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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Ji, Yang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

This paper mainly focuses on the problem of target tracking trajectory generation for quadrotors in static complex environments. In this paper, a trajectory planning framework is proposed that can be used to address the occlusion problem caused by obstacles in target tracking situations. The main innovations are: First, a visibility function is introduced that is constructed based on a signed Euclidean distance field (ESDF) map. Based on this function, the favorable view direction is derived to track the target distinctly. Second, the distance between the target and chaser is optimized as one of the cost functions, resulting in a smooth and comfortable distance between them. Finally, the effectiveness of the algorithm is verified on the Rviz platform. © 2022 IEEE.

关键词： Target tracking

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Relative Position-Based Collaborative Navigation for Cluster UAVs 7th

Relative Position-Based Collaborative Navigation for Cluster...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Sheng, Danting Cheng, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Aerospace Science and Industry Group Intelligent Technology Research Institute Co. Ltd. Beijing100074 China

ISBN: (纸本)9789819733316

The inertial equipment carried by UAVs without satellite signal assistance will accumulate errors over time, which cannot meet the requirement of obtaining high-precision cluster navigation information for cluster UAVs in long-duration flights. Aiming at this problem, a scheme for cooperative navigation of cluster UAVs based on relative position assistance is proposed. Firstly, the state equations of the cooperative navigation system are established by modeling the errors of inertial devices of low-precision UAVs;secondly, the relative position information of low-precision UAVs and high-precision UAVs as well as other low-precision UAVs transmitted between UAVs through the data chain is taken as the observation equation;finally, the inertial errors of low-precision UAVs are compensated by using the traceless Kalman filtering for the error compensation, which improves the navigation accuracy. After 30 min simulation results show that the cooperative navigation scheme converges the velocity and position errors of the low-precision UAV to 0.5 m/s and 5 m, respectively, which improves the navigation accuracy greatly. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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Distributed Resilient Fusion Filtering for Nonlinear systems with Random Sensor Delays:Optimized Algorithm Design and Boundedness Analysis

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Journal of systems Science & complexity 2023年第4期36卷 1423-1442页

作者： HU Jun HU Zhibin DONG Hongli LIU Hongjian School of Automation Harbin University of Science and TechnologyHarbin 150080China Department of Mathematics Harbin University of Science and TechnologyHarbin 150080China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and TechnologyHarbin 150080China Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318China School of Mathematics-Physics and Finance Anhui Polytechnic UniversityWuhu 241000China

This paper is concerned with the distributed resilient fusion filtering(DRFF)problem for a class of time-varying multi-sensor nonlinear stochastic systems(MNSSs)with random sensor delays(RSDs).The phenomenon of the RSDs is modeled by a set of random variables with certain statistical *** addition,the nonlinear function is handled via Taylor expansion in order to deal with the nonlinear fusion filtering *** aim of the addressed issue is to propose a DRFF scheme for MNSSs such that,for both RSDs and estimator gain perturbations,certain upper bounds of estimation error covariance(EEC)are given and locally minimized at every sample *** the light of the obtained local filters,a new DRFF algorithm is developed via the matrix-weighted fusion ***,a sufficient condition is presented,which can guarantee that the local upper bound of the EEC is ***,a numerical example is provided,which can show the usefulness of the developed DRFF approach.

关键词： Distributed resilient fusion filtering matrix-weighted fusion nonlinear time-varying systems random sensor delays

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An equivalent modeling method for integrated water-wind-solar systems based on sparrow search algorithm

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Energy Informatics 2025年第1期8卷 1-16页

作者： Lu, Yuanhong Zhang, Jie Zhang, Jingyue Huang, Libin Guo, Haiping Hu, Binjiang Guo, Tianyu State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid Guangzhou510663 China National Energy Power Grid Technology R & D Centre Guangzhou510663 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou510663 China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou510663 China

