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37th Chinese control Conference, CCC 2018

作者： Hongbin, Wang Zhen, Zhou Yueling, Wang Mingquan, Zhang Xiaojun, Xue Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789881563941

This paper deals with the formation control problem for a group of quadrotor unmanned aerial vehicles (UAVs) through a modified dynamic event-triggered control protocol. The stability proof for the state space origin of the overall closed-loop system is derived from the singular perturbation method and Lyapunov stability theory. An event-triggered formation control protocol in terms of a dynamically varying threshold parameter is delicately carried out while acquiring satisfactory resource efficiency, and Zeno behavior of triggering time sequences is excluded. Finally, simulations on four quadrotor UAVs are given to verify the effectiveness of the theoretical results. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Closed loop systems

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Fuzzy adaptive control for multi-machine power system based on ant colony algorithm

Fuzzy adaptive control for multi-machine power system based ...

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International Conference on Natural Computation

作者： Wu, Zhong-Qiang Yao, Yuan Dou, Chun-Xia Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9781424459612

Based on multi-machine excitation control models, using fuzzy adaptive theory and considering the muti-machine nonlinear system whose states are not available, observer-based adaptive fuzzy output feed back control schemes are proposed. In this paper, the ant colony algorithm is used to optimize the fuzzy control rules. The simulation result shows that the controller can effectively improve power system stability under big disturbance. © 2010 IEEE.

关键词： Fuzzy control

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A new LMS algorithm with application to fixed satellite communications

A new LMS algorithm with application to fixed satellite comm...

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International Workshop on Advanced Computational Intelligence

作者： Li, Haibin Han, Yanguang Guan, Xinping Key Lab. of Industrial Computer Control Engineering Hebei Province Qinhuangdao CO 066004 China

ISBN: (纸本)9781424463343

A distinctive new LMS algorithm is proposed in his paper. Both fast convergence rate and small steady state rror can be obtained through non-linear weighting N errors of the current moment and past moments in this algorithm. The algorithm analyzed that the ideal step size is achieved by increasing the error information, building new nonlinear relations between step size factor and error function and eliminating the effect of correlated noise sequences. Then the new algorithm is applied to the fixed satellite communications system in which the channel is affected by multipath effect and weather conditions attenuation. Simulation results show that the new algorithm converges faster than usual algorithms under approximate steady state performance. The signal BER performance is greatly improved with the new adaptive algorithm equalizer in the fixed satellite communications system.

关键词： Satellite communication systems

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Optimization of schedule with multi-objective for tandem cold rolling mill based on IAGA

Optimization of schedule with multi-objective for tandem col...

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2010 International Conference on Mechanic Automation and control engineering, MACE2010

作者： Che, Haijun Han, Xinyan Yang, Jingming Li, Lianfei Key Lab. of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

ISBN: (纸本)9781424477388

To tackle the multi-objective problem in the process of tandem cold rolling, a mathematical model of multi-object optimization is presented. Taking equal relatively power and prevent slippage as objective functions. Aiming to the problem of Standard Genetic Algorithm (SGA), such as premature convergence, oscillation and over-randomization in iterative process, an Improved Adaptive Genetic Algorithm (IAGA) is applied to optimize the system. The algorithm decides the crossover rate and mutation rate of chromosome based on individual adaptive value in calculation process, make the start phase mutate obviously and later phase stable slowly and ensure the population development, seeking balance and entire convergence. Simulated results show that, in comparison with the actual rolling schedule, the optimization rolling schedule makes the reasonable distribution of tandem cold rolling power, gives the full play to equipment capacity, reduces the rate of slippage, improves the product quality, and the proposed method is demonstrated to be competent. ©2010 IEEE.

关键词： Multiobjective optimization

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Fixed-Time Sliding Mode Fault-Tolerant Consensus control for Second-Order Multi-Agent System with Actuator Fault 41

Fixed-Time Sliding Mode Fault-Tolerant Consensus Control for...

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第41届中国控制会议

作者： Jing Wang Yi-ming Fang Jian-xiong Li Kun-da Li Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problems of immeasurable leader state and actuator fault for second-order multi-agent system(MAS),the distributed robust sliding mode fault-tolerant control method based on fixed-time state observer(FTSO) is adopted to realize the fixed time fault-tolerant consensus tracking control for the *** MAS is under the undirected communication *** actuator fault is including partial loss of effectiveness(PLOE) fault and bias ***,a fixed time state observer is designed for each follower to obtain the state information of the ***,for followers with actuator faults,the distributed fixed-time robust sliding mode fault-tolerant controller is designed to realize fault-tolerant consensus tracking ***,the Lyapunov stability theorem is used to prove that the observation error and the consensus control error converge to zero in a ***,the effectiveness of the designed FTSO and fixed-time robust sliding mode fault-tolerant control algorithm is verified by numerical simulation.

关键词： fixed-time state observer fixed-time fault-tolerant control multi-agent systems consensus tracking control

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Disturbance Suppression for Underactuated Robotic Systems: Fixed-Time Equivalent-Input-Disturbance Approach

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IEEE Transactions on industrial Electronics 2025年

作者： Yang, Yana Hui, Wenkai Zhou, Xiaoshuang Li, Junpeng Yanshan University Engineering Research Center of Intelligent Control System and Intelligent Equipment Ministry of Education Qinhuangdao 066004 China Yanshan University Hebei Key Laboratory of Industrial Computer Control Engineering Qinhuangdao 066004 China Yanshan University Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation Qinhuangdao 066004 China Yanshan University Institute of Electrical Engineering Qinhuangdao 066004 China

