant factors fromthe image observations. Evaluation results on vision-based drone navigation tasks show a satisfying improvement in ge

关键词： Navigation

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High-Misalignment Tolerance WPT system for UAV by Symmetric Rotating Magnetic Field 26

High-Misalignment Tolerance WPT System for UAV by Symmetric ...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Yang, Fengshuo Lan, Yu Zhang, Qingxuan Xiong, Mingxing Jiang, Jinhai Song, Kai Wang, Xudong Xu, Wanli School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Institute of System Engineering Academy of Military Science Beijing China

ISBN: (纸本)9798331521950

This paper proposes an novel solenoid magnetic coupler for omnidirectional wireless charging of unmanned aerial vehicles (UAVs). The magnetic coupler features asymmetry compensation, a compact structure, high rotational and misalignment tolerance, and low magnetic leakage interference. The transmitting coils consist of three groups of solenoid coils, each comprising a large coil and a small coil connected in series. The small coil compensates for the uneven coupling caused by axial misalignment of the UAV. The excitation current phase difference of 120° in each transmitter coil group generates rotating magnetic field. The transmitting coils primarily produce horizontal magnetic fields with minimal vertical components, significantly reducing electromagnetic interference with UAV equipment. Two groups of receiving solenoid coils are conformally installed on the UAV landing gear. The topology, where each group of receiving coils is rectified and then connected in series, compensates for the uneven coupling caused by radial misalignment. Simulation results indicate that the system maintains a stable received power of 379W-477W under angular offsets of 0-360° and positional offsets of ±60mm, demonstrating excellent misalignment tolerance. © 2025 IEEE.

关键词： Drones

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Dynamical systems Based Compliance Control Approach Without Direct Force Information 25

Dynamical Systems Based Compliance Control Approach Without ...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： He, Zongyue Guo, Yi Huang, Tianyi Liu, Weitao Shanghai Jiao Tong University Department Of Automation ShangHai200240 China Shanghai Aerospace System Engineering Institute ShangHai201114 China

ISBN: (纸本)9798350340266

Modern robots must be equipped with compliant interaction strategies to undertake complex human-robot interaction tasks. This paper develops a comprehensive control system blending the dynamical systems approach and the force estimation method. The proposed method allows for the switching between two different compliance control strategies according to task requirements. It can regenerate a compliant dynamical system (DS) motion based on the estimated force, ensuring compliance control along the original set trajectory at the motion level. Unlike existing works that rely on force sensors or additional impedance information, the proposed method achieves ideal compliant behavior with minimal information. Simulation experiment results demonstrate the applicability and stability of the proposed method. © 2024 IEEE.

关键词： Dynamical systems

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Region coverage control for multiple stratospheric airships with combined self-/event-triggered mechanism

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Defence Technology（防务技术） 2023年第6期24卷 254-268页

作者： Yi-fei Zhang Ming Zhu Tian Chen Ze-wei Zheng School of Aeronautic Science and Engineering Beihang UniversityBeijing100191China Institute of Unmanned System Beihang UniversityBeijing100191China School of Electronic and Information Engineering Beihang UniversityBeijing100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191China

The region coverage control problem of multiple stratospheric airships system is firstly addressed in this *** it,we propose a two-layer control framework with the artificial potential field(APF)-based region coverage control law and the adaptive tracking control *** APF-based region coverage control law ensures the coverage task is achieved until every single stratospheric airship ends up performing station keeping where near the respective global minimum point,in which an innovative solution to the local minimum problem is put *** adaptive tracking control law is designed to realize motion control using tracking the desired velocity and angular velocity given by coverage control law,with the consideration of several practical control problems as unknown individual differences and external *** save resources,the combined self-/event-triggered mechanism designed therein significantly reduces the times of state information transmission and control law *** effectiveness of the proposed control framework is verified through simulations.

关键词： Formation coverage control Combined self-/event-triggered control Improved artificial potential field

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