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arXiv 2025年

作者： Che, Hao-Chi Wu, Huai-Ning School of Automation Science and Electrical Engineering Beihang University Beijing China The Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Hangzhou International Innovation Institute Beihang University Hangzhou311115 China

In this paper, the coordinated control problem of deformation and flight for morphing aircraft (MA) is studied by using meta-learning (ML) and coupled state-dependent Riccati equations (CSDREs). Our method is built on two principal observations that dynamic models of MA under varying morphing conditions share a morphing condition independent representation function and that the specific morphing condition part lies in a set of linear coefficients. To that end, the domain adversarially invariant meta-learning (DAIML) is employed to learn the shared representation with offline flight data. Based on the learned representation function, the coordinated control of the deformation and flight for MA is formulated as a non-cooperative differential game. The state-dependent feedback control solutions can be derived by addressing a pair of CSDREs. For this purpose, Lyapunov iterations are extended to obtain the positive semidefinite (definite) stabilizing solutions of the CSDREs, and the convergence proof of the proposed algorithm is provided. Finally, a simulation study is carried out to validate the efficacy of the developed coordinated game control strategies. Copyright © 2025, The Authors. All rights reserved.

关键词： Riccati equations

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Discrete control algorithms for systems with big dead time for control101 MATLAB toolbox

Discrete control algorithms for systems with big dead time f...

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Cybernetics & Informatics (K&I)

作者： Ruth Bars Gyula Max J. Anthony Rossiter László Keviczky Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary School of Electrical and Electronic Engineering University of Sheffield Sheffield UK Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

The first course of control is under a critical review. Both the teaching material covered and the teaching methods require new considerations. Introducing interactivity in the education process makes the learning more successful and enjoyable. MATLAB provides an effective environment for learning and applying different disciplines. control101 is a new MATLAB toolbox under development which provides tools for interactive learning of control disciplines. This paper presents the framework for teaching discrete control algorithms applied for processes containing large dead times.

关键词： Visualization Systematics PI control Reviews Education Laboratories Process control Prediction algorithms PD control MATLAB

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Full-Amplitude Probability Distribution Analysis-Based Information Entropy Signal Processing Method for Sodium Bubble Detector

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Liang, Li-Ping Song, Ju-Long Xu, Ke-Jun Chen, Cheng Xu, Wei Yang, Shuang-Long Hefei University of Technology School of Electrical and Automation Engineering Hefei230009 China Anhui Engineering Technology Research Center of Industrial Automation Hefei230009 China Hefei Tongzhi Electromechanical Control Technology Hefei230088 China 38th Research Institute of China Electronics Technology Group Corporation Hefei230088 China

Under conditions of high temperature and high pressure, the sodium-cooled fast reactor’s steam generator (SG) will leak and cause a sodium-water reaction, which may lead to an explosion in severe cases. Therefore, timely detection and warning are required at the leakage early stage. An electromagnetic vortex flowmeter (EVFM) can be used for leakage detection of SGs in sodium-cooled fast reactors. To achieve reliable leak detection, EVFM needs to have a fast response time and small leakage detection capabilities. This article analyzes the full-amplitude probability distribution of EVFM signals with or without leakage and finds the distribution differences between single peak and double peak. Considering the randomness of bubble noise, an information entropy-based signal processing method for EVFM is proposed, and information entropy is used to measure the uncertainty of signal amplitude waveform. By comparing the information entropy difference at different amplitude segment numbers, the optimal segment number is determined. Finally, a DSP-based sodium bubble detection system was developed, and offline and online verification tests were carried out. Results show that the developed system can detect SG leakage as low as 0.1 g/s with a response time of less than 1 s. © 1963-2012 IEEE.

关键词： Normal distribution

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Development and Optimization of a WebGL-Based Mechanical Model Simulation Platform 4th

Development and Optimization of a WebGL-Based Mechanical Mod...

