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7th International Conference on Robotics, control and Automation Engineering, RCAE 2024

作者： Fang, Gang Liu, Yiqi South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science & Engineering Guangzhou510640 China

ISBN: (纸本)9798350355642

Nonlinear vector autoregression (NVAR), as an effective alternative to traditional reservoir computing (RC), has garnered significant attention in the field of time series prediction in recent years. Unlike conventional RC, NVAR does not require the use of random sampling matrices to define the underlying recurrent neural network, and it features fewer hyperparameters. However, NVAR is an offline model, making it challenging to meet the real-time monitoring requirements of industrial processes. Inspired by the Woodbury matrix identity, this paper proposes an online NVAR that can update the model using data arriving in blocks. Subsequently, this study constructs a soft sensing model based on the online NVAR to perform real-time monitoring of industrial processes. Finally, the effectiveness of the proposed method is validated using a real-world dataset from a wastewater treatment plant. © 2024 IEEE.

关键词： Wastewater treatment

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Impact time control guidance against maneuvering targets based on a nonlinear virtual relative model

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Chinese Journal of Aeronautics 2023年第7期36卷 444-459页

作者： Yuru BIN Hui WANG Defu LIN Yaning WANG Xin SUN School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Key Laboratory of UAV Autonomous Control Beijing Institute of TechnologyBeijing 100081China Beijing Institute Of Electronic System Engineering Beijing 100854China

Aiming at the problem of high-precision interception of air-maneuvering targets with impact time constraints,this paper proposes a novel guidance law based on a nonlinear virtual relative model in which the origin is attached to the *** this way,the original maneuvering target is transformed into a stationary one.A polynomial function of the guidance command in the range domain with two unknown coefficients is introduced into the virtual model,one of the coefficients is determined to achieve the impact time constraint,and the other is determined to satisfy a newly defined virtual look angle *** meeting the terminal constraints simultaneously,the guidance command can finally be *** resulting solution is represented as a combination of proportional navigation guidance-like term which is aimed to meet the zero miss distance constraint,a bias term for impact time control by adjusting the length of the homing trajectory,and an additional term for target *** simulations demonstrate that the proposed law achieves an acceptable impact time error for various initial conditions against different types of maneuvering targets and shows more effective performance in comparison with those of other existing guidance laws.

关键词： Impact time control Maneuvering targets Polynomial guidance Virtual relative model Virtual look angle constraint

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Semi-Global Robust Practical Output Voltage Tracking for Single-Phase UPS Inverters via Sampled-Data control 42

Semi-Global Robust Practical Output Voltage Tracking for Sin...

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42nd Chinese control Conference, CCC 2023

作者： Zeng, Kaiji Liu, Wei Sun, Weijie Liu, Weidong Ministry of Education School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Guangzhou510641 China

ISBN: (纸本)9789887581543

This paper deals with the sampled-data semi-global robust practical output voltage tracking problem for single-phase voltage source uninterruptible power supply inverters. We construct an aperiodic sampled-data state feedback control law in an internal model principle framework. Lyapunov analysis shows that as long as the upper bound of the sampling time interval of the controller is less than an explicitly computable threshold, our problem can be handled by the proposed sampled-data control law. And the tracking error is guaranteed to approach a given neighborhood of the origin asympotically. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Uninterruptible power systems

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Line Feature Based Visual Servo control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Yunfei Bian, Xinyu Sun, Yize Zhang, Zongyu Huang, Hai Yang, Xu National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350384185

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features. © 2024 IEEE.

关键词： Visual servoing

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Predefined time attitude control for quadrotor UAV with output constraints and input saturation

Predefined time attitude control for quadrotor UAV with outp...

