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作者： Lobe, A. Ettl, A. Steinboeck, A. Kugi, A. Austrian Institute of Technology Wien Austria Christian Doppler Laboratory for Model-Based Process Control in the Steel Industry Automation and Control Institute TU Wien Austria Automation and Control Institute TU Wien Austria

The paper deals with a flatness-based control concept for a three-dimensional gantry crane. It is well known from literature that the payload position serves as a flat output if the payload is assumed to be a point mass. The validity of this assumption is investigated in more detail for the laboratory gantry crane under consideration. The overall control concept consists of a flatness-based feedforward controller with friction compensation and a trajectory error controller. In contrast to similar works in the literature the trajectory error controller has a special cascaded structure with subordinate velocity controllers and an outer linear quadratic regulator (LQR). The motivation of this structure is that it simplifies the model for the LQR design and makes it more intuitive to tune the controller parameters. Measurement results of the laboratory crane demonstrate the good performance of the proposed control concept. © 2018

关键词： controllers

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Closed-Loop RBF-PID control Method for Position and Attitude control of Stewart Platform

Closed-Loop RBF-PID Control Method for Position and Attitude...

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第三十八届中国控制会议

作者： Tianyu Huang Liang Shan Jun Li Zhen Yu Chenglin Liu School of Automation Nanjing University of Science and Technology Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University

Stewart platform has the characteristics of high nonlinearity and strong coupling, and conventional control method can not eliminate assembly and theoretical model errors. In this paper, the closed-loop control strategy is used to realize the position and attitude control of Stewart platform. For the closed-loop controller, the online tuning method of controller parameters based on RBF neural network is studied. The simulation results show that the control strategy is better than the conventional control strategy, and the tracking performance and control precision are significantly improved.

关键词： RBF neural network Stewart Platform 6-DOF Parallel Robot Position and Attitude control

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Comparison of Jinzhen oral liquid and ambroxol hydrochloride and clenbuterol hydrochloride oral solution in the treatment of acute bronchitis in children:A multicenter,non-inferiority,prospective,randomized controlled trial

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Acta Pharmaceutica Sinica B 2024年第12期14卷 5186-5200页

作者： Qinhua Fan Chongming Wu Yawei Du Boyang Wang Yanming Xie Zeling Zhang Wenquan Su Zizhuo Wang Changchang Xu Xueke Li Ying Ding Xinjiang An Jing Chen Yunying Xiao Rong Yu Nan Li Juan Wang Yiqun Teng Hongfen Lv Nian Yang Yuling Wen Xiaoli Huang Wei Pan Yufeng Liu Xueqin Xi Qianye Zhao Changshan Liu Jian Xu Haitao Zhang Lie Zhuo Qiangquan Rong Yu Xia Qin Shen Shao Li Junhong Wang Shengxian Wu Dongzhimen Hospital Beijing University of Chinese MedicineBeijing 100700China School of Chinese Materia Medica Tianjin University of Traditional Chinese MedicineTianjin 301617China Institute of Basic Research in Clinical Medicine China Academy of Chinese Medical SciencesBeijing 100700China The First Affiliated Hospital of Henan University of CM Zhengzhou 450099China Xuzhou Children’s Hospital Xuzhou 221002China Women and Children’s Health Care Hospital of Linyi Linyi 276016China Taian Maternity and Child Health Hospital Taian 271001China Wuxi No.8 People’s Hospital Group Wuxi 214011China Shi Jia Zhuang Maternity&Child Healthcare Hospital Shijiazhuang 050006China The First People’s Hospital of Lianyungang Lianyungang 222002China Jiaxing Second Hospital Jiaxing 314001China Jiangyan Hospital of Traditional Chinese Medicine Taizhou 225599China Linshu County People’s Hospital Linyi 276799China Qiqihar Hospital of Traditional Chinese Medicine Qiqihar 161005China Liuzhou Maternal and Child Health Care Hospital Liuzhou 545001China Wuxi Hospital of Traditional Chinese Medicine Wuxi 214071China The Fourth Affiliated Hospital of Liaoning University of Traditional Chinese Medicine Shenyang 110103China Shandong Maternal and Child Health Hospital Jinan 250014China Lianyungang Maternal and Child Health Hospital Lianyungang 222062China The Second Hospital of Tianjin Medical University Tianjin 300211China Qidong Maternal and Child Health Hospital Qidong 226299China Suzhou Integrated Traditional and Western Medicine Hospital Suzhou 215101China Nanjing Drum Tower Hospital Group Suqian Hospital Nanjing 210008China Nanjing Gaochun People’s Hospital Nanjing 211302China Nanjing Lishui People’s Hospital Nanjing 211299China The Affiliated Suqian First People’s Hospital of Nanjing Medical University Suqian 223812China Institute for TCM-X MOE Key Laboratory of BioinformaticsBioinformatics DivisionBNRistDepartment of AutomationTsinghua UniversityBeijing 100084China State Key Laboratory on Technologies for

