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Parameter Estimation and Tracking control of MIMO Linear Systems Without Prior Knowledge of control Signs and Parameter Bounds

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IEEE Transactions on Automatic control 2024年第6期70卷 3695-3710页

作者： Xu, Yuchun Zhang, Yanjun Zhang, Ji-Feng Chinese Academy of Sciences Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Beijing100190 China Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Technology State Key Lab of Automation Intelligent Unmanned Systems Beijing100081 China University of Chinese Academy of Sciences School of Mathematics Sciences Beijing100149 China Zhongyuan University of Technology School of Automation and Electrical Engineering Zhengzhou450007 China Chinese Academy of Sciences Academy of Mathematics and Systems Science Beijing100190 China

Dealing with the uncertain high-frequency gain matrix, denoted as Kp, is a fundamental problem in multivariable adaptive control systems. In this paper, we propose a new solution for parameter estimation and adaptive control for a general class of multi-input multi-output discrete-time linear time-invariant systems. The proposed scheme does not require any prior knowledge of the sign or bound information of Kp, and thus, significantly relaxes the design conditions in traditional multivariable adaptive control systems. Compared with the commonly used Nussbaum gain or multi-model techniques for addressing the unknown signs of Kp, the proposed scheme does not rely on any additional design conditions or any switching mechanism, while still ensuring closed-loop stability and asymptotic output tracking. Specifically, an output feedback adaptive control law is developed based on a matrix decomposition technique, which leads to derivation of a modified estimation error model. Subsequently, a gradient-based parameter update law is formulated only relying on the non-zero condition of the leading principle minors of Kp. Through designing gain functions and stable filters, the controller is always non-singular and does not involve any causal contradiction problem. Simulation study showcases the design process and demonstrates the effectiveness of the proposed scheme. © 1963-2012 IEEE.

关键词： MIMO systems

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Target Assignment in the Multi-UAV Combat Based on Distributed Compensation Auction Algorithm with Fixed-Time Consensus Protocol 7th

Target Assignment in the Multi-UAV Combat Based on Distri...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Chen, Yiyang Hua, Yongzhao Yu, Jianglong Dong, Xiwang Institute of Artificial Intelligence Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789819733231

This paper mainly focuses on the target assignment problems in the unmanned aerial vehicle (UAV) swarm combat. Firstly, the idea of the multi-UAV swarm combat is shown and the constraints and the benefit matrix of the target assignment task are modeled. Secondly, a fixed-time consensus protocol is utilized to estimate the state of all the other agents and its convergence is proved by Lyapunov method. Then, a distributed compensation auction algorithm is proposed. Finally, the proposed distributed compensation auction algorithm is simulated and the results demonstrate the successful completion of the assignment task with only neighboring information. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Lyapunov methods

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Power-Hardware-in-the-Loop Motor Emulator under Four-Quadrant Operation Condition 10

Power-Hardware-in-the-Loop Motor Emulator under Four-Quadran...

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10th IEEE International Power Electronics and Motion control Conference, IPEMC 2024 ECCE Asia

作者： Zhang, Gengchen Guo, Hong Xu, Jinquan Wang, Gaoxiang Zhang, Li Jin, Wenbo Zhao, Xiaopeng Liu, Ying Beihang University School of Automation Science and Electrical Engineering Bejing China Southwest China Research Institute of Electronic Equipment Chengdu China Xian Flight Automatic Control Research Institute Xi'an China National Key Laboratory of Science and Technology on Aircraft Control Xi'an China

ISBN: (纸本)9798350351330

In order to solve the problems of long cycle and the difficulty of test, this paper proposes a method of power-in-the-loop motor simulator. Firstly, the topology of the motor simulator is proposed, composed of an interface filtering unit, a motor simulation unit and an energy management unit. Secondly, a discretization method for permanent magnet synchronous motor(PMSM) is designed for DSP control. Thirdly, this paper proposes a method combining quasi-proportional resonance control(QPR) and direct current control to ensure the control accuracy. Finally, the motor simulator is verified by experiments. © 2024 IEEE.

关键词： Permanent magnets

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A new Interleaved Full-Bridge Converter for AC battery 12

A new Interleaved Full-Bridge Converter for AC battery

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12th IEEE International Conference on control, automation and Information Sciences, ICCAIS 2023

作者： Do, Tuan Anh Le, Quang Nghia Nguyen, Thang Long Dich, Nguyen Quang Hoang, Phuong Vu Hanoi University of Science and Technology School of Electrical and Electronic Engineering Hanoi Viet Nam Hanoi University of Science and Technology Institute for Control Engineering and Automation Hanoi Viet Nam

ISBN: (纸本)9798350328783

Home battery storage systems using Second-life time batteries (SLBs) are of recent research interest for resilient homes. The AC Battery is chosen for this application due to its flexibility, in which the Interleaved Full Bridge (IFB) converter is studied in this paper for the Power Correction Factor (PFC) stage. The pulse width modulation and control strategy are introduced for the IFB converter in this research. To verify the operation and the feasibility of the proposed structure in the grid-tied mode, a real-time simulation is carried out with the results meeting a good agreement with the theoretical analyst. © 2023 IEEE.

