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40th Chinese control Conference (CCC)

作者： Liu, Fuchun Wang, Lei Yang, Yang South China Univ Technol Minist Educ Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control ASNC Guangzhou 510640 Peoples R China

ISBN: (纸本)9789881563804

With the development of information technology and the ultra high definition(UHD) video industry, the video's resolution is continuously improving, from the standard definition(SD) era to the high definition(HD) era, and the UHD era. In the field of biomedical engineering, the requirement of medical device endoscope for image resolution is higher and higher. Compared with the traditional HD endoscope system, the UHD endoscope image acquisition system designed in this article uses FPGA(Field Programmable Gate Array) as the processing center. The image resolution is increased from 1920*1080 to 3840*2160. Our system designed a physical layer and protocol layer of MIPI CSI-2 interface that can support 30 frame per second. It proves that our image acquisition system is practical and stable for medical endoscope image acquisition systems and also suitable for ultra-high-definition image systems in other fields.

关键词： FPGA MIPI CSI-2 D-PHY UHD image acquisition endoscope

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Active Disturbance Rejection Based Iterative Learning control for Variable Air Volume Central Air-Conditioning System 7

Active Disturbance Rejection Based Iterative Learning Contro...

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IEEE 7th Data Driven control and Learning systems Conference (DDCLS)

作者： Lu, Shiying Ai, Wei Li, Xiangyang South China Univ Technol Sch Automat Sci & Engn Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China

ISBN: (纸本)9781538626184

The Variable Air Volume (VAV) Central Air-Conditioning system is a complicated system with non-linearity, large-time delay and strong inertia, thus it is difficult to design an effective controller. Iterative Learning control (ILC) takes good effect in controlled process with repeatability and periodicity, but it cannot cope with uncertain disturbance explicitly. A creative algorithm, Active Disturbance Rejection based Iterative Learning control (ADR-Based ILC), is proposed to improve ILC's performance in VAV control system. ADR-Based ILC compensates the disturbance explicitly caused by ambient temperature, heat from people and machines, and makes it higher control precision and higher energy-efficiency. An accurate model of VAV system is built in TRNSYS platform, and ADR-Based ILC is proved to be more effective than fuzzy PID and ILC.

关键词： Variable Air Volume Central Air-Conditioning system Active Disturbance Rejection based Iterative Learning control TRNSYS

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Dynamic control Allocation for a Twin Ducted Fan UAV

Dynamic Control Allocation for a Twin Ducted Fan UAV

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Meng, Chaoheng Pei, Hailong Cheng, Zihuan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

ISBN: (纸本)9789811581540

Twin ducted fan UAV is a novel aircraft with redundant control effectors and the interactions between actuators and control allocators can not be ignored. In this paper, dynamic control allocation is used to deal with the control allocation problem of Twin ducted fan UAV. First, the actuator rate is penalized in the optimization function of the control allocation based on the quadratic programming method. Second, a post-compensation method is applied to compensate for command increment attenuation. The simulation results show that the dynamic control allocation method with actuator dynamic compensation can prevent the high bandwidth actuator from saturating in advance, and the virtual control command is effectively allocated to actuators with different bandwidths. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Actuators

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Synchronization of two chaotic systems with three or two inputs via ZG method 34

Synchronization of two chaotic systems with three or two inp...

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34th Chinese control Conference, CCC 2015

作者： Yunong, Zhang Ming, Liu Long, Jin Yinyan, Zhang Hongzhou, Tan Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9789881563897

Recently, the synchronization of two chaotic systems is attracting more and more attentions because of its potential applications in communication security, aerospace industry and many other fields. In this paper, by combining Zhang dynamics (ZD) and gradient dynamics (GD), a novel effective controller-design method termed Zhang-gradient (ZG) method is firstly developed for the chaos synchronization problem with multiple inputs (i.e., three or two inputs). Via this ZG method, the traditional three-input chaos synchronization problem can be successfully solved with desirable convergence rate and satisfactory accuracy. In addition, by taking advantage of the coupling property of the chaotic system, a creative extension of the ZG method is investigated to solve the thorny two-input chaos synchronization problem. Simulation verifications further demonstrate that the controllers based on the ZG method can not only achieve satisfactory synchronization accuracy and exponential convergence rate on the three-input chaos synchronization problem but also successfully solve the chaos synchronization problem with only two inputs. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Chaos Synchronization Chen Chaotic System Lü Chaotic System ZG (Zhang-Gradient) Method

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Failure mechanism and tunable mechanical responses of structured fabrics

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Composites Communications 2025年 57卷

作者： Zhantu Gan Weining Mao Qianpeng He Hao Tang Yifan Wang Nan Hu State Key Laboratory of Subtropical Building and Urban Science Guangzhou 510641 China School of Civil Engineering and Transportation South China University of Technology Guangzhou 510000 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798 Singapore Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou 510640 China

Structured fabrics have great potential in designing intelligent devices with their reconfigurable features and tunable mechanical responses, but existing studies have primarily explored stiffness and deformations without focusing on their load-bearing capacities. Here, we investigate the failure mechanism and mechanical responses of a structured fabric formed under various combinations of geometric features. Guided by experimental tests, we confirm the influence of geometric features that lead to rod fracture or membrane tearing due to different interaction mechanisms. Our findings indicate that the specific ultimate bearing capacity can be tuned within an order of magnitude with different parameter combinations. This study offers valuable insights into the governing factors in controlling the load-bearing capabilities of structured fabrics and lays the foundation for developing on-demand impact-protecting composites across fields.

