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IEEE International Conference on Robotics and Biomimetics

作者： Yang Zhang Zhengxing Wu Jian Wang Min Tan State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665405362

This paper focuses on the turning maneuverability of a bionic gliding robotic dolphin. Inspired by natural dolphin’s turning styles, a novel gliding robotic dolphin with a special yaw joint is developed to purse high turning maneuverability. Thus, the robot can realize several turning patterns based on its flippers, yaw joint and dolphin-like dorsal-abdominal undulating mechanism. Considering both dolphin-like mode and gliding mode, a dynamic model is constructed to further analyze the turning performance through adopting the Newton-Euler method. Thereafter, five turning patterns are selected to explore how the special mechanism as well as some key parameters affect the turning performance of the robotic dolphin. The simulation results reveal that every pattern can successfully and effectively realize turning motions, furthermore, appropriate turning pattern as well as control parameters can contribute to high maneuverability, i.e., small turning radius and high turning velocity, which provides valuable guidance for future control and application of the bionic gliding robotic dolphin.

关键词： Analytical models Simulation Conferences Biomimetics Turning Robots Dolphins

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Implications of COVID-19 for the Electricity Industry: A Comprehensive Review

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CSEE Journal of Power and Energy systems 2020年第3期6卷 489-495页

作者： Haiwang Zhong Zhenfei Tan Yiliu He Le Xie Chongqing Kang Department of Electrical Engineering the State Key Lab of Control and Simulation of Power Systems and Generation EquipmentInstitute for National Governance and Global GovernanceTsinghua UniversityBeijing 100084China Department of Electrical and Computer Engineering Texas A&M UniversityCollege StationTX 77843 USA

As COVID-19 sweeps through the whole world,human activities have been changed *** such circumstances,the electricity sector is deeply affected and faced with great *** paper provides a comprehensive review of the impacts that the pandemic has caused on the electricity *** demand has dropped sharply as governments around the world executed lockdown restrictions,while the load composition and daily load profile have also *** share of renewable generation has increased against the decline of the total electricity *** power balance situation and increased uncertainty of demand have posed higher pressure on system operators,along with voltage violation issue and challenges for system maintenance and *** electricity market is also substantially influenced,while longterm investment in clean energy is expected to be *** externality such as emission reduction is also discussed.

关键词： COVID-19 electricity industry energy market pandemic power system

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Data-driven Polytopic Output Synchronization of Heterogeneous Multi-agent systems from Noisy Data

arXiv

引用

arXiv 2023年

作者： Li, Yifei Liu, Wenjie Sun, Jian Wang, Gang Xie, Lihua Chen, Jie The National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore The Department of Control Science and Engineering Tongji University Shanghai201804 China

This paper proposes a novel approach to addressing the output synchronization problem in unknown heterogeneous multi-agent systems (MASs) using noisy data. Unlike existing studies that focus on noiseless data, we introduce a distributed data-driven controller that enables all heterogeneous followers to synchronize with a leader’s trajectory. To handle the noise in the state-input-output data, we develop a data-based polytopic representation for the MAS. We tackle the issue of infeasibility in the set of output regulator equations caused by the noise by seeking approximate solutions via constrained fitting error minimization. This method utilizes measured data and a noise-matrix polytope to ensure near-optimal output synchronization. Stability conditions in the form of data-dependent semidefinite programs are derived, providing stabilizing controller gains for each follower. The proposed distributed data-driven control protocol achieves near-optimal output synchronization by ensuring the convergence of the tracking error to a bounded polytope, with the polytope size positively correlated with the noise bound. Numerical tests validate the practical merits of the proposed data-driven design and theory. © 2023, CC BY.

