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

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

ISBN: (纸本)9781538626184

A novel Active disturbance rejection control (ADRC) with feedforward control is proposed for time-delay systems. The feedforward control, which is inspired by the classic Smith predictor, is added to the original ADRC scheme and tuned to improve the reference tracking performance. The ADRC is mainly tuned to reject total disturbance including model uncertainties and external disturbance. The feedforward control does not change the poles of the main closed-loop system and the stability of the main closed-loop system depends on the conventional ADRC whose stability has been solved theoretically. A first-order plus time-delay (FOPTD) system is used in simulation study where the increasing system order method for time-delay system is used in ADRC. Simulations for reference tracking, external disturbance and variations of time-delay, time-constant and process gain of the plant show that the proposed ADRC with feedforward control provides more effective tracking performance and disturbance rejection abilities than the conventional ADRC for time-delay systems.

关键词： Smith predictor active disturbance rejection control (ADRC) feedforward control tracking differentiator (TD) extended state observer (ESO) time-delay system

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Development of a Hybrid Motion Capture Method Using MYO Armband with Application to Teleoperation 13

Development of a Hybrid Motion Capture Method Using MYO Armb...

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IEEE International Conference on Mechatronics and Automation

作者： Xu, Yanbin Yang, Chenguang Liang, Peidong Zhao, Lijun Li, Zhijun South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea W Glam Wales Harbin Inst Technol State Key Lab Robot & Syst Harbin Peoples R China

ISBN: (纸本)9781509023967

In this paper, we have developed a motion capture method based on data collected by MYO armband. The method can be applied on any healthy operator wearing two MYO armbands on both upper and lower arms, respectively. The first MYO armband is worn near the centre of the operator's upper arm, the other is worn near the centre of the forearm. MYO armband has built-in eight bioelectrical sensors as well as a 9-axis IMU. The IMU sensors of the MYO are used to detect and reconstruct physical motion of shoulder and elbow joints, while the bioelectrical sensors are used to collect electromyography (EMG) signals associated with wrist motion. This hybrid method enable us to fully capture the motion of the 6-DOF (degree of freedom) of the arm. To test the proposed method, hardware-in-loop simulations studies are performed, with both physiological and physical signals received and processed in MATlab/Simulink via a low-power bluetooth interface. Results demonstrate the validness and effectiveness of the proposed method.

关键词： Degrees of freedom (mechanics)

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One New Distributed Low-Power and High-Precision Fault Recording System Based on STM32L4+ 38

One New Distributed Low-Power and High-Precision Fault Recor...

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38th Chinese control Conference (CCC)

作者： Liu, Fuchun Yang, Dehua He, Yun Zou, Lin Yuan, Yao Liu, Huanrui South China Univ Technol Key Lab Autonomous Syst & Networked Control ASNC Minist Educ Coll Automat Sci & Engn Guangzhou 510640 Peoples R China CSG Elect Power Res Inst Guangzhou 510080 Peoples R China

ISBN: (纸本)9789881563972

The fault recording monitoring system is a kind of automatic information recording equipment for distribution network that is put into operation all the year round. It is used to monitor the operation status of the power system to analyze the cause of the fault, quickly and accurately locate the fault occurrence point, monitor and verify the action characteristics of the relay protection automatic device, etc. Different from the centralized fixed structure of the traditional microcomputer-based fault recorder, we designed a modular distributed grid fault recording system with ultra-low-power characteristic. According to the precision complementary characteristics of the global positioning system (GPS) and the crystal clock signal, the GPS clock is used to calibrate the system clock to realize the microsecond high-precision clock, which meets the high requirements of synchronization acquisition of the three-phase current. The effectiveness of the proposed synchronization algorithm is validated by experiments on actual system.

关键词： fault recorder STM32L4 ultra-low-power GPS time calibration

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A Real-Time Semantic Segmentation Algorithm Based on Improved Lightweight Network

A Real-Time Semantic Segmentation Algorithm Based on Improve...

