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Chinese control Conference (CCC)

作者： Ziqi Yu 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 Guangzhou China

In this paper, we introduce a novel tandem ducted fan unmanned aerial vehicle (UAV) and focus on the attitude control problem of it. Firstly, the structural layout of this new vehicle is introduced, then the force analysis and mathematical formula are performed based on kinematic and dynamical formulas. Secondly, this section is not only focuses on the degsign of controller but also the analysis of its advantages. For example, how they can improve system performance through frequency domain analysis, implementation of specific algorithms. Thirdly, an outdoor flight experiment is completed. The experimental process is as follows: after having the appropriate parameters, the vehicle is first allowed to fly to a height of about 10 meters and hover down, and then three attitude angle changes are performed. Finally, we conclude that the cascade PID controller for this type of UAV attitude control is simple, practical and can cope with many flight conoditions and indicate the shortcomings of this dissertation and future work.

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PMSM Speed Ripple Suppression Due to Current Measurement Error Using Quasi-Fractional Resonant-Normalized Extended State Observer

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IEEE TRANSACTIONS ON control systems TECHNOLOGY 2025年第2期33卷 554-565页

作者： Chen, Pengchong Luo, Ying Zhang, Li Wang, Xiaohong Chen, Yangquan Zhengzhou Univ Sch Elect & Informat Engn Zhengzhou 450001 Peoples R China Zhengzhou Univ Inst Robot Zhengzhou 450001 Peoples R China South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510610 Guangdong Peoples R China Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Hubei Peoples R China Univ Calif Merced Sch Engn Dept Mech Engn Merced CA 95343 USA

Current measurement error causes periodic speed ripple in permanent-magnet synchronous motor control systems. The typical normalized extended state observer (NESO) can estimate and compensate for the load disturbance but is not sufficiently capable to deal with the periodic disturbances. Thus, a speed controller based on the NESO frame, combining a PD controller and a quasi-fractional-resonant (QFR) controller, is proposed to address this speed ripple issue due to the current measurement error including offset error and scaling error. Then, it is verified that the proposed controller satisfies the separation principle and QFR controller does not affect the open-loop characteristics of the system through mathematical derivation in the frequency domain. Besides, the proposed controller in outer speed loop and a PI controller in inner current loop are designed with the proposed analytical parameters' tuning methods based on frequency-domain analysis. Compared with the existing adaptive proportional-integral-resonant (PIR) controller, the proposed controller not only suppresses the speed ripple to a lower level but also achieves better speed tracking and load disturbance rejection performances. The experimental result comparison confirms the effectiveness of the proposed controller and design scheme.

关键词： Current measurement control systems Measurement uncertainty Torque Stators State estimation PD control Synchronous motors Resistance PI control Current measurement error fractional-resonant (FR) controller normalized extended state observer (NESO) permanent-magnet synchronous motor (PMSM) speed ripple

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A Robot Motion Learning Method Using Broad Learning System Verified by Small-Scale Fish-Like Robot

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第9期53卷 6053-6065页

作者： Xu, Sheng Xu, Tiantian Li, Dong Yang, Chenguang Huang, Chenyang Wu, Xinyu Chinese Acad Sci Shenzhen Inst Adv Technol Guangdong Prov Key Lab Robot & Intelligent Syst Shenzhen 518055 Peoples R China Chinese Acad Sci Shandong Inst Adv Technol Jinan 250102 Shandong Peoples R China Chinese Acad Sci Shenzhen Key Lab Minimally Invas Surg Robot & Syst Shenzhen Inst Adv Technol Shenzhen 518055 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Guangdong Prov Key Lab Robot & Intelligent Syst Shenzhen Peoples R China South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Peoples R China South China Univ Technol Coll Automat Sci & Engn Guangdong Engn Technol Res Ctr Control Intelligent Guangzhou 510640 Peoples R China

The widespread application of learning-based methods in robotics has allowed significant simplifications to controller design and parameter adjustment. In this article, robot motion is controlled with learning-based methods. A control policy using a broad learning system (BLS) for robot point-reaching motion is developed. A sample application based on a magnetic small-scale robotic system is designed without detailed mathematical modeling of the dynamic systems. The parameter constraints of the nodes in the BLS-based controller are derived based on Lyapunov theory. The design and control training processes for a small-scale magnetic fish motion are presented. Finally, the effectiveness of the proposed method is demonstrated by convergence of the artificial magnetic fish motion to the targeted area with the BLS trajectory, successfully avoiding obstacles.