In the context of extensive integration of renewable energy sources into the electrical grid, the grid's fault transient behaviors have undergone significant changes. However, conventional single-unit equivalent models fail to accurately capture the fault transient responses of combined wind-solar-hydro power stations and often require substantial computational resources, leading to reduced simulation efficiency. This study proposes a cluster-based equivalent modeling approach for hybrid wind-solar-hydro power plants using the Sparrow Search Algorithm. key factors influencing fault characteristics, including the distance to the Point of Common Coupling, DC-side current-limiting measures, irradiance levels, water flow rates, wind speeds, and reactive power at the outlet, are identified and used to construct a transient model. Euclidean distances are computed for these factors, and initial clustering centers for wind turbines are determined using an improved max–min distance technique. These factors and clustering centers serve as the training dataset to establish the clustering equivalent model. Simulation results, conducted on the MATLAB2022 platform, demonstrate that the SSA-based model outperforms the single-unit equivalent model by over 150 times in terms of accuracy. Additionally, the SSA-based model achieves a delay time, defined as the time required to compute the system's transient response after a fault, of less than 5 ms, which is less than one-twentieth of the delay time of the single-unit equivalent model. These improvements highlight the model's ability to accurately capture dynamic power responses under various disturbances, making it highly suitable for real-time applications in hybrid renewable energy systems. © The Author(s) 2025.

关键词： MATLAB

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Energy-based Swing-up control of the Soft Inverted Pendulum with Affine Curvature

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Nonlinear Dynamics 2025年 1-20页

作者： Wang, Yongjia Xin, Xin School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Institute of Intelligent Unmanned Systems Southeast University Nanjing210096 China

This paper studies the energy-based swing-up control of an underactuated soft inverted pendulum, a template model of soft robots with its base attached to the ground and its curvature described by an affine function. First, this paper presents a necessary and sufficient condition for the linear controllability of the robot around its upright equilibrium point (UEP). Next, without any constraint on its stiffness, this paper derives an energy-based controller to swing up the robot to its UEP, where the pendulum is in its upright position, and provides a necessary and sufficient condition such that the controller is free of singular points. Then, this paper characterizes the patterns of closed-loop equilibrium points with respect to the physical parameters of the pendulum and the gains of the derived controller, and analyzes the closed-loop motion corresponding to the special case in which desired convergence of the total mechanical energy is achieved. In such case, this paper reveals that the UEP is generically the unique closed-loop equilibrium point, and provides clarification regarding its stability. These results serve as guidelines of the design of soft robots and the tuning of control gains to achieve the desired performance of the swing-up control. Finally, this paper conducts numerical simulations to validate the theoretical results and to demonstrate the effectiveness and performance of the derived controller in swinging up the robot to its UEP from initial states far from the UEP, even under the challenging condition of very low stiffness. © The Author(s), under exclusive licence to Springer Nature B.V. 2025.

关键词： Affine transforms

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Distributed Group Coordination of Random Communication Constrained Cyber-Physical systems Using Cloud Edge Computing

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical systems 2024年 2卷 196-205页

作者： Ren, Hongru Long, Yinren Ma, Hui Li, Hongyi Guangdong University of Technology School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangzhou510006 China Guangdong University of Technology School of Mathematics and Statistics Guangzhou510006 China Southwest University College of Electronic and Information Engineering Chongqing Key Laboratory of Generic Technology and System of Service Robots Chongqing400715 China

This paper studied the distributed group coordinated control problem of cyber-physical systems (CPSs) with multi-agent architecture. We build the distributed networked multi-group agent systems (NMGASs) with nonlinear and unknown dynamics via cloud edge computing. The common and challenging situations of random communication constraints in CPSs are considered, including network-induced delay, packet dropout, and packet disorder, which are treated as round-trip time (RTT) delay. To actively compensate for RTT delay and achieve coordination among all agents, a data-driven cloud edge predicted control strategy is designed. This strategy only needs to obtain the I/O measurement data of the systems, and can automatically carry out adaptive learning, which has more extensive application scenarios compared to model-based control methods. Theoretical analysis yields the conditions of simultaneous stability and consensus of the closed-loop systems with the proposed strategy. Finally, the practical examples are provided to illustrate the effectiveness of the proposed strategy. © 2023 IEEE.