The equivalent-input-disturbance (EID) method is an effective disturbance suppression technique that compensates for lumped disturbances by incorporating the estimated disturbances into the input channel, without imposing specific requirements on the disturbances or the system. Yet, the vast majority of existing EID methods can only be applied to fully actuated systems or simple single-input-single-output (SISO) underactuated systems. Aiming at this issue, a novel EID based control method is proposed for the first time to suppress both matched and mismatched disturbances for underactuated robotic systems (URSs). First, the integral auxiliary variable is designed to couple the actuated and underactuated states of the system, transforming the original system into a new nonlinear error system. Then, the unknown nonlinear terms in the system are treated as artificial disturbances and managed by developing a fixed-time EID approach. Compared with existing EID methods, the proposed fixed-time state observer (FTSO) can reduce observation errors and improve accuracy, significantly. Finally, the effectiveness of the proposed method is further validated through simulations and experiments on an underactuated crane system. The results highlight the method's ability to effectively suppress both matched and mismatched disturbances, showcasing its potential to improve the robustness and reliability of URSs. © 1982-2012 IEEE.

关键词： Disturbance suppression equivalent input disturbance (EID) fixed-time state observer (FTSO) underactuated robotic systems (URSs)

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Flatness predictive model based on T-S cloud reasoning network implemented by DSP

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Journal of Central South University 2017年第10期24卷 2222-2230页

作者： ZHANG Xiu-ling GAO Wu-yang LAI Yong-jin CHENG Yan-tao Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan UniversityQinhuangdao 066004China National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan UniversityQinhuangdao 066004China

The accuracy of present flatness predictive method is limited and it just belongs to software simulation. In order to improve it, a novel flatness predictive model via T-S cloud reasoning network implemented by digital signal processor(DSP) is proposed. First, the combination of genetic algorithm(GA) and simulated annealing algorithm(SAA) is put forward, called GA-SA algorithm, which can make full use of the global search ability of GA and local search ability of SA. Later, based on T-S cloud reasoning neural network, flatness predictive model is designed in DSP. And it is applied to 900 HC reversible cold rolling mill. Experimental results demonstrate that the flatness predictive model via T-S cloud reasoning network can run on the hardware DSP TMS320 F2812 with high accuracy and robustness by using GA-SA algorithm to optimize the model parameter.

关键词： T-S cloud reasoning neural network cloud model flatness predictive model hardware implementation digital signal processor genetic algorithm and simulated annealing algorithm (GA-SA)

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Adaptive Backstepping control of Hydraulic Servo System with Input Saturation for Rolling Mill based on Multi-model Switching

Adaptive Backstepping Control of Hydraulic Servo System with...

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第三十二届中国控制会议

作者： LI Yehong FANG Yiming LI Jianxiong SHI Shengli Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling

ISBN: (纸本)9781479900305

For the problems of parameters change abruptly and input saturation of the rolling mill hydraulic servo systems,an adaptive backstepping control method based on multi-model switching is presented in this ***,multiple models of the rolling mill hydraulic servo systems under different operating modes are ***,an auxiliary system is introduced to reduce the effects of input saturation,and the adaptive backstepping controllers are designed for all *** the help of common Lyapunov theory,the proposed method can guarantee stability of the multi-model switched system under arbitrary switching ***,the simulation results demonstrate the effectiveness of the proposed control method.

关键词： Hydraulic servo system Rolling mill Input saturation Multi-model switching Backstepping

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Optimization of Tandem Cold Rolling Schedule Based on Competitive Coevolution Algorithm 33

Optimization of Tandem Cold Rolling Schedule Based on Compet...

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第三十三届中国控制会议

作者： ZHAO Xinqiu MENG Qinggang CHE Haijun YANG Jingming National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (纸本)9781479947249

The schedule set is an important part in the cold rolling process, which directly affects product quality and production efficiency in the production of steel rolling. Due to the low precision of traditional rolling force model, a model of rolling force was founded by the least squares support vector machine(LSSVM) method though analyzing the influencing factors of rolling force. Considering the diversity of optimization goal on rolling schedule of cold tandem rolling, the rolling schedule was optimized by competitive coevolution algorithm(Comp-CEA). A rolling schedule of steel cold rolling mill in Tangshan was optimized by selecting the power distribution, excellent flatness and the slip rate as objective functions. The experiment results show that Comp-CEA has the advantages such as high accuracy, rapid convergence and so on, and three objective functions can be improved in varying degrees.

关键词： Comp-CEA LSSVM,tandem cold rolling,rolling schedule

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Adaptive cross-coupled sliding mode control for synchronization of dual-cylinder electro-hydraulic servo systems 34

Adaptive cross-coupled sliding mode control for synchronizat...

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第三十四届中国控制会议

作者： SUN Mengfei LI Jianxiong FANG Yiming Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling

ISBN: (纸本)9781467374439

To improve the equality of continuous casting billet, synchronization control is investigated for continuous casting mold driven by dual-cylinder electro-hydraulic servo systems(EHSS) in this paper. A second-order super twisting sliding mode controller is developed for each cylinder EHSS, in which cross-coupled errors are employed to construct the sliding mode surfaces, which guarantee that trajectory tracking errors of each cylinder EHSS and the synchronization error can rapidly converge to zero in finite time even in presence of the parameter uncertainties and external disturbances. Furthermore, to reduce the chartering caused by the discontinuous control law of sliding mode control, adaptive gains are employed during the sliding mode controller design. Thus, an adaptive sliding surface cross-coupled synchronization controller is presented by employing Lyapunov stability theorems. Simulation results in a model obtained from a real continuous casting mold demonstrate the effectiveness of the method.

关键词： Dual-cylinder electro-hydraulic servo systems,synchronization,sliding mode control,cross-coupling,continuous casting mold

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