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第43届中国控制会议

作者： Shuwei Yu Jing Li Tianwei Niu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper proposes a tightly-coupled lidar-GNSS-inertial fusion system that achieves accurate state estimation and mapping for robot *** system effectively fuses lidar points,GNSS measurements,and IMU data using the iterated error state Kalman filter algorithm to obtain precise,drift-free,and real-time *** optimize computational efficiency,an incremental tree structure,ikdtree,is employed for managing a local map,and different Kalman gain formulas are utilized to process GNSS and lidar point observations separately to lower the computation ***,a factor graph is introduced to optimize the pose *** selectively introducing keyframes based on the odometry estimation,the graph incorporates odometry,GNSS measurements,and loop closure constraints to optimize all keyframe poses,resulting in a precise trajectory and global ***,extensive experiments are conducted using the KITTI dataset and several real-world scenarios to validate the proposed *** experimental results demonstrate that our method achieves precise localization and mapping across diverse environments.

关键词： State estimation Mapping Sensor fusion Robot navigation

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Interpretable Fourier Neural Ordinary Differential Equations

Interpretable Fourier Neural Ordinary Differential Equations

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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Hanlin Bian Wei Zhu Zhang Chen Jingsui Li Chao Pei Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Numerous interacting elements can form complex systems. However, describing complex systems is extremely challenging and lacks interpretability. The construction of models still heavily relies on scientists’ understanding of complex systems. This paper explores the use of neural ordinary differential equations in the field of complex system modeling. The proposed Fourier neural ordinary differential equations offer interpretability and a relatively simple structure. By building upon interpretable modeling, the scale is significantly reduced. It is possible to deduce the system’s expression from the model’s parameters. Finally, a real-world system is provided to illustrate the effectiveness of the proposed model, demonstrating its commendable robustness.

关键词： Training Atmospheric modeling Fitting Time series analysis Ordinary differential equations Predictive models Mathematical models

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Design and application of intelligent monitoring system for geological hazards 41

Design and application of intelligent monitoring system for ...

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第41届中国控制会议

作者： Yutong Pan Chengda Lu Wanke Yu Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development and utilization of natural resources,geological hazards have posed a great threat to people's life and property *** is of great significance to realize the design of distributed geological disaster monitoring experimental system aimed at a series of problems,such as ecological environmental damage and major natural ***,this paper conducts the system requirements analysis based on the Three Gorges area as an ***,the system architecture and function is designed,and the system hardware configuration and application software design are carried ***,geological hazards intelligent monitoring system is developed and has been verified in Zigui-Badong region of the Three Gorges,which can effectively improve the information utilization rate and monitoring efficiency in the process of geological hazards *** results show that the system works well and can effectively monitor the occurrence of geolo gical hazards.

关键词： Geological hazards system design hardware configuration application software the Three Gorges

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Adaptive Neural Tracking Control for Nonlinear Servo System with Unknown Time-Varying Parameters and Uncertainties 42

Adaptive Neural Tracking Control for Nonlinear Servo System ...

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42nd Chinese Control Conference, CCC 2023

作者： Zhang, Faxiang Gao, Guanbin Na, Jing Wu, Jiande Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming650500 China Yunnan University Yunnan Key Laboratory of Intelligent Systems and Computing Kunming650500 China

ISBN: (纸本)9789887581543

This paper solves the neural network (NN) tracking control problem for uncertain nonlinear servo system with time-varying parameters and uncertainties. To address the uncertain nonlinear function with unknown time-varying parameters (i.e., unknown nonlinear spatiotemporal function), the time-varying parameter extraction method is used to separate the time-varying parameters from uncertain nonlinear spatiotemporal function, which yields an unknown state-based boundary function. By the tools of NN and adaptive technology, an adaptive neural tracking controller is designed, which guarantees the uniformly ultimately bounded (UUB) performance of the resulting closed-loop system. The effectiveness of the designed method is verified by simulations. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Servomechanisms

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Distributed Control Algorithm for Workload Partition of Multi-agent systems with Time Delay 41

Distributed Control Algorithm for Workload Partition of Mult...

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第41届中国控制会议

作者： Pengyang Fan Chao Zhai School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the problem of multi-agent coverage,a group of agents are required to cover a given region or clean the workload as soon as *** workload partition can improve the work efficiency of multi-agent *** addition,the communication delays play a key role in the stability of multi-agent ***,a distributed control algorithm of workload partition with time delay is proposed in this ***,an approach based on nonlinear matrix inequality is presented to find the maximum delay of multi-agent ***,experiments are carried out to investigate the effect of delay on system stability on the ZigBee platform.

关键词： Multi-agents systems Time delay Nonlinear matrix inequality Distributed algorithm Workload partition

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Prediction Method of Blast Furnace Fuel Ratio Based on Spectral Clustering and Extreme Learning Machine Model 41

Prediction Method of Blast Furnace Fuel Ratio Based on Spect...

