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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Zhang, Jiarui Ding, Steven X. Li, Linlin University of Duisburg-Essen Institute for Automatic Control and Complex Systems Duisburg Germany University of Science and Technology Beijing School of Automation and Electrical Engineering Beijing China

ISBN: (纸本)9798350399714

The main objective of this paper is to develop a distributed sensor fault detection (FD) approach for sensor networks in the presence of noise and transmission time of information exchange. To be specific, the approach optimizes the performance of FD by minimizing the detection uncertainty and the online implementation of the proposed method is in a distributed and recursive manner. Finally, a numerical example is illustrated to show that the distributed approach can successfully and efficiently accomplish the FD task. © 2023 IEEE.

关键词： Sensor networks

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Intelligent Flight control for Cruise Vehicle Based on Backstepping Design and Reinforcement Learning

Intelligent Flight Control for Cruise Vehicle Based on Backs...

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2023 China automation Congress, CAC 2023

作者： Liu, Xiaodong Jia, Chenhui Yang, Qingjun Wu, Tiancai Zhang, Yu Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China Beijing Aerospace Automatic Control Institute Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350303759

Aiming at velocity/height tracking control and attitude stabilization for the longitudinal flight of cruise vehicle, the research of intelligent flight control method is carried out by combining the backstepping control theory and the deep reinforcement learning method. Firstly, the longitudinal flight control system of the vehicle is decomposed into velocity and height subsystems, and the control law is designed based on backstepping control theory. Then, aiming at the problems that the selection of the multiple control gains will directly affect the control performance of the closed-loop system and the adjustment process of control gains is cumbersome, the twin delayed deep deterministic policy gradient algorithm (TD3) will be adopted to train the cruise vehicle, so that it can determine the control gains online according to the current flight states. The numerical simulation results show that, the proposed intelligent flight control method can guarantee the high-precision tracking with respect to height and velocity commands, and also realize the attitude stability of cruise vehicle. © 2023 IEEE.

关键词： Reinforcement learning

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Fixed-time supper twisting disturbance observer and sliding mode control for a secure communication of fractional-order chaotic systems

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JVC/Journal of Vibration and control 2024年第11-12期30卷 2568-2581页

作者： Nguyen, Quang Dich Vu, Dinh Dat Huang, Shyh-Chour Giap, Van Nam Institute for Control Engineering and Automation Hanoi University of Science and Technology Hai Ba Trung Hanoi100000 Viet Nam School of Electrical and Electronic Engineering Hanoi University of Science and Technology Hai Ba Trung Hanoi100000 Viet Nam Department of Mechanical Engineering National Kaohsiung University of Science and Technology Kaohsiung Taiwan

This paper proposed a new disturbance observer (DO) based on the fixed-time supper-twisting algorithm (FTSTA) for rejecting perturbations of secure communication of the fractional-order chaotic systems (FOCSs). First, the FOCSs are remodeled into the Takagi–Sugeno fuzzy (TSF) system with the expectation of softening the calculations of the design of the controller and observer. Second, the synchronization control was designed based on the FTSTA sliding mode control (SMC). Third, a new DO for the secure communication system (SCS) of FOCSs was proposed to estimate the disturbance on public channels and uncertainty variations. Fourth, the stability of the proposed synchronization control was obtained by using the Lyapunov condition. Finally, to verify the correction of the proposed method, the MATLAB simulation with the use of FONCOM toolbox was used to meet the desired expectations of theoretically proposed method. There are, small reaching times, small steady-states, and most tested disturbances and parameters’ variations were compensated by the proposed DO. © The Author(s) 2023.