The comparison between traditional Chinese medicine Jinzhen oral liquid(JZOL)and West-ern medicine in treating children with acute bronchitis(AB)showed encouraging *** trial eval-uated the efficacy and safety of the JZOL for improving cough and expectoration in children with AB.480 children were randomly assigned to take JZOL or ambroxol hydrochloride and clenbuterol hydrochloride oral solution for 7 *** primary outcome was time-to-cough *** median time-to-cough resolution in both groups was 5.0 days and the antitussive onset median time was only 1 *** random-ized controlled trial showed that JZOL was not inferior to cough suppressant and phlegm resolving western medicine in treating cough and sputum and could comprehensively treat respiratory and systemic discom-fort *** with clinical trials,the mechanism of JZOL against AB was uncovered by network target analysis,it was found that the pathways in TRP channels like IL-1b/IL1R/TRPV1/TRPA1,NGF/TrkA/TRPV1/TRPA1,and PGE2/EP/PKA/TRPV1/TRPA1 might play important *** ex-periments further confirmed that inflammation and the immune regulatory effect of JZOL in the treatment of AB were of vital importance and TRP channels were the key mechanism of action.

关键词： Acute bronchitis Jinzhen oral liquid Complementary and alternative medicine Clinical trial Network target analysis

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Output Feedback Based Iterative Learning control with Finite Frequency Range Specifications via a Heuristic Approach for Batch processes with Polytopic Uncertainties ⁎

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IFAC-PapersOnLine 2020年第2期53卷 1397-1402页

作者： Shoulin Hao Tao Liu Wojciech Paszke Hongfeng Tao Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian 116024 China School of Control Science and Engineering Dalian University of Technology Dalian 116024 China Institute of Automation Electronic and Electrical Engineering University of Zielona Góra ul. Szafrana 2 65-516 Zielona Góra Poland Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Jiangnan University Wuxi 214122 China

For robust control and iterative optimization of industrial batch processes with polytopic uncertainties, this paper proposes a robust output feedback based iterative learning control (ILC) design in terms of finite frequency range stability specifications. Robust stability conditions for the closed-loop ILC system along both time and batch directions are first established based on the generalized Kalman-Yakubovich-Popov lemma and linear repetitive system theory. To facilitate the ILC controller design with respect to process uncertainties described in a polytopic form, extended sufficient conditions for the system stability are then derived in terms of matrix inequalities. Correspondingly, a two-stage heuristic approach is developed to iteratively compute feasible ILC controller gains for implementation. An illustrative example is given to demonstrate the effectiveness of the proposed control design.

关键词： Batch processes polytopic uncertainties output feedback iterative learning control finite frequency range design

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An Event-triggered Consensus Protocol for First-order Nonlinear Multi-agent Systems

An Event-triggered Consensus Protocol for First-order Nonlin...

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Chinese automation Congress (CAC)

作者： Yu Shang Cheng-Lin Liu Fei Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi China

This paper investigates the consensus control problem of first-order nonlinear multi-agent systems (MASs), and a distributed event-triggered consensus protocol is proposed. Different from the traditional event-triggered protocol with zero-order hold, we use the first-order hold to keep the sampling states. In the light of Lyapunov stability criterion, we present a sufficient condition for the agents reaching the asymptotic consensus, and Zeno behavior can be avoided. Finally, the correctness of the proposed control protocol is demonstrated by numerical simulations.

关键词： Protocols Artificial neural networks Multi-agent systems Eigenvalues and eigenfunctions Nonlinear dynamical systems Topology Lyapunov methods

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Fixed-Time Consensus Tracking of Heterogeneous Multi-agent Systems*

Fixed-Time Consensus Tracking of Heterogeneous Multi-agent S...

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Chinese automation Congress (CAC)

作者： Cong Wang Cheng-Lin Liu Fei Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi China

Fixed-time consensus tracking problem of the heterogeneous multi-agent systems comprised of first-order agents and second-order agents with uncertain disturbances is studied in this paper. To solve consensus tracking problem of heterogeneous multi-agent systems, we design a novel distributed fixed-time observer for each follower to estimate leader's states, and the decentralized fixed-time sliding mode controllers which can suppress disturbances to make each follower track the leader's states within fixed-time. By using graph theory and Lyapunov stability theory, fixed-time consensus tracking conditions are presented for our proposed algorithms. Simulation examples show the effectiveness of theoretical results.

关键词： Multi-agent systems Observers Lyapunov methods Delays Topology Graph theory

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Fault Detection and Correction in Omni Bundle Robot Using EKF

Fault Detection and Correction in Omni Bundle Robot Using EK...