关键词： Electric power factor correction

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Trajectory control of Multi-Axis Robotic Arms Based on Physics-Informed Neural Networks and Nonlinear Model Predictive control

Trajectory Control of Multi-Axis Robotic Arms Based on Physi...

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2024 China automation Congress, CAC 2024

作者： Wang, Yiqing Xia, Changqing Jin, Xi Xu, Chi Zhang, Yanzhu School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350368604

Multi-axis robotic arms are extensively utilized in intelligent manufacturing scenarios, with trajectory control in flexible scenarios constituting a primary challenge. Physics-Informed Neural Networks (PINNs) represent advanced methods that integrate physical laws with data-driven approaches. Despite their outstanding performance in integrating theory and data, research on their application for controlling robotic arms in complex scenarios remains limited. This paper establishes a nonlinear dynamic model based on the physical relationships between the axes of robotic arms. In the absence of prior data, Sobol sequence random sampling is employed to generate data, which are subsequently trained using PINNs. Considering system noise, the Extended Kalman Filter (EKF) is utilized to predict the next state in noisy environments, and Nonlinear Model Predictive control (NMPC) is implemented to control the robotic arm for trajectory tracking, achieving real-time control. Simulation results demonstrate that the proposed Discrete Physics-Informed Predictive control (DPIPC) method exhibits smaller position and velocity errors with less fluctuation compared to the method in the reference, indicating superior control capabilities. © 2024 IEEE.

关键词： Extended Kalman filters

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Typical Scene Material Classification Based on Remote Sensing Image Data 12

Typical Scene Material Classification Based on Remote Sensin...

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SPIE 12th International Symposium on Multispectral Image Processing and Pattern Recognition, MIPPR 2023

作者： Gao, Yang Dai, Ling Li, Haipeng Zhang, Yini Wang, Feng Beijing Aerospace Automatic Control Institute Beijing100854 China School of Electrical and Automation Engineering Nanjing Normal University Jiangsu Nanjing210023 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

ISBN: (数字)9781510675001

ISBN: (纸本)9781510674998

In spectral scene simulation applications, it is necessary to recognize and detect desert satellite images and satellite images containing water. However, previous network models such as AlexNet, VggNet, and GoogleNet have gradually fallen behind the trend of the times. Compared with the latest network models, they not only have slow training speeds but also do not achieve high accuracy. Therefore, this study adopts a series of the latest network models to solve this problem and compare and analyze the results. © 2024 SPIE.

关键词： Semantic Segmentation

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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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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SAR performance-based fault diagnosis for electrohydraulic control system:A novel FDI framework for closed-loop system

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Chinese Journal of Aeronautics 2022年第10期35卷 381-392页

作者： Yang ZHANG Shaoping WANG Jian SHI Xinyu YANG Jiarui ZHANG Xi WANG School of Energy and Power Engineering Beihang UniversityBeijing 100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Institute for Automatic Control and Complex Systems(AKS) University of Duisburg-EssenDuisburg 47057Germany

Model-based fault diagnosis serves as an efficient and powerful technique in addressing fault detection and isolation(FDI)issues for control ***,the standard methods and their modifications still encounter some difficulties in algorithm design and application for complex higher-order *** avoid these difficulties,a novel fault diagnosis framework based on multiple performance indicators of closed-loop control system is *** this framework,a socalled performance residual vector is constructed to measure the differences between the real system and the nominal model in terms of system stability,accuracy,and rapidity(SAR)*** criteria for quantification,normalization of the SAR residuals and the explicit mappings between the thresholds and the required performance are *** can be easily achieved simultaneously by monitoring the normalized residual vector length and direction in the SAR performance residual space.A case study on electro-hydraulic servo control system of turbofan engine is adopted to demonstrate the effectiveness of the proposed method.

关键词： Electro-hydraulic servo valve(EHSV) Fault diagnosis Fuel metering unit Performance degradation Performance residual Stability,accuracy,and rapidity(SAR)

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Spacecraft Integrated Pose Determination with Unknown Noise Covariances

Spacecraft Integrated Pose Determination with Unknown Noise ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Chen, Hang Hu, Qinglei Wu, Huai-Ning Duan, Chao Chen, Bin Zhang, Peng School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Beihang Hangzhou Innovation Institute Yuhang Hangzhou310023 China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Peng Cheng Laboratory Shenzhen518000 China Beijing Institute of Control Engineering Beijing100094 China

ISBN: (纸本)9789811966125

A novel robust unscented Kalman filter (UKF) is developed for orbiting spacecraft pose determination without knowing prior noise statistical characteristics by using dual quaternion formulation. First, an adjustment coefficient multiplied by a predesigned positive definite matrix is updated iteratively for the process noise covariance adaptation and the moving window of the measurement innovation are adopted for the measurement noise covariance estimation. Then, the adaptation method is incorporated into the dual-quaternion-based UKF procedure where the dual modified Rodrigues parameters (MRPs) are adopted for sigma points description to avoid violating the quaternion normalization constraint. Finally, the effectiveness and practical usefulness of the developed algorithm are verified via numerical simulation examples. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Covariance matrix

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