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International Symposium on autonomous systems (ISAS)

作者： Cheng Liu Hongxia Gao An Chen Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China

ISBN: (数字)9781665418829

ISBN: (纸本)9781665447997

This paper mainly studies the semantic segmentation algorithm for smart car scenes. Considering the real-time nature of the semantic segmentation algorithm in smart car scenes, this paper proposes a real-time semantic segmentation model based on an improved lightweight network. On the basis of the lightweight network MobileNet v2, a network with dilated convolution and attention modules is constructed as the backbone network for feature extraction, and pooling operations of different sizes are used on the dilated pyramid pooling module ASPP to encode surrounding Semantic information. On this basis, a lightweight semantic segmentation model LightSeg was constructed. Tested on a single RTX 2080Ti GPU, the model achieves a segmentation accuracy of 73.8% mIoU at a speed of 49.5 frames per second on the Cityscapes dataset.

关键词： Convolution autonomous systems Semantics Graphics processing units Feature extraction Real-time systems Automobiles

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Modeling and Simulation of Hand based on OpenSim and Leap Motion

Modeling and Simulation of Hand based on OpenSim and Leap Mo...

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Chinese Automation Congress (CAC)

作者： Hu, Zedong Yang, Chenguang He, Wei Li, Zhijun He, Shunzhan South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9781538635247

In the modern industry, human-robot collaboration is becoming more and more important. With the quick development of the small production, the demand of flexibility is growing heavily. Gesture recognition is important for the collaborative work of humans and robots. In industrial applications, the performance of such systems affects the safety of human workers and their manufacturing efficiency. In this paper, we create a realistic human model in OpenSim, and use the Leap Motion to identify the action of a man's hand. Through the transmission of data measured by the Leap Motion, the model we have created in the OpenSim will correctly track the hand's movement, and make the corresponding motion. The experimental results show that the performance of this method is satisfactory. With the help of this method, we can simulate the precise movements of human hands in real time.

关键词： hand model simulation Leap Motion OpenSim real time

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RLD-SLAM: A Robust Lightweight VI-SLAM for Dynamic Environments Leveraging Semantics and Motion Information

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第11期71卷 14328-14338页

作者： Zheng, Zengrui Lin, Shifeng Yang, Chenguang South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Peoples R China South China Univ Technol GuangDong Engn Technol Res Ctr Control Intelligent Sch Automat Sci & Engn Guangzhou Peoples R China Univ Liverpool Dept Comp Sci Liverpool L69 3BX England

Existing mainstream dynamic simultaneous localization and mapping (SLAM) can be categorized into image segmentation-based and object detection-based methods. The former achieves high accuracy but suffers a heavy computational burden, while the latter operates at higher speeds but with lower accuracy. In this article, we propose robust lightweight dynamic SLAM (RLD-SLAM), a robust lightweight visual-inertial SLAM for dynamic environments, leveraging semantics, and motion information. Our novel approach combines object detection and Bayesian filtering to maintain high accuracy while quickly acquiring static feature points. In addition, to address the challenge of semantic-based dynamic SLAM in highly dynamic scenes, RLD-SLAM leverages motion information from the inertial measurement unit to assist in tracking dynamic objects and maximizes the utilization of static feature in the environment. We conduct experiments applying our proposed method on indoor, outdoor datasets, and unmanned ground vehicles. The experimental results demonstrate that our method surpasses the current state-of-the-art algorithms, particularly in highly dynamic environments.

关键词： Mobile robot multisensor fusion robot state estimation simultaneous localization and mapping (SLAM)

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Euler-precision formula ZD3NgyP-Z applied to discrete control simulation of agitation tank

Euler-precision formula ZD3NgyP-Z applied to discrete contro...