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A Task Learning Mechanism for the Telerobots

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INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 2019年第2期16卷 1950009.1-1950009.19页

作者： Luo, Jing Yang, Chenguang Li, Qiang Wang, Min South China Univ Technol Key Lab Autonomous Syst & Networked Control Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China Univ West England Bristol Robot Lab Bristol Avon England Bielefeld Univ Neuroinformat Grp CITEC Bielefeld Germany

Telerobotic systems have attracted growing attention because of their superiority in the dangerous or unknown interaction tasks. It is very challenging to exploit such systems to implement complex tasks in an autonomous way. In this paper, we propose a task learning framework to represent the manipulation skill demonstrated by a remotely controlled robot. Gaussian mixture model is utilized to encode and parametrize the smooth task trajectory according to the observations from the demonstrations. After encoding the demonstrated trajectory, a new task trajectory is generated based on the variability information of the learned model. Experimental results have demonstrated the feasibility of the proposed method.

关键词： Telerobotic systems Gaussian mixture model Gaussian mixture regression task model human-robot interaction

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Soft-Sensing Modeling Based on GK-LSSVM Method for Online Predictions of BOD in Activated Sludge Process

Soft-Sensing Modeling Based on GK-LSSVM Method for Online Pr...

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International Conference on Robotics and Automation Sciences (ICRAS)

作者： Luo, Fei Qiao, Xinghong Liao, Weihao South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Inst Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781538639955

Five-day biochemical oxygen demand (BOD5) is one of the key parameters which is widely used to evaluate the biological and chemical evaluation of effluents from wastewater treatment plants. This paper proposes a novel method that can predict online using BOD5 by synthesizing an online version of Gustafson-Kessel (GK) algorithm and least squares support vector machines (LS-SVM). The clustering algorithm can reduce required number of clusters, form more complex shape clusters, and get better modeling performance. Moreover, an online sparse LSSVM with time window is proposed to reduce the computation time and storage space. The GK-LSSVM of the method of the soft-sensor model was proposed to predict BOD5 concentration. The results indicate that the proposed method can not only improve prediction accuracy but also efficiently decrease model's update frequency, comparing to the cases using with that of different methods.

关键词： biochemical oxygen demand least square support vector machine soft sensor gustafson-kessel algorithm

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Design and implementation of UAS interoperability based on different protocols 8

Design and implementation of UAS interoperability based on d...

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8th International Symposium on Advances in Electrical, Electronics, and Computer Engineering, ISAEECE 2023

作者： Ye, Zhengan Pei, Hailong Cheng, Zihuan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781510666290

Different unmanned aerial vehicles teams often work independently, leaving a "stove-piped" isolation problem, and the cost of collaboration among them is relatively high. Interoperability has been proposed to study the ability of unmanned aerial systems in working together, of which smooth communication is the fundamental requirement. To construct communication ability of different systems, the protocols they support should be essentially concerned. A novel, lightweight and flexible protocol, named as lab protocol, is developed in this paper, where we study it and STANAG 4586 and MAVLink for comparision. We propose a bridging method to break isolation and verify interoperability among UASs using different protocols through experiments. © 2023 SPIE. All rights reserved.

关键词： Interoperability

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A Vision-Based autonomous Landing Method on Mobile Platform for UAV 42

A Vision-Based Autonomous Landing Method on Mobile Platform ...

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42nd Chinese control Conference, CCC 2023

作者： Zhu, Yongbin Pei, Hailong Wang, Liping Huang, Yuyuan Ou, Kangqi Ministry of Education Unmanned Aerial Vehicle Systems Eng.Tech. Research Center of Guangdong College of Automation Science and Engineering Key Lab of Autonomous Systems and Networked Control South China University of Technology Guangzhou510640 China

ISBN: (纸本)9789887581543

As the application scenarios of multi-rotor Unmanned Aerial Vehicles (UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realize the accurate autonomous landing of UAV, considering the increasingly mature visual navigation technology, this paper proposed a hierarchical landmark based on nested rectangles and its relative positioning algorithm, and designed a set of autonomous landing system for the mobile platform of quadrotor UAV. The landmark has a high recognition rate of different heights and good expansibility. The algorithm has high computational efficiency and low performance requirements for image processing equipment, thus the system has good accuracy and robustness. The simulation and flight experiment show that the proposed algorithm can effectively realize the accurate autonomous landing of UAV. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Object detection

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Hybrid impedance and admittance control for optimal robot-environment interaction

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ROBOTICA 2024年第2期42卷 510-535页

作者： Ye, Dexi Yang, Chenguang Jiang, Yiming Zhang, Hui South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Hunan Univ Sch Robot Changsha 410082 Peoples R China Hunan Univ Visual Percept & Control Technol Natl Engn Lab Changsha 410082 Peoples R China

Compliant interaction between robots and the environment is crucial for completing contact-rich tasks. However, obtaining and implementing optimal interaction behavior in complex unknown environments remains a challenge. This article develops a hybrid impedance and admittance control (HIAC) scheme for robots subjected to the second-order unknown environment. To obtain the second-order target impedance model that represents the optimal interaction behavior without the accurate environment dynamics and acceleration feedback, an impedance adaptation method with virtual inertia is proposed. Since impedance control and admittance control have complementary structures and result in unsatisfactory performance in a wide range of environmental stiffness due to their fixed causality, a hybrid system framework suitable for the second-order environment is proposed to generate a series of intermediate controllers which interpolate between the responses of impedance and admittance controls by using a switching controller and adjusting its switching duty cycle. In addition, the optimal intermediate controller is selected using a mapping of the optimal duty cycle to provide the optimal implementation performance for the target impedance model. The proposed HIAC scheme can achieve the desired interaction and impedance implementation performance while ensuring system stability. Simulation and experimental studies are performed to verify the effectiveness of our scheme with a 2-DOF manipulator and a 7-DOF Franka EMIKA panda robot, respectively.

关键词： impedance control impedance adaptation admittance control optimal control hybrid system

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