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Predictive Cruise control for Connected Autonomous Vehicles Considering Communication Delay in Mixed Traffic

IFAC-PapersOnLine 2024年第29期58卷 172-177页

作者： Xinyu Li Jin Zhang Jiaqi Xue Lin Qi Wenbin Tang Xiaohong Jiao Institute of Electrical Engineering Yanshan University Qinhuangdao China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 Hebei Province China

The stochastic behaviors of human-driven vehicles (HDVs) and the communication delay of Vehicle-to-Everything (V2X) technique present challenges to the advancement of connected autonomous vehicles (CAVs) in mixed traffic comprising CAVs, uncertain numbers of HDVs and connected HDVs (CHDVs). Consequently, a predictive cruise control strategy based on V2X communication is proposed for CAVs in a mixed platoon. Firstly, a long-short-term memory (LSTM) network combined with a conditional linear Gaussian (CLG) model is adopted for speed prediction of the preceding vehicle considering the communication delay. Subsequently, the CAV's speed planning is conducted for passing continuous signalized intersections without stopping. Then, the planned speed is tracked in energy-efficient, safe, and comfortable manners under a stochastic model predictive control (SMPC) framework. The simulation results validate the effectiveness and advantages of the proposed strategy.

关键词： Connected autonomous vehicles Mixed traffic Communication delay Predictive cruise control

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An Improved Seagull Optimization Algorithm for Flexible Job-shop Scheduling Problem

An Improved Seagull Optimization Algorithm for Flexible Job-...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems

作者： Kai Ma Shijie Yao Shiliang Guo Bin Yang Shuai Li Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

Job-shop scheduling problem is the core link and key technology to realize smart factory and develop smart manufacturing technology. Among them, the flexible job-shop scheduling problem (FJSP) which is more consistent with the actual production and processing mode has been focused. This paper proposes an improved seagull optimization algorithm(ISOA) for solving the FJSP. The ISOA uses chaos initialization and reverse learning to optimize initial population, and introduces Q-learning to change the fitting parameters to balance global search and local search. In addition, we propose a local search model that is adaptive iterative process to enhance the algorithm's optimization search capability. The results of the experiment proved that the algorithm is superior in terms of optimization speed and scheduling results.

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The study of NAO robot arm based on direct kinematics by using D-H method

The study of NAO robot arm based on direct kinematics by usi...

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UKACC International Conference on control (control)

作者： Shuhui Wen Zhiyuan Ma Shuhuan Wen Yongsheng Zhao Jiantao Yao Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University QinHuangDao China

Direct and inverse kinematics are commonly implemented to determine main parameters affecting humanoid robots behavior and specify the reliable method to control motion and preserve stability. This paper presents a direct kinematics method for humanoid NAO model. The approach is analytical based on classic methods like Denavit-Hartenberg convention which are employed to derive forward kinematics equations. Firstly, it analyses the upper limb topology of NAO model and establishes the kinematics models. Secondly, the homogeneous transformation matrix of upper limb joints of the robot is derived in this paper. Finally, the simulations are given by using the Robotic Toolbox from MATlab software to test the derivation.

关键词： Robot kinematics Kinematics Joints Mathematical model MATlab Grasping

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Design and Analysis of Polynomial Positive Fuzzy System controllers Based on Markov Transitions

Design and Analysis of Polynomial Positive Fuzzy System Cont...

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Chinese Automation Congress (CAC)

作者： Sen Chang Xiaomiao Li Fucai Liu Zhiyong Bao Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This study explores polynomial Markov positive fuzzy systems, formulating controllers for these systems by examining the prerequisites for positivity and stochastic stability. Initially, polynomials are incorporated into the Markov positive fuzzy system to represent nonlinear elements better and enhance its capacity to model nonlinear systems. Concurrently, the study discusses the non-convex scenarios encountered in the stability analysis of the closed-loop system once the positive fuzzy system controller is integrated and confirms the stability of the Markov polynomial positive fuzzy system. Ultimately, the effectiveness of the proposed approaches is demonstrated through a numerical simulation example.

关键词： Automation Stochastic processes Numerical simulation Stability analysis Polynomials Numerical models Closed loop systems Nonlinear systems Numerical stability Fuzzy systems

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A virtual reality based 3D simulation modeling of ethylene cracking plant

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2013 International Conference on Advances in Materials Science and Manufacturing Technology, AMSMT 2013

作者： Tian, Chun-Yao Li, Guo-You Department of Automation Liaoning Petrochemical Vocational Technology College Jinzhou 121001 China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9783037857984

Using virtual reality computer simulation technology, by researching of the ethylene production process equipment and production process, Ethylene cracking plant modeling and simulation training system development were completed. Ethylene cracking device 3D modeling development scheme and process were introduced, which include the use of 3DMAX software for 3D modeling design, combined with the virtual reality software realization of human-computer interactive function design. Based on Virtual reality technology, 3D simulation system of ethylene plant was realized. © (2013) Trans Tech Publications, Switzerland.

关键词： Virtual reality

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Fault Tolerant control Based on GA-DRE for a Manipulator with Actuator Fault

Fault Tolerant Control Based on GA-DRE for a Manipulator wit...

