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Neural Network-Based Terminal Sliding Mode controller Design for Manipulator Systems 1

UNIfied Conference of International Workshop on Defence Applications of Multi-Agent Systems, DAMAS 2023, International Conference on Maintenance Engineering, IncoME-V 2023, International conference on the Efficiency and Performance Engineering Network, TEPEN 2023

作者： Qu, Lufeng Fan, Qiming Kang, Yang Yang, Jun Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China School of Intelligent Manufacturing Tianjin Sino-German University of Applied Technology Tianjin300350 China School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9783031494130

ISBN: (纸本)9783031494123

In the context of nonlinear and uncertain manipulator systems, achieving fast and accurate desired trajectories for each joint of the manipulator is crucial. Our study aims to improve current control methods by combining sliding mode control and neural network techniques. Specifically, we leverage the neural networks’ approximation capabilities to estimate both the modeling error and external disturbance in our research. These estimates are then integrated into the synovial control as additional gains. This approach allows for the sliding mode controller’s switch gain to adapt to changing modeling error and external disturbance, thereby avoiding the vibration production typically associated with traditional sliding mode controllers. It can be observed from the simulation results that the combination of the proposed nonsingular terminal sliding mode controller and neural network achieves fast and precise tracking of desired trajectories. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Sliding mode control

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High-sensitivity and high-resolution collaborative determination of birefringence coefficient using weak measurement

arXiv

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arXiv 2025年

作者： Guo, Yanqiang Hou, Jiahui Zhang, Min Wang, Ao Gao, Shuqi Liu, Qingchen Li, Hongyu Guo, Xiaomin Xiao, Liantuan Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics Taiyuan University of Technology Taiyuan030024 China College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China Shanxi Key Laboratory of Precision Measurement Physics Taiyuan University of Technology Taiyuan030024 China

We present a high-sensitivity and high-resolution birefringence coefficient determination system for nm-level membrane films based on weak measurement, addressing the sensitivity-resolution trade-off. A tunable bandwidth light source is exploited to achieve complementary momentum (P-pointer) and intensity (I-pointer) measurements,enabling calibration-free operation across various bandwidths, and to realize high-precision phase difference monitoring of the measured *** method maps the birefringence effect to a weak-value amplified signal of spectral shift and light intensity. The optimal resolution, achieved at a spectral width of 6 nm, is 1.5 × 10−8 RIU, while the optimal sensitivity is achieved when the light source is a narrow-linewidth coherent laser, reaching 4710 mV/RIU. The linear range of the system covers a broad birefringence coefficient range for crystals,from 10−6 to 0.1. Furthermore, the auxiliary optical path eliminates substrate interference, achieving a detection limit of the birefringence coefficient as low as 10−8 *** approach, characterized high precision, high sensitivity, and strong robustness, provides an effective solution for the detection of optical nano-thin membrane parameters. Copyright © 2025, The Authors. All rights reserved.

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Additive manufacturing of metals:Microstructure evolution and multistage control

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Journal of Materials Science & technology 2022年第5期100卷 224-236页

作者： Zhiyuan Liu Dandan Zhao Pei Wang Ming Yan Can Yang Zhangwei Chen Jian Lu Zhaoping Lu Additive Manufacturing Institute College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China Department of Materials Science and Engineering Southern University of Science and TechnologyShenzhen 518055China Sino-German College of Intelligent Manufacturing Shenzhen Technology UniversityShenzhen 518118China CityU-Shenzhen Futian Research Institute Shenzhen 518045China Hong Kong Branch of National Precious Metals Material Engineering Research Center(NPMM) City University of Hong KongHong KongChina Beijing Advanced Innovation Center for Materials Genome Engineering State Key Laboratory for Advanced Metals and MaterialsUniversity of Science and Technology BeijingBeijing 100083China

As a revolutionary industrial technology,additive manufacturing creates objects by adding materials layer by layer and hence can fabricate customized components with an unprecedented degree of *** metallic materials,unique hierarchical microstructures are constructed during additive manufacturing,which endow them with numerous excellent *** take full advantage of additive manufacturing,an in-depth understanding of the microstructure evolution mechanism is *** this end,this review explores the fundamental procedures of additive manufacturing,that is,the formation and binding of melt pools.A comprehensive processing map is proposed that integrates melt pool energy-and geometry-related process parameters *** on it,additively manufactured microstructures are developed during and after the solidification of constituent melt *** solidification structures are composed of primary columnar grains and fine secondary phases that form along the grain *** post-solidification structures include submicron scale dislocation cells stemming from internal residual stress and nanoscale precipitates induced by intrinsic heat treatment during cyclic heating of adjacent melt *** on solidification and dislocation theories,the formation mechanisms of the multistage microstructures are thoroughly analyzed,and accordingly,multistage control methods are *** addition,the underlying atomic scale structural features are briefly ***,microstructure design for additive manufacturing through adjustment of process parameters and alloy composition is addressed to fulfill the great potential of the *** review not only builds a solid microstructural framework for metallic materials produced by additive manufacturing but also provides a promising guideline to adjust their mechanical properties.