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4th International Conference on Mechanical Design and Simulation, MDS 2024

作者： Wang, Xintong Tian, Hao Fang, Jingzhe Zhang, Hualiang Zhang, Tao Software College Shenyang University of Technology Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9789819778867

The need for mechanical model simulation platforms is growing as a result of the ongoing advancements in digital technology and the mechanical manufacturing sector. The application scope and efficacy of simulation platforms are severely limited by the issue of sluggish rendering performance, which frequently arises when obtaining high-quality rendering. When drawing high demand mechanical models, a lot of processing power is frequently needed, which makes real-time rendering speed unsatisfactory for practical purposes. In order to achieve real-time rendering and simulation of 3D robots, this experiment built and implemented a WebGL-based 3D simulation platform. Additionally, the simulation platform can be optimized by increasing frame rate and rendering speed without sacrificing rendering effect by building a mixed bounding box. © The Author(s) 2025.

关键词： Digital elevation model

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Generation of n-dimensional complex chaotic system via parameter matrix configuration

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Chaos, Solitons and Fractals 2025年 197卷

作者： Yao, Jinhui Zhang, Yinxing Bao, Han Hua, Zhongyun School of Computer Science and Technology Harbin Institute of Technology Shenzhen Guangdong518055 China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China School of Microelectronics and Control Engineering Changzhou University Changzhou213164 China

Complex chaotic systems can exhibit high chaotic complexity due to the presence of complex variables and complex parameters. Most research has focused on real chaotic systems, but complex chaotic systems remain relatively under-explored. To this end, this work presents an n-dimensional complex chaotic system (nD-CCS) generation method utilizing complex parametric Pascal matrices. Initially, these matrices are generated and subsequently utilized as the parameter matrices for constructing the nD chaotic systems. Theoretical analysis demonstrates that the proposed nD-CCS can exhibit chaotic behavior. Extensive experiments show that the nD-CCS possesses more robust chaotic performance than existing nD real chaotic systems. To demonstrate the effectiveness of our method, a four-dimensional complex chaotic map (4D-CCM) is generated and its chaotic behavior is analyzed. Furthermore, we develop a hardware platform to verify the 4D-CCM's implementation on hardware devices. We also design pseudorandom number generators (PRNGs) using the 4D-CCM and test their randomness against the NIST SP800-22 standard. The result indicates excellent randomness in the PRNGs. © 2025

关键词： Computer peripheral equipment

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Angle tracking consensus and vibration control of multiple manipulator-string systems with actuator fault over directed graph

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JVC/Journal of Vibration and control 2025年

作者： Liu, Weimin Ji, Jiewen Li, Le Liu, Jinkun He, Jinyu School of Automation Beijing Institute of Technology Beijing China China North Industries North Automatic Control Technology Research Institute PR Taiyuan China School of Automation Science and Electrical Engineering Beihang University PR Beijing China

In this paper, we address the angle tracking consensus and vibration suppression problems of the leader-following multiple marine detecting systems subject to actuator fault over directed graph, where each follower is composed of a rigid manipulator, a flexible string and a detecting probe, with the desired angle treated as the virtual leader. First, the dynamics of the systems are characterized by a set of partial differential equations (PDEs). Second, in order to tackle the difficulty in selecting Lyapunov function caused by directed graph, we design a distributed observer for each follower to estimate the leader’s angle, facilitating the control design. Moreover, we develop an adaptive fault-tolerant control law to ensure the robustness of the systems. Based on the above preparations, we propose the distributed boundary control strategy to achieve the angle tracking consensus of the rigid manipulators and vibration elimination of the flexible strings. Finally, some simulations illustrate the effectiveness of the suggested theoretical findings. © The Author(s) 2025.

关键词： Robustness (control systems)

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Object Detection and Multiple Objective Optimization Manipulation Planning for Underwater Autonomous Capture in Oceanic Natural Aquatic Farm

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Journal of Field Robotics 2025年第0期

作者： Hai, Huang Tao, Jiang Xinyu, Bian Hao, Zhou Xu, Yang Gang, Wang Hongde, Qin Xinyue, Han National Key Laboratory of Science and Technology on Underwater Vehicle Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Bei Jing China