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第43届中国控制会议

作者： Jiongzhi Qiu Yiming Fang Donliang Zhao Le Liu Nuan Shao Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Department of Environmental Engineering Hebei University of Environmental Engineering

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

To solve the trajectory tracking control problem of a rigid manipulator system in the case of unexpected actuator failure,considering the uncertainty of system parameters and bounded disturbance,an adaptive fault-tolerant tracking control strategy is proposed in this ***,an adaptive strategy is designed to estimate and compensate the effects of actuator failure and system uncertainty,and the dynamic regression matrix is extended and mixed to improve the accuracy of parameter estimation without persistency of excitation(PE),which will enhance the trajectory tracking ***,in the framework of sliding mode fault-tolerant control,combined with standard Gradient Adaptive and Dynamic Regressor Extension(GA-DRE) parameter estimation technology,a composite adaptive fault-tolerant controller is ***,theoretical analysis and numerical simulation results show that the proposed method can perform accurate parameter estimation in a finite time under the premise of matching the new conditions based on DRE additional terms,and the trajectory tracking errors of the expected positions and velocities of each joint of the manipulator can asymptotically converge to zero.

关键词： Fault-tolerant control Gradient Adaptive and Dynamic Regressor Extension(GA-DRE) Manipulator Parameter estimation Persistence of excitation(PE)

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DCS simulation modeling and development for ethylene cracking plant

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2013 International Conference on Advances in Materials Science and Manufacturing Technology, AMSMT 2013

作者： Qi, Xiang Yang Li, Guo You Department of Petrochemical Liaoning Petrochemical Vocational Technology College Jinzhou 121001 China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9783037857984

On the basis of the analysis of ethylene cracking process, equipment, process control and operation conditions, using process control system simulation platform, Ethylene cracking plant DCS modeling and simulation training system were developed. Using continuous modeling method, combined mechanism modeling with test data analysis, DCS control system mathematic model was established, by which normal operation, start, shutdown process and accident treatment process were simulated. The online evaluating system was developed too, which supply a virtual platform for the training of ethylene cracking process. © (2013) Trans Tech Publications, Switzerland.

关键词： Process control

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The dynamic control during mode-switches for PHEV

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Journal of Information and Computational Science 2012年第15期9卷 4501-4508页

作者： Zang, Huaigang Han, Yanlong Niu, Yanxia Key Lab. of Industrial Computer Control Engineering of Hebei Province National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Qinhuangdao 066004 China Key Lab. of Industrial Computer Control Engineering of Hebei Province Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 China

The control system of a hybrid electric vehicle assigns powers between the engine and the motor according to the vehicle's running conditions, switching the optimum driving mode. So, how to keep the torque transition swift and steady during mode-switches becomes an important aspect of hybrid electric vehicles' control problem. To solve this kind of problems, basing on the estimation of the engine's torque, this paper uses the motor's output to compensate power shortages of the vehicle caused by the engine's time-relay, and verifies its efficiency by building simulation models. The results illustrate that torque dynamic compensation algorithms can effectively guarantee the desired torque during mode-switches, and make sure swiftness and stability of torque transition. © 2012 by Binary Information Press.

关键词： Torque

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Improved ECO Algorithm Based on Residual Neural Network 2

Improved ECO Algorithm Based on Residual Neural Network

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2nd International Seminar on computer Science and engineering Technology, SCSET 2020

作者： Qi, Huifang Wang, Changmeng Li, Bo School of Information Science and Engineering Yanshan University Qinhuangdao China School of Electrical Engineering Yanshan University Qinhuangdao China Key Laboratory of Industrial Computer Control Engineering in Hebei Province Yanshan University Qinhuangdao China

Video target tracking is one of hot fields of computer vision, and its application is also very extensive. However, due to the complexity and variability of tracking environment, which brings some challenges to the research of target tracking. ECO(Efficient Convolution Operators) Algorithm is proposed based on convolutional neural network in three aspects. Firstly, residual neural network ResNet50 is adopted instead of convolutional neural network to extract the appearance features of target, and deeper residual neural network is applied to obtain more abundant target semantic information, so as to improve the tracking effect of tracking ***, sample space classification strategy is improved. Different weights are assigned to shallow feature and deep feature, which make the deep feature play a more important role and improve the effect of target tracking. Finally, the method of scale estimation is improved so that better bounding boxes can be estimated with the scale changing. Experimental results show that the distance accuracy and success rate of the algorithm. © Published under licence by IOP Publishing Ltd.

关键词： Target tracking

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A Ship Power Sharing Strategy Based on Shapley Value Method and Cartel Mechanism

A Ship Power Sharing Strategy Based on Shapley Value Method ...

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2024 International Annual Conference on Complex Systems and Intelligent Science, CSIS-IAC 2024

作者： Zhang, Zhengxu Yang, Jie Ma, Kai Guo, Shiliang Li, Hui School of Electrical Engineering Yanshan University Qinhuangdao China Yanshan University Key Laboratory of Power Electronics for Energy Conservation and Drive Control of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Intelligent Control and Neural Information Processing of the Ministry of Education Qinhuangdao China

ISBN: (纸本)9798331504755

With the development of the maritime industry, the number and capacity of existing port cold-ironing (CI) equipment can no longer meet the power demand of ships during berthing, resulting in significant carbon emissions from ships within the port area. Therefore, a ship power sharing strategy based on Shapley value method and Cartel mechanism is proposed. Firstly, the rolling optimization model of ship power scheduling is established to adjust the ship power scheduling strategy according to the real-time information. Secondly, the cooperative game model of ship power sharing is established, and the cost sharing among cooperative ships is realized by Shapley value method. Finally, in order to reduce the situation that ships increase their own profits by deviating from cooperation and affect the overall profits, this paper introduces Cartel mechanism to punish the behavior of deviating from cooperation. The simulation results show that the power sharing strategy proposed in this paper can reduce the total ship cost and carbon emission by 5.28% and 3.78%, respectively. The introduction of Cartel mechanism can increase the cost of non-cooperative behavior, thus ensuring that all ships take cooperative behavior. The power sharing strategy based on Shapley method and Cartel mechanism proposed in this paper is helpful to the construction of green ports. © 2024 IEEE.

关键词： Profitability

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