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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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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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Design and control of a Novel 5-DoF Tilt-Rotor Quadcopter

Design and Control of a Novel 5-DoF Tilt-Rotor Quadcopter

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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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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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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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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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Predefined-Time Attitude Tracking control for Quadrotor UAV with Input Delay

Predefined-Time Attitude Tracking Control for Quadrotor UAV ...

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2023 China Automation Congress, CAC 2023

作者： Li, Shuo Pei, Hailong Duan, Na College of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Electrical Engineering & Automation Jiangsu Normal University Xuzhou221116 China

ISBN: (纸本)9798350303759

In this paper, the predefined time attitude tracking flight problem for a quadrotor unmanned aerial vehicle (UAV) system with input delays is investigated. By means of a novel auxiliary system, the effects of input delay are solved. Then, on the basis of the backstepping method and predefined performance control technology, the predefined-time attitude tracking controller is constructed to make UAV attitude tracking. Simulation results verify the validity of the proposed scheme. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Active Disturbance Rejection control Design for the Power on Ultrasonic Transducer 41

Active Disturbance Rejection Control Design for the Power on...

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第41届中国控制会议

作者： Fuchun Liu Bin Li Haixing Deng Ming Zeng School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked ControlMinistry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The Ultrasonic scalpel has good medical characteristics and is widely used in the medical *** the core component of the ultrasonic scalpel system,the ultrasonic transducer usually needs to control its power for good cutting ***,the mathematical model of the ultrasonic transducer is complex and easily influenced by the load and ***,it is challenging to design a power controller that satisfies all situations with different temperatures and *** this paper,we will analyze the equivalent model of the ultrasonic transducer and simplify the controlled object ***,an ADRC controller,which has the advantage of placing less emphasis on the mathematical model and compensating for the disturbances,will be ***,the performance of the ADRC control system will be tested according to a simulation experiment.

关键词： ultrasonic transducer power control ADRC first-order system

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