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2024 China Automation Congress, CAC 2024

作者： Li, Shuo Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems College of Automation Science and Enginneering South China University of Technology Guangzhou510640 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems School of Automation Science and Enginneering South China University of Technology Guangzhou510640 China

ISBN: (纸本)9798350368604

In this paper, we examine the predefined time flight control of a quadrotor UAV with output constraints and input saturation. The attitude tracking error of UAV is constrained by the tan-type barrier Lyapunov function. The undesirable effects of the saturated input limitations are addressed by introducing an auxiliary system. Then a predefined time tracking control strategy is designed and the stability of the scheme is analyzed. Eventually, the simulation results show the method allows the angular tracking error to converge to the specified range in a predefined time. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & Complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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Prediction of NO_(x)concentration using modular long short-term memory neural network for municipal solid waste incineration

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Chinese Journal of Chemical Engineering 2023年第4期56卷 46-57页

作者： Haoshan Duan Xi Meng Jian Tang Junfei Qiao Faculty of Information Technology Beijing University of TechnologyBeijing 100124China Beijing Laboratory of Smart Environmental Protection Beijing 100124China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing 100124China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Beijing 100124China

Air pollution control poses a major problem in the implementation of municipal solid waste incineration(MSWI).Accurate prediction of nitrogen oxides(NO_(x))concentration plays an important role in efficient NO_(x)emission *** this study,a modular long short-term memory(M-LSTM)network is developed to design an efficient prediction model for NO_(x)***,the fuzzy C means(FCM)algorithm is utilized to divide the task into several sub-tasks,aiming to realize the divide-and-conquer ability for complex ***,long short-term memory(LSTM)neural networks are applied to tackle corresponding sub-tasks,which can improve the prediction accuracy of the ***,a cooperative decision strategy is designed to guarantee the generalization performance during the testing or application ***,after being evaluated by a benchmark simulation,the proposed method is applied to a real MSWI *** the experimental results demonstrate the considerable prediction ability of the M-LSTM network.

关键词： Municipal solid waste incineration NO_(x)concentration prediction Modular neural network Model

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A Novel Tandem Ducted Fan UAV Attitude control Based on Cascade PID controller 42

A Novel Tandem Ducted Fan UAV Attitude Control Based on Casc...

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42nd Chinese control Conference, CCC 2023

作者： Yu, Ziqi South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong Guangzhou510640 China

ISBN: (纸本)9789887581543

In this paper, we introduce a novel tandem ducted fan unmanned aerial vehicle (UAV) and focus on the attitude control problem of it. Firstly, the structural layout of this new vehicle is introduced, then the force analysis and mathematical formula are performed based on kinematic and dynamical formulas. Secondly, this section is not only focuses on the degsign of controller but also the analysis of its advantages. For example, how they can improve system performance through frequency domain analysis, implementation of specific algorithms. Thirdly, an outdoor flight experiment is completed. The experimental process is as follows: after having the appropriate parameters, the vehicle is first allowed to fly to a height of about 10 meters and hover down, and then three attitude angle changes are performed. Finally, we conclude that the cascade PID controller for this type of UAV attitude control is simple, practical and can cope with many flight conoditions and indicate the shortcomings of this dissertation and future work. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Robust control

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Design and implementation of UAS interoperability based on different protocols 8

Design and implementation of UAS interoperability based on d...

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8th International Symposium on Advances in Electrical, Electronics, and Computer Engineering, ISAEECE 2023

作者： Ye, Zhengan Pei, Hailong Cheng, Zihuan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781510666290

Different unmanned aerial vehicles teams often work independently, leaving a "stove-piped" isolation problem, and the cost of collaboration among them is relatively high. Interoperability has been proposed to study the ability of unmanned aerial systems in working together, of which smooth communication is the fundamental requirement. To construct communication ability of different systems, the protocols they support should be essentially concerned. A novel, lightweight and flexible protocol, named as LAB protocol, is developed in this paper, where we study it and STANAG 4586 and MAVLink for comparision. We propose a bridging method to break isolation and verify interoperability among UASs using different protocols through experiments. © 2023 SPIE. All rights reserved.

关键词： Interoperability

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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