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第35届中国控制会议

作者： Chongling Li Tao Cai Zeyu Han School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended state observer(ESO),which estimates the states of system and total *** regards internal disturbance and external disturbance as a total disturbance,estimates it and eliminates it in the *** faster ESO estimates total disturbance,the more quickly controller eliminates *** paper focuses on the discrete linear extended state observer(DLESO),and presents discrete predictive linear extended state observer(DPLESO).Stability and performances are *** result shows that DPLESO has better performances for disturbance rejection than DLESO.

关键词： disturbance discrete ADRC LESO predictive linear extended state observer

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On Convergence of Extended State Observers for Discrete-Time Nonlinear systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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Local Smooth Path Planning for Turning Around in Narrow Environment

Local Smooth Path Planning for Turning Around in Narrow Envi...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Xiaohui Tian Mengyin Fu Yi Yang Meiling Wang Dongyu Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728136677

In this paper, we introduce a local smooth path planning algorithm for turning around in narrow environment. The algorithm uses a combination of the minimum turning radius arc and the Bezier curve to generate a near optimal smoothing turn-around path in narrow roads or cluttered environments. The algorithm will generate a smooth trajectory that conforms to the kinematic constraints of unmanned ground vehicle (UGV), by adjusting the heading to the target angle through several minimum-radius turns, and smoothly connecting to the global reference path via Bezier curve. We analyze the surrounding congestion and narrowness to choose appropriate turn-around area by integrating obstacle distribution and road edges before path planning. The algorithm was tested at IN 2 BOT UGV in our campus and 2018 Cross Dangers & obstacles. The experimental results indicated that the algorithm works efficiently with our previous work and shows good performance in accuracy and computational time.

关键词： Turning Roads Trajectory Planning Kinematics Land vehicles

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GAT-Net:A Network using Grid Attention and Transformer for Dynamic Facial Expression Recognition

GAT-Net:A Network using Grid Attention and Transformer for D...

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第34届中国控制与决策会议

作者： Wenxin Dai Yaping Dai Kaoru Hirota Shuai Shao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Dynamic facial expression recognition(DFER) in the wild has received widespread attention *** are complex factors such as face occlusion and pose variation in the *** expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature *** paper proposes an end-to-end DFER network GAT-Net based on the grid attention module and Transformer,which improves the robustness and accuracy of DFER in the ***,GAT-Net is divided into two components:spatial feature extraction and temporal feature *** grid attention module of the spatial feature extraction component guides the network to pay attention to the local salient features of the face,which reduces the interference of field occlusion and non-frontal *** Transformer in the temporal feature processing component guides the network to learn the temporal relationship of high-level semantic features and the global representation of facial expression *** two components balance the subtle competition between local features and global feature representations of facial *** ablation experiment has proved the effectiveness of the grid attention module and *** demonstrate that our GAT-Net outperforms state-of-the-art methods on DFEW and AFEW benchmarks with accuracies of 67.53%,and 50.14% respectively.

关键词： Facial Expression Recognition Deep Learning Attention Mechanism Transformer

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Robust stability for a class of nonlinear Lurie systems with unmatched uncertainties 35

Robust stability for a class of nonlinear Lurie systems with...

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第35届中国控制会议

作者： GUO Yang GUO Shuli HAN Lina Key Lab of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematical Institute University of Oxford Andrew Wiles Building Radcliffe Observatory Quarter Department of Cardiovascular Internal Medicine.Chinese PLA General Hospital

ISBN: (纸本)9781509009107

In this paper, a strategy is established to design the robust controller for a class of continuous-time nonlinear systems with Lurie *** uncertainty is decomposed into matched and unmatched components, and an augmented control is introduced for the unmatched uncertainty. An optimal control algorithm based on Hamilton-Jacobi-Bellman(HJB) equation is proposed for the design of a bounded robust controller and finite-time-horizon nonlinear systems. In this case, the robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainties,regulation, and control. The bounded controller no longer requires the knowledge of the upper bound of systems uncertainty.A computable sufficient condition is also derived to ensure that the solution to the corresponding optimal control problem is a solution to the robust control problem. A simulation example is provided to verify the effectiveness under the present robust control scheme.

关键词： Robust control Uncertain Nonlinear systems Optimal control HJB Equation Lyapunov Stability

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An Adaptive Dynamic Programming Algorithm Based on ITF-OELM for Discrete-Time systems

An Adaptive Dynamic Programming Algorithm Based on ITF-OELM ...