Underwater autonomous capture operations offer significant potential for reducing labor and health risks in sea organism industries. This study presents a comprehensive solution for cross-domain underwater object detection and autonomous capture. A novel unsupervised domain adaptive learning method is proposed, integrating multiscale domain adaptive modules and attention mechanisms into a Faster Region-Convolutional Neural Network framework. This approach enhances feature alignment across diverse aquatic domains without parameter tuning. Additionally, an efficient, parameterless constrained multiobjective optimization algorithm is introduced for underwater autonomous mobile capture, integrating parameterized trajectory planning with innovative features, such as adaptive mutation strategies and constraint violation tolerance. The proposed approaches are extensively validated through simulations, tank experiments, and real-world oceanic trials in the Natural Aquatic Farm of Zhangzidao Island. Results demonstrate the system's robustness in complex underwater environments with varying currents, with experimental outcomes validating the accuracy and reliability of detection and capture capabilities. This research significantly advances autonomous underwater systems' capabilities in object detection and capture tasks, addressing complex challenges in realistic organism capture applications across diverse aquatic environments. © 2025 Wiley Periodicals LLC.

关键词： Health risks

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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 ...

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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 Consequent Pole Flux Reversal Machine with Asymmetric V-PM Structure for High Torque Performance Applications

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IEEE Transactions on Transportation Electrification 2025年

作者： Zheng, Yuting Xiang, Wei Zhang, Liu Jin, Yong Tan, Ping Ma, Jien Zhejiang University of Science and Technology School of Automation and Electrical Engineering Hangzhou310023 China Beihang University Zhejiang Engineering Research Center of Precision Electromagnetic Control Technology and Equipment Ningbo Institute of Technology Ningbo315800 China Zhejiang University College of Electrical Engineering Hangzhou310027 China

Conventional flux reversal machines (FRMs) are limited in torque density due to large pole flux leakage, while the inherently doubly-salient structure results in large torque ripple. In order to enhance the torque performance, a consequent pole FRM with asymmetric V-shaped permanent magnet structure (AV-CPFRM) is proposed in this paper. The pole flux leakage of the AV-CPFRM is reduced by utilizing the flux focus effect of the V-shaped magnets in conjunction with the consequent pole structure, while the torque ripple is reduced by adopting the asymmetric pole structure. Subsequently, the AV-CPFRM is optimized and analyzed, the influence of the torque performance on the asymmetric pole structure parameters is investigated. In addition, the electromagnetic performance of the optimized AV-CPFRM is compared with CP-FRM and consequent pole FRM with V-shaped magnets (V-CPFRM) based on finite element analysis. The results suggest that the AV-CPFRM reduces torque ripple by 86.6% with the average torque increase of 11% compared to the conventional CP-FRM. Finally, the AV-CPFRM prototype is constructed and experimented. © 2015 IEEE.

关键词： Permanent magnets

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Inner Rotor Shaping Method for Torque Ripple Suppression in Hollow-Cup Machines

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IEEE Transactions on Industry Applications 2025年

作者： Cui, Zhanpeng Zhou, Jinxiang Le, Yun Zhang, Liu Wang, Kun Liu, Ximing Zheng, Shiqiang Beihang University School of Instrumentation and Optoelectronic Engineering Beijing100191 China Beihang University Zhejiang Engineering Research Center of Precision Electromagnetic Control Technology and Equipment Ningbo Institute of Technology Ningbo315800 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China

The ultra-precise stabilization spacecraft (UPSS) requires the use of hollow-cup machines (HCMs) with extremely low output torque ripple to achieve accurate attitude control. Conventional permanent magnet (PM) shaping methods are effective in suppressing torque ripple. However, they pose challenges such as magnetization difficulty and mechanical strength reduction. This paper proposes an inner rotor harmonic shaping (IRHS) method to reduce the torque ripple and avoid the defects of shaped PMs. This method is based on the adjustment effect of air-gap permeance harmonic injection on the air-gap flux density harmonics. To further explore the advantages of this method, this paper compares it with several PM shaping methods. A total of five machine topologies are considered, and their electromagnetic characteristics are comprehensively analyzed and compared. The proposed method reduces the torque ripple by 87% compared to conventional HCMs. Meanwhile, the comparison with several PM shaping methods shows that the IRHS achieves a 3% to 6% increase in the average torque and a 10% to 12% reduction in the PM loss while obtaining a comparable torque ripple. Finally, two prototype machines are manufactured and experimentally validated. © 1972-2012 IEEE.

关键词： Electromagnetic characteristics hollow-cup machines (HCMs) inner rotor harmonic shaping (IRHS) permanent magnet (PM) shaping torque ripple suppression

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