关键词： Secure communication

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

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2024 International Conference on Machine Learning, Pattern Recognition and automation Engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Differentially Private Distributed Parameter Estimation

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Journal of Systems Science & Complexity 2023年第1期36卷 187-204页

作者： WANG Jimin TAN Jianwei ZHANG Ji-Feng School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China

Data privacy is an important issue in control systems,especially when datasets contain sensitive information about *** this paper,the authors are concerned with the differentially private distributed parameter estimation problem,that is,we estimate an unknown parameter while protecting the sensitive information of each ***,the authors propose a distributed stochastic approximation estimation algorithm in the form of the differentially private consensus+innovations(DP-CI),and establish the privacy and convergence property of the proposed ***,it is shown that the proposed algorithm asymptotically unbiased converges in mean-square to the unknown parameter while differential privacy-preserving holds for finite number of ***,the exponentially damping step-size and privacy noise for DP-CI algorithm is *** estimate approximately converges to the unknown parameter with an error proportional to the step-size parameter while differential privacy-preserving holds for all *** tradeoff between accuracy and privacy of the algorithm is effectively ***,a simulation example is provided to verify the effectiveness of the proposed algorithm.

关键词： Differential privacy distributed parameter estimation stochastic approximation

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The Overview of Frequency Regulation Coordinated control for MMC-HVDC Connecting Wind Farms

The Overview of Frequency Regulation Coordinated Control for...

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2024 CPSS and IEEE International Symposium on Energy Storage and Conversion, CPSS and ISESC 2024

作者： Zhang, Jingyi Tian, Zhen Hua, Xiaojun Li, Weibing Jiang, Dingguo Zha, Xiaoming School of Electrical Engineering and Automation Wuhan University Laboratory of Hydro-Wind-Solar Multi-energy Control Coordination Wuhan China Institute of Science and Technology China Three Gorges Corporation Beijing China

ISBN: (纸本)9798350380514

Modular multilevel converter based high voltage direct current (MMC-HVDC) transmission is the mainstream technology for offshore wind farms with long distances of more than 80km integration. With the development of technology, the frequency stability problem due to the low inertia has become the focus of the current research. This paper systematically discusses the coordinated frequency regulation control strategy of MMC-HVDC with wind farms. The common symmetrical monopole/ bipolar MMC-HVDC system structures in engineering are first introduced. Next, The frequency regulation control for MMC-HVDC and wind farms (WFs) and the frequency sensing method used for coordination are summarized. Finally, this paper looks forward to the future research direction of MMC-HVDC connecting wind farms regarding frequency regulation capability assessment, and grid-forming fault ride-Through control. © 2024 IEEE.

关键词： Offshore wind farms

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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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DYNAMIC COUPLING ANALYSIS OF OIL FILM IN SLIPPER PAIR OF AXIAL PISTON PUMP

DYNAMIC COUPLING ANALYSIS OF OIL FILM IN SLIPPER PAIR OF AXI...

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Zhang, Yunhao Chen, Rentong Zhang, Chao Wangia, Shaoping Han, Hailiang School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China AVIC Xi'an Flight Automatic Control Research Institute Xi'an710065 China

In this paper, the dynamic coupling characteristics of the oil film of the slipper pair of the axial piston pump are analysed to achieve optimize the performance of the pump and prolong its *** oil chamber pressure model of the slipper is first established to obtain the boundary conditions of the lubricated surface of the slippers. Then the multi-field coupling model is established based on Reynolds *** finite difference and Newton-Raphson methods were utilized to simulate the fluctuating oil film thickness. The findings indicate that the oil film's temperature peaks under high pressure and dips under low pressure, with a more pronounced tilt in the latter. These numerical insights shed light on the complex interactions within the slipper pair's oil film dynamics. © The Institution of Engineering & technology 2024.

关键词： Newton-Raphson method

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhu, Xiaohan Bu, Ran Li, Zhen Xu, Fan Wang, Hesheng School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Automation China Artificial Intelligence Research Institute School of Information and Control Engineering China University of Mining and Technology China

ISBN: (纸本)9781665481090

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works). © 2024 IEEE.

关键词： Robotic surgery

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Adaptive Trajectory Tracking control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

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