关键词： Robots Learning systems Robot motion Motion control laboratories Service robots Trajectory Broad learning system (BLS) learning from demonstration (LfD) motion control small-scale robot stability analysis

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Two time-scale assignment with state extension for an autonomous helicopter

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ASIAN JOURNAL OF control 2021年第4期23卷 1707-1719页

作者： Yang, Hao Pei, Hailong South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist EducSch Automat Sci & Engn Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou 510640 Peoples R China

In this paper, a feedback control law based on two time-scale assignment and state extension is implemented for the nonlinear non-minimum phase dynamics of three degree-of-freedom autonomous unmanned helicopters (AUH). Unlike previous techniques, the design procedure does not require time-scale decomposition between attitude angle and translational states. This reduces the requirements for the AUH model and makes the controller more reliable. Time-scale assignment is implemented with partial internal dynamics. Exponential stability of the closed-loop system is proved with the retained non-minimum phase character, and simulation results are provided to demonstrate the effectiveness of the presented approach.

关键词： autonomous helicopter non-minimum phase singular perturbation theory state extension time-scale assignment

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Redesign of approximate dynamic inversion for pure-feedback nonaffine-in-control nonlinear systems via input saturation

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INTERNATIONAL JOURNAL OF control 2021年第10期94卷 2758-2765页

In this paper, a redesigned approximate dynamic inversion (RADI) method is developed for a class of pure-feedback nonaffine-in-control nonlinear systems (PFNNSs). Recently, the approximate dynamic inversion (ADI)-based algorithms have been widely implemented for nonaffine-in-control nonlinear systems. To employ ADI-based methods, a fast dynamic subsystem has to be established to derive the explicit inversion of the nonaffine equation. However, the previous research on ADI rarely considers that the amplitude of actual input derived from the fast augmented subsystem can be extremely high, which maybe intolerable for practical systems. In this paper, we set up input saturation and view the difference between input with and without saturation as a perturbation. Then, an intermediate subsystem is constructed to compensate the influence of this perturbation by approximating its inversion. The exponential stability of the overall closed-loop system is ensured via singular perturbation theorem. Numerical examples are provided to demonstrate the effectiveness of the proposed method.

关键词： Approximate dynamic inversion input saturation pure-feedback systems nonaffine-in-control singular perturbation theory

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From Unmanned systems to autonomous Intelligent systems

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Engineering 2022年第5期8卷 16-19页

作者： Jie Chen Jian Sun Gang Wang Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 200092China Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

*** Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century *** that we formerly electrified will now cognitize”[1].AI advances are constantly pushing the frontier of what machines can *** attention is being placed on AI research,as well as its development and deployment by commer-cial investors,defense strategists,and policy makers[2].

关键词： frontier inert policy

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A discrete moth-flame optimization algorithm for multiple automated guided vehicles scheduling problem in a matrix manufacturing workshop

A discrete moth-flame optimization algorithm for multiple au...

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作者： Zeng, Junhai Xie, Wei Pan, Mi School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangdong Guangzhou510641 China Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing South China University of Technology Guangdong Guangzhou510641 China Department of Civil and Environmental Engineering University of Macau 999078 China

The growing need for customized and varied production has highlighted the significance of smart and automated factories in the manufacturing sector. In this particular context, the scheduling of multiple Automated Guided Vehicles (AGVs) plays a pivotal role in enhancing the efficiency of operations within an intelligent manufacturing shop. This study centers on the material handling process within a matrix manufacturing shop with the objective of identifying the most cost-effective transportation routes for materials. To accomplish the specified objective, this research aims to identify an optimal solution for reducing transportation costs. In particular, this study formulates a mixed-integer linear programming model and introduces a novel discrete variant of the moth-flame optimization (MFO) algorithm, named DMFO, to address the scheduling problem. The DMFO algorithm incorporates several significant enhancements. Firstly, a population initialization method is proposed, which combines a nearest-neighbor-based adaptive heuristic and a random sorting technique to ensure the formation of a well-structured population. Secondly, the flame generation mechanism and spiral flight search processes within the MFO have been redefined to achieve a more optimal balance between exploration and exploitation. A neighborhood search mechanism is subsequently devised, employing the concept of neighborhood relevance to accelerate the convergence process. Additionally, a heuristic approach is introduced to reduce the computational cost. Moreover, a population regeneration mechanism is proposed to avoid the algorithm falling into a local optimum. To validate the effectiveness of the DMFO, a comparative analysis is conducted using a dataset of 110 real-world factory instances. In this analysis, eight well-established optimization algorithms are employed. The simulation results consistently demonstrate that the relative percentage deviation (RPD) value of the DMFO tends to approach 0% more

关键词： Materials handling

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Observer-Based Decentralized Event-Triggered control for a Class of Uncertain systems Under a Vulnerable Communication Network

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IEEE TRANSACTIONS ON control OF NETWORK systems 2024年第1期11卷 65-77页

作者： Sun, Yiming Yu, Jinyong Wang, Tong Yu, Xinghu Basin, Michael V. Chinese Acad Sci Key Lab Networked Control Syst Shenyang 110016 Peoples R China Chinese Acad Sci Shenyang Inst Automat Shenyang 110016 Peoples R China Chinese Acad Sci Inst Robot & Intelligent Mfg Shenyang 110169 Peoples R China Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin 150001 Peoples R China Ningbo Inst Intelligent Equipment Technol Ningbo 315299 Peoples R China Autonomous Univ Nuevo Leon Sch Phys & Math Sci San Nicolas De Los Garza 66455 Naevo Leon Mexico