关键词： Edge computing

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2025年第3期23卷 508-515页

作者： Lan Cheng Jie Chen Gang Xie Taiyuan University of Technology Taiyuan China Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Although different multipath error models of Delay lock loop (DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product (DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression, is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Analytical models Tracking loops Codes Error analysis Simulation Receivers US Department of Transportation Mathematical models MATLAB Global Positioning system

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An online drilling rate of penetration(ROP) optimization method 41

An online drilling rate of penetration(ROP) optimization met...

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第41届中国控制会议

作者： Tuo Wang Chao Gan Weihua Cao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drilling rate of penetration(ROP) optimization is crucial due to its vital role in increasing the drilling efficiency and decreasing the non-productive *** existing methods seldom pay attention to updating model parameter during drilling,which is actually important for ROP optimization under dynamical and uncertain downhole *** this paper,an online drilling ROP optimization method is proposed via three stages(drilling data pre-processing,online ROP modelling and online optimal operational parameters optimization).In the first stage,drilling data is pre-processed by resampling and Savitzky-Golay *** this,support vector regression and moving-window strategy are introduced together to establish an online ROP model in the next ***,particle swarm optimization algorithm is applied in the online ROP optimization framework to obtain the optimal operational parameters in the last *** results indicated the effectiveness of the proposed method.

关键词： Rate of penetration Drilling optimization Online optimization Moving-window strategy

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A Co-regularization Facial Emotion Recognition Based on Multi-Task Facial Action Unit Recognition 41

A Co-regularization Facial Emotion Recognition Based on Mult...

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第41届中国控制会议

作者： Chinonso Paschal Udeh Luefeng Chen Sheng Du Min Li Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Facial emotion recognition helps feed the growth of the future artificial intelligence with the development of emotion recognition,learning,and analysis of different angles of a human face and head *** worlds recent pandemic gave rise to the rapid installment of facial recognition for fewer applications,while emotion recognition is still within the experimental *** current challenges encountered with facial emotion recognition(FER) are the difference between background *** todays world shows us that humans soon need robotics in the most significant role of human perception,attention,memory,decision-making,and human-robot interaction(HRI) needs *** merging the head pose as a combination towards the FER to boost the robustness in understanding emotions using the convolutional neural networks(CNN).The stochastic gradient descent with a comprehensive model is adopted by applying multi-task learning capable of implicit parallelism,inherent and better global optimizer in finding better network *** executing a multi-task learning model using two independent datasets,the experiment with the FER and head pose learning multi-views co-regularization frameworks were subsequently merged with validation accuracy.

关键词： head pose facial expression convolution neural network deep learning emotion recognition

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Six-Degree-of-Freedom intelligent control of Hypersonic Flight Vehicle

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： An, Hao Wang, Yiming Zhong, Xinyu Ye, Yongfeng Harbin Institute of Technology Space Control and Inertial Technology Research Center National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin China

The six-degree-of-freedom control of hypersonic flight vehicle (HFV) faces great challenges due to complex aerodynamics, inherent couplings and multiple constraints. This paper investigates the six-degree-of-freedom guidance and attitude control problem for unpowered gliding HFV. The guidance loop is based on the predictor-corrector method with three improvements of intelligent prediction acceleration, path constraints accommodation and no-fly zones circumvention. To quickly respond to guidance commands, three attitude channels (i.e., roll, pitch and yaw) are completely decoupled by nonlinear dynamic inverse, based on which a high-performance low-complexity attitude controller is proposed. This benefits from the appropriate integration of barrier function and sliding mode control, while design conditions of three alternative performances (i.e., asymptotic, exponential and preset-time convergences) are discussed. Servo dynamics and physical constraints of aerodynamic control surfaces are also well handled. © 2025 IEEE.

关键词： Hypersonic vehicles

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