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21st International Conference on Networking, Sensing and control, ICNSC 2024

作者： Wang, Guoteng Lv, Jidong Liu, Hongjie Chai, Ming Tang, Tao Zhang, Wentao School of Automation and Intelligence Beijing Jiaotong University Beijing China Beijing Jiaotong University National Engineering Research Center of Rail Transportation Operation and Control System Beijing China Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation Beijing China Beijing Zhengshi Environmental Engneering Company Beijing China

ISBN: (纸本)9798350365221

Train Relative Distance Braking Mode (RDBM) has great potential to increase line capacity by enabling shorter following distances based on train-to-train communication in-formation. However, it is difficult for traditional train control methods to ensure avoidance of potential collision risks in RDBM while dealing with the nonlinearity and uncertainty of train dynamics. In this paper, a novel train safety control method combining Deep Deterministic Policy Gradient (DDPG) and control Barrier Function(Cbf)is proposed. Firstly, the safety constraint set for adjacent trains, considering their braking capabilities, is analyzed, and the uncertainty of train dynamics is modeled using a Gaussian process. Secondly, DDPG is used to explore the optimal control strategy under the action of uncertain train dynamics, and CBF provides compensation control input to ensure safety during the learning process. Then, a DDPG-CBF algorithm is presented to achieve efficient safety controller design and implementation. Finally, sufficient numerical simulations demonstrate that, compared with DDPG algorithm alone, the DDPG-CBF algorithm can not only ensure the safe and stable operation of trains, but also learn train control strategies expe-ditiously and accurately under different operating environments, with an average efficiency increase of 38.94 %. © 2024 IEEE.

关键词： Braking

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

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

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第42届中国控制会议

作者： Ziqi Yu Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Engineering Technology Research Center of GuangdongSouth China University of Technology

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.

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Sliding Mode control for Air-Land Amphibious Unmanned Aerial Vehicle in Land Mode

Sliding Mode Control for Air-Land Amphibious Unmanned Aerial...

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第43届中国控制会议

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

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper investigates the control problem of a novel air-land amphibious unmanned aerial vehicle(NALAUAV) in the land mode by the sliding mode control approach. Firstly, considering the body height and moment of inertia of the NALAUAV in the land mode can be changed, we derive the accurate dynamics model based on the mobile wheeled inverted pendulum system and obtain real-time body height calculation through the analysis of the kinematics of the parallel robotic legs. Secondly, we design a novel sliding surface that incorporates body height estimation to ensure rapid stabilization of the body at various body height. Thirdly, we introduce a new segmented power reaching law to further improve the system performance. Theoretical proofs for the algorithm are provided, and its effectiveness is verified by numerical simulations and virtual physical simulations.

关键词： Air-land amphibious unmanned aerial vehicle Sliding mode control Segmented power reaching law

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A Study of Data Augmentation for Imbalance Problem in Network Traffic 3

A Study of Data Augmentation for Imbalance Problem in Networ...

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3rd International Conference on Blockchain Technology and Information Security, ICBCTIS 2023

作者： Wang, Xu Sun, Shimin Han, Li School of Computer Science and Engineering Tianjin University of Technology Tianjin China Tianjin Key Laboratory of Autonomous Intelligent Technology and System School of Software Tiangong University Tianjin China School of Computer Science and Engineering Tianjin University of Technology National Engineering Laboratory for Computer Virus Prevention and Control Technology Tianjin China

ISBN: (纸本)9798350340402

The complexity and diversity of smart grid systems increase the likelihood of anomalies in communications between devices in the system, and how these anomalies are detected is critical to the security of the grid system. However, the distribution of traffic types in the grid is often highly unbalanced, with the total amount of normal traffic data often far outweighing the anomalous data. This imbalance compromises the effectiveness of the detection model and poses a significant threat to the overall security of the grid This paper improves on traditional conditional generation adversarial neural networks and designs a new approach to overcome this obstacle and enhance the security of smart grid systems. In the generator part, the spatial features of the data are captured by convolutional neural networks, and the temporal features of the data are captured by gated recurrent units. By integrating these two components into the generative network we can generate synthetic data with both temporal and spatial features, thus enhancing the minority class samples. By incorporating the augmented minority data into the training process, the proposed approach enables the detection model to understand the distribution of features of the minority anomaly samples more accurately. This improved learning accuracy translates into improved model performance, resulting in higher detection rates for Previously under-represented anomalies. In addition, our approach effectively addresses the inherent bias towards traffic types with higher flows typically observed in asymmetric datasets, thus providing a more equitable and comprehensive security solution for smart grid systems. © 2023 IEEE.

关键词： Anomaly detection

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Three Dimensional Path Planning of Snake-Arm Robot Based on Improved Ant Colony Algorithm 12

Three Dimensional Path Planning of Snake-Arm Robot Based on ...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Chen, Xu Jiang, Yong Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

A path planning algorithm based on an improved ant colony algorithm was proposed to solve the path planning problem of snake-arm robots in a structured environment. The heuristic function of the ant colony algorithm is combined with an artificial potential field. Setting up a repulsive force field around the obstacle and an attractive field at the target point, the snake-arm robot is guided to advance from the starting point to the target point while avoiding the obstacle. Chaos disturbance is added to the pheromone update to improve the global search capability of the algorithm. In path optimization, the linear generation algorithm and cubic uniform B-spline curve interpolation algorithm are used to optimize the path globally. © 2022 IEEE.