This article concerns the observer-based control problem of state-dependent uncertain systems under a vulnerable multichannel communication network with deception attacks and transmission delays. A decentralized integral-based event-triggered scheme is constructed for the tradeoff between bandwidth utilization and control performance. The decentralized triggered data from different channels are organized and timely uploaded to the observer by a group of data buffers in the control unit, such that the event-triggered security control strategy can be realized. Different from most of the existing studies adopting identical attack behaviors in multiple channels, the deception attacks are assumed to compromise each channel independently, which results in that the considered security control problem cannot be solved by the existing results. To deal with this case, a coordinated design criterion for the controller gain, observer gain, and decentralized event-triggered scheme is developed in the form of linear matrix inequalities based on the Lyapunov stability theory. Finally, the effectiveness of the proposed method is illustrated via the Chua's oscillator circuit system.

关键词： Decentralized integral-based event-triggered scheme (ETS) deception attacks observer-based control state-dependent uncertain system (SDUS)

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Adaptive Optimal Tracking control of an Underactuated Surface Vessel Using Actor-Critic Reinforcement Learning

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING systems 2024年第6期35卷 7520-7533页

作者： Chen, Lin Dai, Shi-Lu Dong, Chao South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Peoples R China South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510641 Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou 510641 Peoples R China Southern Marine Sci & Engn Guangdong Lab Zhuhai Zhuhai 519000 Peoples R China South China Sea Marine Survey & Technol Ctr Guangzhou 510300 Peoples R China Minist Nat Resources Key Lab Marine Environm Survey Technol & Applicat Guangzhou 510300 Peoples R China

In this article, we present an adaptive reinforcement learning optimal tracking control (RLOTC) algorithm for an underactuated surface vessel subject to modeling uncertainties and time-varying external disturbances. By integrating backstepping technique with the optimized control design, we show that the desired optimal tracking performance of vessel control is guaranteed due to the fact that the virtual and actual control inputs are designed as optimized solutions of every subsystem. To enhance the robustness of vessel control systems, we employ neural network (NN) approximators to approximate uncertain vessel dynamics and present adaptive control technique to estimate the upper boundedness of external disturbances. Under the reinforcement learning framework, we construct actor-critic networks to solve the Hamilton-Jacobi-Bellman equations corresponding to subsystems of surface vessel to achieve the optimized control. The optimized control algorithm can synchronously train the adaptive parameters not only for actor-critic networks but also for NN approximators and adaptive control. By Lyapunov stability theorem, we show that the RLOTC algorithm can ensure the semiglobal uniform ultimate boundedness of the closed-loop systems. Compared with the existing reinforcement learning control results, the presented RLOTC algorithm can compensate for uncertain vessel dynamics and unknown disturbances, and obtain the optimized control performance by considering optimization in every backstepping design. Simulation studies on an underactuated surface vessel are given to illustrate the effectiveness of the RLOTC algorithm.

关键词： Heuristic algorithms Optimal control Artificial neural networks Backstepping Adaptation models control design Sea surface Actor-critic networks adaptive optimal tracking control reinforcement learning underactuated surface vessel

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A Novel Fractional-Order Model of Medium-Frequency Respiratory Impedance 17

A Novel Fractional-Order Model of Medium-Frequency Respirato...

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17th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2024

作者： Wang, Hongwei Li, Bin Mo, Hongqiang Xu, Yuanda Xu, Zhaoxiang Xie, Yanqing School of Automation Science and Engineering South China University of Technology Guangzhou510640 China South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China Guangzhou Medical University The First Affiliated Hospital Department of Critical Care Medicine Guangzhou510120 China Guangzhou Medical University The First Affiliated Hospital Guangzhou510080 China

ISBN: (纸本)9798331507398

Respiratory impedance in the medium-frequency range reflects the dynamic properties of airways and lung tissues, and plays an important role in the early diagnosis of pulmonary diseases. Fractional-order models can characterize complex dynamics with fewer parameters compared to integer-order models, and have been used to represent the medium-frequency characteristics of the respiratory impedance. There have been multiple fractional-order models, but there is no consensus on which model is most reasonable. This paper proposes a novel fractional-order model, which consists of a viscous resistance, an inertia resistance, and an elastic resistance. Unlike existing models, in the proposed model, the inertial resistance is represent with a fractional-order term, while the other two resistances are represent with integer-order terms. The proposed model was employed to represent the medium-frequency respiratory impedance determined by appling impulse oscillometry to 8 healthy subjects. The results in terms of fitting error and determination coefficient indicate that the proposed model fits the data well. Furthermore, when examining the variation of the parameters of the model over time, the results indicate that the parameters are highly correlated with tidal volume. However, the parameters of other existing fractional-order models did not exhibit this correlation. © 2024 IEEE.

关键词： Lung cancer

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