关键词： Multi agent systems

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Data-driven control of dynamic event-triggered systems with delays

arXiv

引用

arXiv 2021年

作者： Wang, Xin Sun, Jian Berberich, Julian Wang, Gang Allgöwer, Frank Chen, Jie State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany Department of Control Science and Engineering Tongji University Shanghai201804 China

This paper studies data-driven control of unknown sampled-data systems with communication delays under an event-triggering transmission mechanism. Data-based representations for stochastic linear systems with a known or an unknown system input matrix are first developed, along with a novel class of dynamic triggering schemes for sampled-data systems with time delays. A model-based stability condition for the resulting event-triggered time-delay system is established using a looped-functional approach. Combining this model-based condition with the data-driven representations, data-based stability conditions are derived. Building on the data-based conditions, methods for co-designing the controller gain and the event-triggering matrix are subsequently provided for both cases with or without using the input matrix. Finally, a numerical example is presented to corroborate the role of additional prior knowledge of the input matrix in reducing the conservatism of stability conditions, as well as the merits of our approaches relative to existing results. © 2021, CC BY.

关键词： Sampled data control systems

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Towards Integrated Traffic control with Operating Decentralized Autonomous Organization

Towards Integrated Traffic Control with Operating Decentrali...

引用

International Conference on Intelligent Transportation

作者： Shengyue Yao Jingru Yu Yi Yu Jia Xu Xingyuan Dai Honghai Li Fei-Yue Wang Yilun Lin Urban Computing Shanghai AI Lab Shanghai China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Research and Development Center of Transport Industry of Autonomous Driving Technology RIOH High and Technology Group Institute of Automation Chinese Academy of Sciences Beijing China Macau Institute of Systems Engineering Macau University of Science and Technology Macau China

With a growing complexity of the intelligent traffic system (ITS), an integrated control of ITS that is capable of considering plentiful heterogeneous intelligent agents is desired. However, existing control methods based on the centralized or the decentralized scheme have not presented their competencies in considering the optimality and the scalability simultaneously. To address this issue, we propose an integrated control method based on the framework of Decentralized Autonomous Organization (DAO). The proposed method achieves a global consensus on energy consumption efficiency (ECE), meanwhile to optimize the local objectives of all involved intelligent agents, through a consensus and incentive mechanism. Furthermore, an operation algorithm is proposed regarding the issue of structural rigidity in DAO. Specifically, the proposed operation approach identifies critical agents to execute the smart contract in DAO, which ultimately extends the capability of DAO-based control. In addition, a numerical experiment is designed to examine the performance of the proposed method. The experiment results indicate that the controlled agents can achieve a consensus faster on the global objective with improved local objectives by the proposed method, compare to existing decentralized control methods. In general, the proposed method shows a great potential in developing an integrated control system in the ITS.

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Towards Integrated Traffic control with Operating Decentralized Autonomous Organization

arXiv

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arXiv 2023年

作者： Yao, Shengyue Yu, Jingru Yu, Yi Xu, Jia Dai, Xingyuan Li, Honghai Wang, Fei-Yue Lin, Yilun Urban Computing Shanghai AI Lab Shanghai China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The Research and Development Center of Transport Industry of Autonomous Driving Technology RIOH High and Technology Group The Institute of Automation Chinese Academy of Sciences Beijing China The Macau Institute of Systems Engineering Macau University of Science and Technology China

关键词： Integrated control

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Multi-Heterogeneity Public Goods Evolutionary Game on Lattice

SSRN

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SSRN 2022年

作者： Xie, Kai Liu, Xingwen Wang, Huazhang Jiang, Yulian Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission College of Electrical Engineering Southwest Minzu University Sichuan Chengdu610225 China College of Electrical Engineering Southwest Minzu University Sichuan Chengdu610225 China

The topic of how cooperation emerges and develops in the real world has been intensively studied. Many mechanisms and models have been proposed to explain this complex phenomenon with the idealized assumption that all players are homogeneous or have little heterogeneity. This paper investigates the evolution of the public goods game with multiple heterogeneities. Roughly speaking, the quantity of investment (by a cooperator), punishment (received by a defector), or cost (paid by a punisher) is not fixed but depends on specific evolutionary situation. Moreover, heterogeneity is also introduced in expected payoff of each player for the strategy updating rule. Multi-heterogeneity makes the considered model more realistic. The simulation experiment shows that the combination of modified punishment mechanism and strategy updating rule can promote cooperation density in both the multi-heterogeneity and homogeneity models. © 2022, The Authors. All rights reserved.

