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2024 China Automation Congress, CAC 2024

作者： Lin, Zhenwei Liu, Wei Xu, Dabo Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9798350368604

This paper presents a novel 5-DoF (degrees of freedom) tilt-rotor quadcopter. Compared to traditional quadcopters, the vehicle offers more DoF by adding two servo-driven mechanisms. The extra DoF allow it to move at a constant pitch angle, thus adapting it to more scenarios, such as slope landings. In addition, the proposed tilt-rotor quadcopter can generate greater torque around the z-axis of the body coordinate system. This gives it an advantage in some scenarios, such as carrying a manipulator to turn valves in the air. In this paper, we first design and model the proposed tilt-rotor quadcopter. Then, we design the controller and control allocation algorithm for the proposed tilt-rotor quadcopter. The control allocation algorithm has clear analytical solutions, which benefits its implementation and deployment. Finally, the structure and control strategy of the tilt-rotor quadcopter are validated by an experiment. © 2024 IEEE.

关键词： Aircraft control

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POWERLINK Communication Fault Detection Method Based on Data Frames Sequence Analysis

POWERLINK Communication Fault Detection Method Based on Data...

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2022 International Conference on Signal Processing and Communication Technology, SPCT 2022

作者： Wang, Jian Xie, Chuang Dong, Ce Key Laboratory of Networked Control System ShenYang China Shenyang institute of automation Chinese academy of sciences ShenYang China Institutes for Robotics and Intelligent Manufacturing ChineseAcademy of Sciences ShenYang China

ISBN: (纸本)9781510664333

Fault diagnosis, location and maintenance of industrial networks are extremely important components of network management, which can effectively improve network availability, shorten network failure time, help improve network performance, satisfy network service quality and ensure network security. This paper proposes a communication fault detection method based on the analysis of communication protocol message flow for POWERLINK, an industrial Ethernet protocol widely used in the field of industrial communication at present. By monitoring network status and building fault judgment logic, it can analyze the rationality of message sequence and protocol consistency in the message flow so as to effectively detect the dynamic upper layer protocol fault in the network and determine the location of the fault. In order to verify the effectiveness of this method, we designed a POWERLINK network communication fault diagnosis system, which can correctly identify and analyze the wrong data frame sequence in the data message flow and finally achieve the diagnosis and location of POWERLINK network communication fault. © 2023 SPIE.

关键词： Fault detection

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Semi-Global Leader-Following Consensus for Second-Order Nonlinear Multi-Agent systems via Asynchronous Sampled-Data control

Semi-Global Leader-Following Consensus for Second-Order Nonl...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： He, Quangui Liu, Wei School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

The sampled-data leader-following consensus problem for a class of uncertain second-order nonlinear multi-agent systems is investigated in this article, where the region of attraction is semi-global. The system model contains the parameter uncertainties. In such a scenario, we construct a distributed state feedback control law by using asynchronously sampled data. Based on rigorous stability analysis of the closed-loop system, a maximum allowable value of sampling periods is given to guarantee the exact consensus. © 2022 IEEE.

关键词： Multi agent systems

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator system 42

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Shuaikang Yuan, Mingxing Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing400065 China

ISBN: (纸本)9789887581543

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks with Tree Topologies

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IEEE Transactions on Network and Service Management 2025年第3期22卷 2354-2369页

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Northwest A and F University College of Information Engineering Yangling712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

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Real-Time Traffic Management of High-Speed Trains: A Novel Approach Combining Optimization with Machine Learning

Real-Time Traffic Management of High-Speed Trains: A Novel A...

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2024 China Automation Congress, CAC 2024

作者： Li, Chong Yin, Jiateng Ma, Lin Tang, Tao State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong University Beijing China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Beijing China

ISBN: (纸本)9798350368604

The real-time traffic control of high-speed trains (HSTs) is an important task in railway networks to reduce the delay time of trains in case of unexpected disruptions. Traditional approaches are based on mixed-integer programming (MILP) formulations to be solved by optimization methods such as branch-and-bound (B&B), which however require a very long time in real-world problems. Our study introduces a novel methodology that employs machine learning (ML) techniques to accelerate the optimization of MILPs. Specifically, our approach develops a feedforward network, which can be trained off-line, to predict the optimal MILP parameter configurations for the control of HSTs. Additionally, we develop a differential evolution (DE) algorithm, which fine-tunes these parameters in response to dynamic conditions. We conduct numerical experiments based on the real-world data of Beijing-Zhangjiakou high-speed railway (BZHR). The results demonstrate that our ML-accelerated approach significantly outperforms traditional optimization methods, improving the solution performance by 21.47%. © 2024 IEEE.