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International Conference on Manufacturing, Advanced Computing, Renewable Energy and Communication, MARC 2018

作者： Rana, Rohit Agarwal, Vijyant Gaur, Prerna Parthasarathy, Harish Instrumentation and Control Engineering Division Netaji Subhas Institute of Technology Sec-03 Dwarka110078 India Manufacturing Process and Automation Engineering Division Netaji Subhas Institute of Technology Sec-03 Dwarka110078 India Electronics and Communication Engineering Division Netaji Subhas Institute of Technology Sec-03 Dwarka110078 India

ISBN: (纸本)9789811367717

In this paper, the entire focus is on fault detection and correction using extended Kalman filter (EKF) on industrially used omni bundle robot. Here, the authors considered a problem where a robot does monotonous job and repetitively traverse the same trajectory every time. Due to wear and tear or any fluctuation in input signals, the robot may not track the desired trajectory. Faults may arise at various levels in robots, for example, in actuator, encoder, and dynamical parameters. Actuator fault detection using encoder sensor will be the main focus in this research paper. The dynamics of robotic arm link is modeled using a DC motor attached with the link, and the encoder attached with the motor will provide position feedback. The fault is detected using EKF state estimation, and the fault is corrected using a PID controller feedback into the motor input torque. © 2019, Springer Nature Singapore Pte Ltd.

关键词： Extended Kalman filters

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Off-Policy Q-Learning for Anti-Interference control of Multi-Player Systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9189-9194页

作者： Jinna Li Zhenfei Xiao Tianyou Chai Frank. L. Lewis Sarangapani Jagannathan School of Information and Control Engineering Liaoning Shihua University Fushun 113001 China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China UTA Research Institute the University of Texas at Arlington Arlington TX 76118 USA Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO 65409 USA

This paper develops a novel off-policy game Q-learning algorithm to solve the anti-interference control problem for discrete-time linear multi-player systems using only data without requiring system matrices to be known. The primary contribution of this paper lies in that the Q-learning strategy employed in the proposed algorithm is implemented in an off-policy policy iteration approach other than on-policy learning due to the well-known advantages of off-policy Q-learning over on-policy Q-learning. All of the players work hard together for the goal of minimizing their common performance index meanwhile defeating the disturbance that tries to maximize the specific performance index, and finally they reach the Nash equilibrium of the game resulting in satisfying disturbance attenuation condition. In order to find the solution to the Nash equilibrium, the anti-interference control problem is first transformed into an optimal control problem. Then an off-policy Q-learning algorithm is proposed in the framework of typical adaptive dynamic programming (ADP) and game architecture, such that control policies of all players can be learned using only measured data. Comparative simulation results are provided to verify the effectiveness of the proposed method.

关键词： H ∞ control off-policy Q-learning game theory Nash equilibrium

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Delay and packet-drop tolerant multi-stage distributed average tracking in mean square

arXiv

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arXiv 2020年

作者： Chen, Fei Chen, Changjiang Guo, Ge Hua, Changchun Chen, Guanrong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao066004 China Department of Automation Xiamen University Xiamen361005 China Institute of Electrical Engineering Yanshan University Qinhuangdao066004 China Department of Electrical Engineering City University of Hong Kong Hong Kong Hong Kong

This paper studies the distributed average tracking problem pertaining to a discrete-time linear time-invariant multi-agent network, which is subject to, concurrently, input delays, random packet-drops, and reference noise. The problem amounts to an integrated design of delay and packet-drop tolerant algorithm and determining the ultimate upper bound of the tracking error between agents' states and the average of the reference signals. The investigation is driven by the goal of devising a practically more attainable average tracking algorithm, thereby extending the existing work in the literature which largely ignored the aforementioned uncertainties. For this purpose, a blend of techniques from Kalman filtering, multi-stage consensus filtering, and predictive control is employed, which gives rise to a simple yet comepelling distributed average tracking algorithm that is robust to initialization error and allows the trade-off between communication/computation cost and stationary-state tracking error. Due to the inherent coupling among different control components, convergence analysis is significantly challenging. Nevertheless, it is revealed that the allowable values of the algorithm parameters rely upon the maximal degree of an expected network, while the convergence speed depends upon the second smallest eigenvalue of the same network's topology. The effectiveness of the theoretical results is verified by a numerical example. Copyright © 2020, The Authors. All rights reserved.

关键词： Packet loss

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Sliding mode control of the penicillin fermentation system based on nonlinear disturbance observer 7

Sliding mode control of the penicillin fermentation system b...

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7th IEEE Data Driven control and Learning Systems Conference, DDCLS 2018

作者： Tengfei, Zhang Xing, Fang Fei, Liu Key Laboratory of Advanced Process Control for Light Industry Jiangnan University Institute of Automation Wuxi Jiangsu214122 China

ISBN: (纸本)9781538626184

A feed-forward compensation strategy for the disturbance is proposed for the control problem of the bacteria in the fermentation process of the penicillin. Firstly, the nonlinear disturbance observer is designed to estimate the lumped disturbance of the system. Then, a sliding mode control law is designed for the system. The design of the control law guarantees the closed-loop system is asymptotically stable and achieves the purpose of tracking control for the bacteria's concentration in the system. The simulation results show that this method can enhance the anti-disturbance capability and improve the control performance of the system. © 2018 IEEE.

关键词： Sliding mode control

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