关键词： Additive manufacturing Metallic materials Melt pool Processing map Microstructure evolution

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Research and development of the control system of space multi-dimensional profiling and planing based on PLC

Research and development of the control system of space mult...

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作者： Qiu Xia Guangzhong Hu Yuheng Han Ping Wang College of Mechanical Engineering Sichuan University of Science & Engineering Sichuan Provincial Key Lab of Process Equipment and Control Key Laboratory of Advanced Manufacturing Technology of Panzhihua City

Aiming at the complex processing problem of a rectangular composite plate with warpage in space to remove both sides of the frame and ensure the maximum of the inner core plate of the composite plate after removing both sides of the frame,a space multi-dimensional profiling and planing control system based on PLC is *** to the process requirements,the overall design of the space profiling and planing system is carried out,focusing on solving the problem of planing the space warping of the composite board *** the aspect of system hardware,the scheme selection,mechanical structure design,pneumatic control scheme design and electrical control scheme design are carried out;In the aspect of system software,based on the TIAPortal software platform,the PLC profiling program is compiled,and the human-computer interaction of the touch screen is *** profiling and planing process of composite plate is realized on the prototype,which improves the production efficiency while realizing automation.

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Target Defense with Multiple Defenders and an Agile Attacker via Residual Policy Learning

arXiv

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arXiv 2025年

作者： Tao, Jiyue Shen, Tongsheng Zhao, Dexin Zhang, Feitian Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering and the State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China National Innovation Institute of Defense Technology Beijing100071 China

The target defense problem involves intercepting an attacker before it reaches a designated target region using one or more defenders. This letter focuses on a particularly challenging scenario in which the attacker is more agile than the defenders, significantly increasing the difficulty of effective interception. To address this challenge, we propose a novel residual policy framework that integrates deep reinforcement learning (DRL) with the force-based Boids model. In this framework, the Boids model serves as a baseline policy, while DRL learns a residual policy to refine and optimize the defenders’ actions. Simulation experiments demonstrate that the proposed method consistently outperforms traditional interception policies, whether learned via vanilla DRL or fine-tuned from force-based methods. Moreover, the learned policy exhibits strong scalability and adaptability, effectively handling scenarios with varying numbers of defenders and attackers with different agility levels. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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Enhanced electroless metallization of aramid fibers via non-destructive π–π surface engineering for EMI shielding

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Composites Science and technology 2025年 269卷

作者： Zhang, Tianyi Guo, Jinglun Liu, Shuaijie Gong, Lang Hao, Xiaoyu Ye, Qian Kang, Jingyu Cao, Le Liu, Xuqing State Key Laboratory of Solidification Processing Center of Advanced Lubrication and Seal Materials Northwestern Polytechnical University Shaanxi Xi'an710072 China School of Electric and Control Engineering Xi'an University of Science and Technology Xi'an710054 China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Shandong Yantai264006 China

Electromagnetic pollution has become a growing concern with the rapid expansion of 5G and 6G technologies, creating an urgent need for lightweight, flexible materials that can shield against electromagnetic interference (EMI) while also offering high electrical conductivity, strong mechanical properties, and reliable environmental stability. Aramid fiber-reinforced composites, already widely used in aerospace electronics due to their excellent strength and heat resistance, show significant potential for effective EMI shielding. However, because aramid fibers are chemically inert, it is challenging to achieve strong adhesion between EMI coatings and the fiber surface, which limits practical applications. Although chemical etching can create active sites for metal particle attachment, it often compromises the fibers’ intrinsic mechanical properties. To address this issue, a non-destructive π–π modification method was introduced. This process adds active sites to the otherwise inert fiber surface without damaging the fibers, thereby enabling a uniform and well-controlled electroless metal coating. Composites prepared using this approach display exceptional EMI shielding performance, exceeding 90 dB. Furthermore, computer simulations were conducted to evaluate the feasibility of applying these modified aramid fiber preforms in larger composite structures. The simulation outcomes are consistent with experimental findings, indicating that the dual-metal Cu/Ni@AF composite delivers outstanding EMI shielding performance. Overall, this method offers a new way to safely modify aramid fibers and paves the way for more sustainable, high-performance shielding materials. © 2025

关键词： Aramid fibers

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Tracking performance limitations of MIMO discrete-time networked control systems with multiple constraints

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Science China(Information Sciences) 2023年第8期66卷 267-268页

作者： Xiaowei JIANG Bin ZHANG Xiangyong CHEN Huaicheng YAN School of Automation China University of Geosciences Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation and Electrical Engineering Linyi University Key Laboratory of Smart Manufacturing in Energy Chemical Process of the Ministry of Education

Dear editor,Networked control systems(NCSs) have attracted widespread attention in some fields because they offer the advantages of reduced cabling, greater resource sharing,and ease of installation and maintenance [1]. However, in an unreliable network environment, network constraints can significantly limit the performance of NCSs.