关键词： Integer programming

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Uncertainty and Reliability Analysis of Neural Networks Based Soft-sensors with Applications in Wastewater Treatment

Uncertainty and Reliability Analysis of Neural Networks Base...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Yiqi Yuan, Jingyi Huang, Daoping Key Laboratory of Autonomous Systems and Networked Control Ministry of Education The School of Automation Science & Engineering South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781665465335

To overcome the transparency and interpretability issues of neural network-based soft sensing, a data-driven framework by combining neural network prediction models and sensitivity analysis methods is constructed in this paper, with application in wastewater treatment plant analysis. The results show that readily biodegradable substrate effluent (SS-e) and NH4+ + NH3 nitrogen effluent (SNH-e) are both important input factors affecting the difficult-to-measured effluent quality, chemical oxygen demand (COD), by resorting to PAWN sensitivity analysis and four neural network models. In addition, four neural network models worked together with bilateral sensitivity analysis for the input perturbation analysis, which shows that the addition of Gaussian perturbation to SS-e and flow rate influent (Q-in) has a greater effect on the prediction which results large fluctuations of output results. Finally, the effectiveness of this framework is confirmed based on above results. © 2022 IEEE.

关键词： Sensitivity analysis

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Sampled-Data Semi-Global Practical Tracking for Uncertain Euler-Lagrange systems

Sampled-Data Semi-Global Practical Tracking for Uncertain Eu...

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2022 Chinese Automation Congress, CAC 2022

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

ISBN: (纸本)9781665465335

We investigate a sampled-data tracking control for uncertain Euler-Lagrange systems in this paper. What makes our result interesting is that our system and exosystem encompass some uncertain parameters that belong to some compact domain that can be specified arbitrarily large. To handle the uncertainties in both the Euler-Lagrange systems and the exosystem, we need to resort to not only the adaptive control technique but also the internal model method. By proposing a sampled-data control law, we solve the problem with guaranteed tracking performance, that is, the tracking errors can converge exponentially, by any fast specified rate, to any small specified neighborhood of the origin. © 2022 IEEE.

关键词： Lagrange multipliers

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Fixed-Time Consensus-Based Nash Equilibrium Seeking

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 267-269页

作者： Mengwei Sun Jian Liu Lu Ren Changyin Sun the Institutes of Physical Science and Information Technology Anhui UniversityHefei 230601China IEEE the School of Automation and the Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China the School of Artificial Intelligence and the Engineering Research Center of Autonomous Unmanned System Technology Ministry of EducationAnhui UniversityHefei 230601China

Dear Editor,This letter examines the fixed-time stability of the Nash equilibrium(NE)in non-cooperative *** propose a consensus-based NE seeking algorithm for situations where players do not have perfect information and communicate via a topology *** proposed algorithm can achieve NE in a fixed time that does not depend on initial conditions and can be adjusted in advance.

关键词： Fixed seeking letter

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Event-triggered-based self-organizing fuzzy neural network control for the municipal solid waste incineration process

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Science China(Technological Sciences) 2023年第4期66卷 1096-1109页

作者： HE HaiJun MENG Xi TANG Jian QIAO JunFei Faculty of Information Technology Beijing University of TechnologyBejing 100124China Beijing Laboratory of Smart Environmental Protection Beijing 100124China Beijing Key Laboratory of Computational Intelligence and Intelligent System Bejing 100124China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Bejing 100124China Xi'an Institute of Electromechanical Information Technology Xi'an 710065China

Due to the large uncertainty in the municipal solid waste incineration(MSWI)process,the furnace temperature of the MSWI process is difficult to control and the controller is updated *** improve the accuracy and reduce the number of controller updates,a novel event-triggered control method based correntropy self-organizing TS fuzzy neural network(ETCSTSFNN)is ***,the neurons of the rule layer are grown or pruned adaptively based on activation intensity and control error to meet the dynamic change of the actual operating ***,the performance index is designed based on the correntropy of tracking errors,and the parameters of the controller are adjusted by gradient descent ***,a fixed threshold event-triggered condition is designed to determine whether the current controller is updated or *** stability of the control system is proved based on the Lyapunov stability ***,the furnace temperature control experiments are conducted based on the actual data of a municipal solid waste incineration plant in *** experimental results show that the proposed ET-CSTSFNN controller shows a better control performance,which can reduce the number of the controller update significantly while achieving accurate furnace temperature control compared with other traditional control methods.

关键词： municipal solid waste incineration furnace temperature fuzzy control event-triggered

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