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2017 Chinese Automation Congress, CAC 2017

作者： Zhang, Yunong Zhang, Jianxin Ding, Yaqiong Gong, Huihui Li, Jian Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Reseach Institute Foshan528300 China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education Guangzhou510006 China

ISBN: (纸本)9781538635247

In this paper, a new type of Euler-precision 3-node g-proportional (3NgP) formula is proposed and investigated in the general framework of Zhang discretization (ZD), which is named formula ZD3NgPZ with subtype Z corresponding to the second (as well as student) coauthor. By Taylor expansion, we prove that formula ZD3NgPZ approximating the fst-order derivative can achieve an error pattern of O(g). Numerical experiments of approximation are conducted to show the efficacy of the formula. In the meanwhile, formula ZD3NgPZ is used in the discrete control and simulation of agitation tank system. Finally, numerical experiments of discretization are conducted and analyzed to illustrate the efficacy and accuracy of formula ZD3NgPZ applied to agitation tank system. © 2017 IEEE.

关键词： Tanks (containers)

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Quasi-fixed Frequency and Phase Modulation Synchronous control Based LCC Resonant Converter

Quasi-fixed Frequency and Phase Modulation Synchronous Contr...

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Chinese Automation Congress (CAC)

作者： Kong, Dejun Feng, Ying South China Univ Technol Sch Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781728140940

This paper presents a novel quasi-fixed frequency based synchronous control scheme for the LCC resonant converter to suit the high frequency, low voltage and high current operating condition. Utilizing ZVS technique, the proposed method can guarantee the reliable load control ability and ensure the stable zero voltage by adjusting the frequency and the phase in the limited range. To show the effectiveness of the control algorithm, a LCC resonant converter with quasi fixed frequency (QFC) and phase modulation synchronous control is addressed in this paper. The LCC converter works in a continuous conduction mode near 700 kHz and implementing zero-voltage switching (ZVS) with 200-425 V input and 48 V/42 A output simultaneously, and it can suit the wide input/output range with high efficiency using the designed control scheme through the PSIM simulation results.

关键词： LCC resonant coverter low voltage and high current ZVS QFC

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Consensus of Continuous-Time Multiagent systems via Delayed Output Feedback: Delay Versus Connectivity

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IEEE TRANSACTIONS ON AUTOMATIC control 2021年第3期66卷 1329-1336页

作者： Qi, Tian Lu, Renquan Chen, Jie South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510900 Peoples R China Guangdong Univ Technol Sch Automat Guangzhou 510900 Peoples R China Guangdong Univ Technol Guangdong Prov Key Lab Intelligent Decis & Cooper Guangzhou 510900 Peoples R China City Univ Hong Kong Dept Elect Engn Kowloon Hong Kong Peoples R China

This article studies the consensus problem for continuous-time linear time-invariant multiagent systems, in which the agents exchange information through delayed communication channels in a fixed undirected topology. Our primary objective is to characterize explicitly the delay effect on consensus in the framework of distributed dynamic output feedback control and its implication on the graph network connectivity. For this purpose, we tackle and solve the consensus problem in the spirit of gain margin problem, using analytic interpolation techniques. We develop an explicit condition for consensus. The result provides a limit on network connectivity imposed by time delays as well as by the agent's unstable poles and nonminimum phase zeros.

关键词： Optimized production technology Delays Poles and zeros Protocols Output feedback Network topology Delay effects Analytic interpolation consensus multiagent systems (MASs) time delay

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Adaptive Compliance Learning control using Newton-Euler model 2

Adaptive Compliance Learning Control using Newton-Euler mode...

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2nd International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Liang, Congyuan Yang, Chenguang He, Wei Li, Zhijun South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing Peoples R China

ISBN: (纸本)9781538632604

In this article, an iterative learning control method using Newton-Euler model is proposed to apply in compliance interaction tasks. With the optimal impedance control model, the desired compliance performance would be able to be obtained. A learning impedance control law is investigated for estimating the system's unknown parameters. What's more, the control method proposed in this paper does not require the accurate measurement of the contact force. By applying Newton-Euler model to describe the manipulator model, the method will be more efficient. A rigorous analysis is also given in this paper. The validity of the proposed method is verified by simulations.

关键词： Impedance Manipulator dynamics Robot kinematics Force Mathematical model

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