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第41届中国控制会议

作者： Jingjie Liang Yan Yuan Shuqiao Wang Zhuofu Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The blast furnace fuel ratio,as the main index reflecting the blast furnace fuel consumption,plays an important role in guiding blast furnace *** order to solve the problem of insufficient stability of the existing fuel ratio prediction model under the condition of process parameters fluctuation,a prediction method of blast furnace fuel ratio based on spectral clustering and extreme learning machine model is ***,on the basis of analyzing the influencing factors of fuel ratio,the classification results after clustering are visualized with t-SNE dimension reduction downscaling and spectral clustering method;Secondly,for the classification results after clustering,the extreme learning machine is used to establish the sub-models,and the PSO algorithm was used to optimize the input weights of hidden layer and the bias of hidden layer *** results show that the proposed method has high prediction accuracy.

关键词： Fuel Ratio Spectral Clustering Extreme Learning Machine(ELM) t-SNE Particle Swarm Optimization(PSO)

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Multi-Time Scale Analysis of The Influence of Blast Furnace Operations on Permeability Index 41

Multi-Time Scale Analysis of The Influence of Blast Furnace ...

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第41届中国控制会议

作者： Weijun Li Jianqi An Xin Chen Qingyi Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the smelting process of a blast furnace(BF),BF operations can regulate the permeability index(PI),but different operations affect the PI on different time *** at the problem that BF operations have multi-time-scale effects on the PI,this paper uses a multi-time scale method to analyze the influence of each operation on PI at different time ***,the influence of BF operations on the PI is analyzed through the ironmaking mechanism,and three mechanism chains of BF operations affecting the PI were *** this basis,the time scale of the mechanism chains is ***,a crosscorrelation analysis is used to calculate the time-delay relationship between each operation and the ***,the influence of different operation parameters on the PI is verified by real-world production data,and the multi-time scale characteristics of the influence of BF operations on the PI are proved.

关键词： Blast Furnace Multi-Time Scale Permeability Index Cross-Correlation Analysis

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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

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Control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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Arbitrarily High-Order Energy-Preserving Schemes for the Camassa-Holm Equation Based on the Quadratic Auxiliary Variable Approach

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Advances in Applied Mathematics and Mechanics 2023年第5期15卷 1233-1255页

作者： Yuezheng Gong Qi Hong Chunwu Wang Yushun Wang School of Mathematics Nanjing University of Aeronautics and AstronauticsNanjingJiangsu 211106China Key Laboratory of Mathematical Modelling and High Performance Computing of Air Vehicles(NUAA) MIITNanjingJiangsu 211106China Jiangsu Key Laboratory for Numerical Simulation of Large Scale Complex Systems School of Mathematical SciencesNanjing Normal UniversityNanjingJiangsu 210023China

In this paper,we present a quadratic auxiliary variable(QAV)technique to develop a novel class of arbitrarily high-order energy-preserving algorithms for the Camassa-Holm *** QAV approach is first utilized to transform the original equation into a reformulated QAV system with a consistent initial *** the reformulated QAV system is discretized by applying the Fourier pseudo-spectral method in space and the symplectic Runge-Kutta methods in time,which arrives at a class of fully discrete *** the consistent initial condition,they can be rewritten as a new fully discrete system by eliminating the introduced auxiliary variable,which is rigorously proved to be energy-preserving and *** numerical experiments are conducted to confirm the expected order of accuracy,conservative property and efficiency of the proposed *** presented numerical strategy makes it possible to directly apply a special class of Runge-Kutta methods to develop energy-preserving algorithms for a general conservative system with any polynomial energy.

关键词： Camassa-Holm equation quadratic auxiliary variable high-order energy-preserving schemes symplectic Runge-Kutta methods

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Event-Triggered Asynchronous Fault Detection for Stochastically Switched systems With Sojourn Probabilities 41

Event-Triggered Asynchronous Fault Detection for Stochastica...

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第41届中国控制会议

作者： Xingyu Tang Xiongbo Wan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the event-triggered asynchronous fault detection（FD） problem for discrete-time switched systems with sojourn *** propose a novel asynchronous FD filter（FDF）,of which the sojourn probability is related to the mode of the switched system.A hybrid adjusting variables-dependent event-triggered mechanism（ETM） is devised to reduce the waste of network *** construct a new Lyapunov function that contains the mode of the switched system and a flexible variable in the ETM.A sufficient condition in terms of matrix inequalities is obtained under which the error dynamics is stochastically stable with a prescribed H *** parameters of the FDF are explicitly given based on the feasible solutions to these matrix inequalities.A numerical example is provided to demonstrate the effectiveness of the proposed event-triggered asynchronous FD method.

关键词： Asynchronous fault detection event-triggered switched systems sojourn probabilities

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