关键词： Motion planning

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Prescribed Time Attitude Tracking control of Unmanned Aerial Vehicles Under Unknown Attacks and Input Saturation

Prescribed Time Attitude Tracking Control of Unmanned Aerial...

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International Conference on control and Automation (ICCA)

作者： Liping Wang Hailong Pei Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems South China University of Technology Guangzhou P. R. China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This paper addresses the prescribed time performance attitude tracking control problem of un-manned aerial vehicles under unknown attacks and input saturation. The attitude error dynamic model is constructed under the framework of Lie group SO(3). By integrating a prescribed time performance function with coordinate transformation, the tracking error can remain within a given region in a prescribed time. In the backstepping design process, a first-order sliding mode differentiator is given to overcome the explosion of complexity problem, and nonlinear disturbance observer is developed to deal with the unknown attacks and input saturation. A prescribed time performance attitude tracking control method is designed to ensure that all of the closed-loop signals are bounded. Finally, the superiority and effectiveness of the designed controller are stated by the simulation results.

关键词： Backstepping Attitude control Communication systems Simulation Lie groups Explosions Disturbance observers

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

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

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Chinese control Conference (CCC)

作者： Ziqi Yu 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 Guangzhou China

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.

关键词：

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Virtual chain: A storage model supporting cross-blockchain transaction

Virtual chain: A storage model supporting cross-blockchain t...

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作者： Wang, Yan Yang, Bingqing Liu, Jingxin Zeng, Hui Xia, Changqing College of Information Liaoning University Shenyang China State key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

At present, blockchain is not only applied in the financial field, but also extended to the medical, insurance, internet of things, and many other fields. Its independence leads to more and more significant problems of network isolation. To address the problem of the cooperative operation between different blockchains, this article proposes virtual chain, a storage model supporting cross-blockchain transaction. It not only ensures that cross-chain transactions are tamper-proof and traceable but also realizes completely decentralized storage. First, to tackle the multidimensional heterogeneous problem existing in cross-chain trading, a data structure based on prefix tree is proposed to manage cross-chain trading data on top of source chain and target chain. Second, a signature verification mechanism based on elliptic curve is proposed to meet the operational atomicity requirements of both parties of cross-chain transaction. Third, the data fusion technology is used to expand the block capacity indirectly to achieve the high throughput of cross-chain transactions. Finally, by using the credibility-based access control and block chain technology to ensure the security of the data storage model, and conduct security analysis from three aspects of tamper-proof, data protection and anti-conspiracy node attack. The experiment shows that the proposed cross-chain transaction storage model can realize the efficient storage of the heterogeneous data, and satisfy the high requirement of the cross-chain transaction. Moreover, the virtual chain storage model establishes a safe and reliable working environment. © 2020 John Wiley & Sons Ltd.

关键词： Blockchain

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Research on Analyzing Factors and Countermeasures of MDW Classified Collection 3

Research on Analyzing Factors and Countermeasures of MDW Cla...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Wang, Jingyang Liu, Ying Sun, Haojie Zou, Yutong Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang China Liaoning University School of Innovation and Entrepreneurship Shenyang China

ISBN: (纸本)9781665435178

With the rapid development and urbanization of the economy, Municipal Domestic Waste (MDW) pollution is getting worse, the total amount of MDW is increasing year by year. As the basis of the effective use, the study of MDW classified collection has drawn more and more attention. In this paper, through the comprehensive analysis of impact factors of MDW classified collection, we established the indication system which can affect the MDW classified collection with the ISM - ANP method. We find the most important factor by index assignment. Furthermore, we put forward countermeasures to promote MDW classified collection. © 2021 IEEE.

关键词： Pollution Indexes Artificial intelligence

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Efficient Trajectory Generation Based on Traversable Planes in 3D Complex Architectural Spaces

arXiv

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arXiv 2025年

作者： Zhang, Mengke Tian, Zhihao Xia, Yaoguang Xu, Chao Gao, Fei Cao, Yanjun The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou Key Laboratory of Autonomous System Huzhou313000 China China Tobacco Zhejiang Industrial Co. Ltd. Hangzhou310024 China

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have rapidly developed, the challenge remains to generate efficient, smooth, comprehensive, and high-quality trajectories in these areas. In this paper, we propose a novel efficient planner for ground robots to autonomously navigate in large complex multi-layered architectural spaces. Considering that traversable regions typically include ground, slopes, and stairs, which are planar or nearly planar structures, we simplify the problem to navigation within and between complex intersecting planes. We first extract traversable planes from 3D point clouds through segmenting, merging, classifying, and connecting to build a plane-graph, which is lightweight but fully represents the traversable regions. We then build a trajectory optimization based on motion state trajectory and fully consider special constraints when crossing multi-layer planes to maximize the robot’s maneuverability. We conduct experiments in simulated environments and test on a CubeTrack robot in real-world scenarios, validating the method’s effectiveness and practicality. Copyright © 2025, The Authors. All rights reserved.

关键词： Flight paths

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