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第33届中国控制与决策会议

作者： Xiaofei Zhang Hongbin Ma Junyong Chen Weixue Li School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Adaptive dynamic programming(ADP) is a kind of intelligent control method,and it is a non-model-based method that can directly approximate the optimal control policy via online *** gradient algorithm is usually used to update weights of action networks and critic networks,however it is clear that gradient descent-based learning methods are generally very slow due to improper learning steps or may easily converge to local *** this paper,in order to overcome those disadvantages of gradient descent-based learning methods,a novel ADP algorithm based on initial-training-free online extreme learning machine(ITF-OELM),in which the critic network link weights of hidden nodes to output nodes can be obtained by least squares instead of gradient algorithm,is ***,the ADP algorithm based on ITF-OELM is tested on a discrete time torsional pendulum system,and simulation results indicate that this algorithm makes the system converge in a shorter time compared with the ADP based on gradient algorithm.

关键词： Adaptive Dynamic Programming Extreme Learning Machine Discrete-time systems

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Multi-Batch Production Scheduling for Distributed Serial Lines with Unreliable Machines and Finite Buffers

Multi-Batch Production Scheduling for Distributed Serial Lin...

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第40届中国控制会议

作者： Longzhu Huang Zhiyang Jia Xiaohan Wang Jingchuan Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In the modern manufacturing environment, the production systems develop towards a flexible direction due to the market demands of multiple varieties and small batch-based customized products. To make better use of the existing resources and to improve production efficiency, distributed manufacturing mode begins to appear. This paper concentrates on a multi-type production scheduling problem for distributed serial lines. Specifically, unreliable machines and finite buffers are considered,which are more realistic in the practical production. The mathematical model for the production system with two Bernoulli machines is formulated first. Then, under the hypothetical model mentioned above, the main work of this article is to propose the exact and approximate analyses to calculate the performance indicators. Based on the analysis of the model, the genetic algorithm is applied to optimize the maximum completion time on the distributed serial lines for multi-batch-based production tasks. Finally, the feasibility and effectiveness of the mathematical model and the proposed algorithm are verified through numerical experiments.

关键词： Bernoulli machine intelligent manufacturing Production scheduling Transient analysis

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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A bi-level optimization approach for joint rack sequencing and storage assignment in robotic mobile fulfillment systems

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Science China(Information Sciences) 2023年第11期66卷 127-149页

作者： Xiang SHI Fang DENG Sai LU Yunfeng FAN Lin MA Jie CHEN Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Zhejiang Cainiao Supply Chain Management Co. Ltd. Shanghai Research Institute for Intelligent Autonomous Systems

This paper studies a novel rack scheduling problem with multiple types of multiple storage locations(RS-MTMS), which can decide the retrieval sequence of racks and assign each rack a storage location after visiting a picking station. A major challenge in RS-MTMS is that the storage assignment problem and the retrieval sequence decision are closely coupled. If the RS-MTMS is solved directly, the storage assignment scheme and the retrieval sequence of racks are generally generated separately, thus resulting in poor performance. To overcome this difficulty, we propose a bi-level optimization approach for jointly optimizing the storage assignment and retrieval sequence(Bi JSR). In Bi JSR, the storage assignment problem is solved by variable neighborhood search(VNS) in the upper-level optimization. Effective candidate modes are incorporated into VNS to improve solution quality and computational efficiency. The sequencing optimization is obtained in the lower-level according to the given storage location set. A transformation strategy with sufficient problem-specific knowledge is developed to identify the lower-level optimization as the traveling salesman problem and its variants. Then these identified problems are solved using the loop-based *** results show that the proposed Bi JSR is more effective and efficient than the representative algorithms in solving the RS-MTMS problem.

关键词： rack scheduling sequence decision storage assignment bi-level optimization robotic mobile fulfillment system

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An accurate tuning model of spintronic memristor with different switching thresholds by logic judgment of domain wall motion 41

An accurate tuning model of spintronic memristor with differ...

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第41届中国控制会议

作者： Kun Wang Yajuan Hui Zhong Yang Xiangshui Miao School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan National Lab for Optoelectronics Huazhong University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Spintronic memristor possessing extraordinary advantages such as high-speed,low-power,highly scalable,and capable of constructing dynamic complex systems,which is a potential candidate for the next-generation memory *** many excellent models of spintronic memristor have been proposed,nonlinear model is not suitable for application analysis because of its complex *** this paper,an accurate tuning model of spintronic memristor with different switching thresholds by logic judgment of domain-wall motion is *** switching thresholds of current density are introduced to drive the domain-wall movement by judging the position of state value and real-time current density,which solves the general problems of boundary ***,by the simulation and verification via PSpice modeling,an accurate regulation of the resistance by voltage excitation is *** results pave the way for the applications of diversified circuit design for spintronic memristor.

关键词： Spintronic memristor Different switching thresholds SPICE model

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