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Advances and challenges of methanol-tolerant oxygen reduction reaction electrocatalysts for the direct methanol fuel cell

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Journal of Energy Chemistry 2023年第2期77卷 499-513,I0013页

作者： Muhammad Aizaz Ud Din Muhammad Idrees Sidra Jamil Syed Irfan Ghazanfar Nazir Muhammad Ahmad Mudassir Muhammad Shahrukh Saleem Saima Batool Nanpu Cheng Rahman Saidur School of Materials and Energy Southwest UniversityChongqing 400715China Additive Manufacturing Institute College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060GuangdongChina Chongqing Key Lab for Advanced Materials and Clean Energies of Technologies School of Materials and EnergySouthwest UniversityChongqing 400715China School of Materials Science and Engineering Dongguan University of TechnologyDongguan 523808GuangdongChina Department of Nanotechnology and Advanced Materials Engineering Sejong UniversitySeoul 05006Republic of Korea Department of Chemistry Khawaja Fareed University of Engineering and Information TechnologyRahim Yar Khan 64200Pakistan Laboratory for High Performance Ceramics EmpaSwiss Federal Laboratories for Materials Science and Technology8600 DübendorfSwitzerland Institute for Advanced Study Shenzhen UniversityShenzhen 518060GuangdongChina Research Centre for Nano-Materials and Energy Technology School of Engineering and TechnologySunway UniversityBandar SunwayMalaysia Department of Engineering Lancaster UniversityLancasterUnited Kingdom

Methanol cross-over effects from the anode to the cathode are important parameters for reducing catalytic performance in direct methanol fuel cells.A promising candidate catalyst for the cathode in direct methanol fuel cells must have excellent activity toward oxygen reduction reaction and resistance to methanol oxidation *** review focuses on the methanol tolerant noble metal-based electrocatalysts,including platinum and palladium-based alloys,noble metal–carbon based composites,transition metal-based catalysts,carbon-based metal catalysts,and metal-free *** understanding of the correlation between the activity and the synthesis method,electrolyte environment and stability issues are *** the transition metal-based catalyst,their activity,stability and methanol tolerance in direct methanol fuel cells and comparisons with those of platinum are particularly ***,strategies to enhance the methanol tolerance and hinder the generation of mixed potential in direct methanol fuel cells are also *** review provides a perspective for future developments for the scientist in selecting suitable methanol tolerate catalyst for oxygen reduction reaction and designing high-performance practical direct methanol fuel cells.

关键词： Oxygen reducing reaction Methanol tolerant electrocatalyst Portable power sources Direct methanol Fuel cell

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Adaptive sliding mode control of multi-agent relay tracking systems with disturbances

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Journal of control and Decision 2021年第2期8卷 165-174页

作者： Deyin Yu Lijing Dong Hao Yan School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044People’s Republic of China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijingPeople’s Republic of China

This paper studies the switching topologies and tracking agent replacements for a class of nonlinear multi-agent systems with external *** particular,it is assumed that a number of monitoring agents are randomly deployed in a two-dimensional *** agents are committed to tracking any intrusion targets in this *** one of the following agents exits tracking for some reasons,the agent closer to the target joins the tracking team to ensure the number of tracking agents does not *** order to achieve the successful tracking of the target,this paper designs a sliding mode controller for the relay multi-agent system with tracking agent ***,an adaptive law is proposed to estimate the upper bound of disturbance in the relay tracking ***,the stability of the overall system will be analysed by applying the multiple Lyapunov function method based on the average dwell ***,the effectiveness of the tracking strategy is verified by numerical simulations.

关键词： Multi-agent systems switching topologies sliding mode controller adaptive law relay tracking

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Constraint-Following Based Adaptive Robust control for Underactuated Mechanical Systems

Constraint-Following Based Adaptive Robust Control for Under...

引用

International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Cui Wei Ye-Hwa Chen Yanling Wei Institute of Intelligent Manufacturing Nanjing Tech University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA Key Laboratory of Measurement and Control of Complex System of Engineering School of Automation Southeast University Nanjing China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper introduces an adaptive robust control approach tailored for underactuated mechanical systems encountering matched and mismatched uncertainty, employing a constraint-following methodology. The control strategy unfolds in two phases: initially, a nominal control scheme is devised neglecting uncertainty and deviations in initial conditions from constraints. Subsequently, uncertainty is categorized into matched and mismatched components, ensuring that mismatched uncertainties remain unobservable. Leveraging the structural characteristics of the uncertainty bound, a novel segmented adaptive law is proposed and seamlessly integrated into the adaptive robust control framework. By employing the Lyapunov minimax approach, the method ensures uniform boundedness and uniform ultimate boundedness simultaneously, thereby ensuring approximate adherence to constraints for underactuated mechanical systems facing both matched and mismatched uncertainties alongside initial condition deviations.

关键词： Robust control Uncertainty Adaptive systems Costs Automation Nonlinear dynamical systems Mechanical systems Closed loop systems Robots

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