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Effects and evolution mechanism of UV-AOPs induced aging of microplastics: fragmentation and organic matter release

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Journal of Water Process Engineering 2025年 75卷

作者： Qianqian Ding Zhaoyang Wang Hong Sun Yuxing Guo Xinyang Bai College of Earth and Environmental Sciences MOE Key Laboratory of Western China's Environmental Systems Key Lab of Environmental Pollution Predict & Control Lanzhou University Lanzhou 730000 PR China

Microplastics (MPs) are a widespread emerging pollutant that can harm human health through the food chain or direct ingestion. Therefore, it is of great significance to study the transformation of MPs in water. The mechanism of changes of 3 kinds of MPs under different environmental conditions was studied by Ultraviolet-Advanced oxidation combined process (UV-AOPs). PARAFAC, SEM, FTIR, TOC and LPSA were used to explore the change mechanism. The results showed that the 3 MPs exhibited different degrees of fragmentation and folding with reaction time, temperature and pH. When the reaction time T = 60 min, pH = 4, t = 30 °C, V = 15 V, the aging is the most obvious, and the functional groups such as -CH 2 , C O and -CH all change. In addition, the particle sizes of the three kinds of MPs after the reaction were all reduced by an average of 18 % compared with the initial ones. At the same time, a certain amount of DOM is also released, and the main components are aromatic proteins. This study revealed the aging effects of different types of MPs in UV-AOPs process, explored the surface morphological changes of MPs and the release of organic matter, in order to provide more reference and support data for the environmental behavior of MPs.

关键词： Aging Microplastics (MPs) Parallel factor analysis (PARAFAC) Ultraviolet advanced oxidation (UV-AOPs)

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Frequency Properties of ADRC

Frequency Properties of ADRC

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第40届中国控制会议

作者： Yutao Zhao Yi Huang Key Lab.of System and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences School of Mathematical Science University of Chinese Academy of Sciences

In this paper, the frequency properties of Active Disturbance Rejection control（ADRC） are quantitatively studies. It’s proved that ADRC can guarantee a nice tracking performance as well as satisfied capabilities of resisting external disturbance and suppressing high-frequency noise. Then the phase margin and the permitted time delay with the variation of parameters of ADRC are quantitatively analyzed. Furthermore, based on the quantitative results, the relationship between the parameter ■ of ADRC, which is an estimation for unknown gain b, and the time delay permitted in the closed-loop systems is discussed. The simulation results are provided to show the significance of the theoretical results.

关键词： Uncertain System Active Disturbance Rejection control（ADRC） Extended State Observer（ESO） Relative Stability

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On the Bandwidth of the Extended State Observer

On the Bandwidth of the Extended State Observer

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第40届中国控制会议

作者： Yutao Zhao Yi Huang Key Lab.of System and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Science University of Chinese Academy of Sciences

In this paper, a quantitative lower bound to the bandwidth of the extended state observer（ESO） used in the active disturbance rejection control（ADRC） is given for a class of second-order nonlinear uncertain systems with unknown gain b of control input. Then, it is proved that the closed-loop systems are stable and have satisfied dynamic tracking performance under the above quantitative lower bound condition of ESO bandwidth. Furthermore, based on the theoretical results, the relationship between the parameter ■ of ADRC, which is an estimation for unknown gain b, and the dynamic performance of the closed-loop systems is discussed. The simulation results are provided to show the significance of the theoretical results.

关键词： Nonlinear Uncertain systems Active Disturbance Rejection control（ADRC） Extended State Observer（ESO）

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