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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Yulong Zhang Shaowei Cao Lingxia Mu Xianghong Xue Jing Xin Youmin Zhang Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing School of Automation and Information Engineering Xi'an University of Technology Xi'an Shaanxi China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Quebec Canada

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

It is necessary to regularly detect faults to maintain the safety and stability of power lines. Insulators are one of the important electrical components in high-voltage transmission lines. It is extremely necessary to check the working status of insulators regularly. Traditional manual inspection is inefficient because it requires a significant amount of labor costs. In this paper, a method for detecting insulators' missing defect based on aerial images is proposed to address the issue by unmanned aerial vehicle (UAV). Firstly, the improved Faster R-CNN (region-based convolutional neural network) is used to identify and locate insulators in aerial images. Secondly, the U-Net image segmentation network segments insulators from the images. The adaptive threshold segmentation method completely separates the insulator from the background. Then the binary image of the insulator is obtained. Finally, the binary image is converted into a fault curve which is used for determining the missing insulators based on the distribution of the fault curve. By using collected insulator datasets on a 330kV overhead transmission line using a DJI M300 UAV platform and an onboard H20T camera/sensor, the detection accuracy of glass insulators is as high as 0.98 with the proposed algorithm. The positioning accuracy of the proposed algorithm is also higher than other algorithms. This method has high detection accuracy for missing defects in insulators. The experimental results show that compared with similar algorithms, this method has higher accuracy and efficiency.

关键词： Image segmentation Accuracy Power transmission lines Glass Manuals Power system stability Insulators

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Communication-Efficient Personalized Distributed Learning with Data and Node Heterogeneity

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Tian, Zhuojun Zhang, Zhaoyang Li, Yiwei Bennis, Mehdi Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China University of Oulu Center for Wireless Communications Oulu90014 Finland State Key Laboratory of Industrial Control Technology Hangzhou310027 China Zhejiang Provincial Key Laboratory of Multimodal Communication Networks and Intelligent Information Processing Hangzhou310027 China Xiamen University of Technology Fujian Key Laboratory of Communication Network and Information Processing Xiamen361024 China

To jointly tackle the challenges of data and node heterogeneity in decentralized learning, we propose a distributed strong lottery ticket hypothesis (DSLTH), based on which a communication-efficient personalized learning algorithm is developed. In the proposed method, each local model is represented as the ‌Hadamard product of global real-valued parameters and a personalized binary mask for pruning. The local model is learned by updating and fusing the personalized binary masks while the real-valued parameters are fixed among different agents. To further reduce the complexity of hardware implementation, we incorporate a group sparse regularization term in the loss function, enabling the learned local model to achieve structured sparsity. Then, a binary mask aggregation algorithm is designed by introducing an intermediate aggregation tensor and adding a personalized fine-tuning step in each iteration, which constrains model updates towards the local data distribution. The proposed method effectively leverages the relativity among agents while meeting personalized requirements in heterogeneous node conditions. We also provide a theoretical proof for the DSLTH, establishing it as the foundation of the proposed method. Numerical simulations confirm the validity of the DSLTH and demonstrate the effectiveness of the proposed algorithm. © 2015 IEEE.

关键词： Iterative methods

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Edge-Assisted Flexible Platooning of Connected and Automated Vehicles Under Traffic Anomaly

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IEEE Transactions on Vehicular technology 2025年

作者： Gao, Fengkun Yang, Bo Chen, Cailian Guan, Xinping Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China

The platooning of connected and automated vehicles (CAVs) has the great potential to significantly improve travel experience in terms of safety, comfortableness, and energy efficiency. However, constrained by sensing range and prediction accuracy, the performance of CAV platoon can not be guaranteed in the scenario of mixed traffic consisting of CAVs and human-driven vehicles (HDVs). This is not only due to the uncertainty of HDVs but also related to the occurrence of various traffic anomalies, such as emergency braking and accidents. In this paper, we aim to investigate an efficient control strategy to guarantee the operation of the platoon in mixed traffic, especially in the case of traffic anomalies. To tackle the problem, an edge-assisted platoon control strategy, called E-CACC, is proposed. First, an error-aware flexible tracking policy is designed to adapt to HDV uncertainties and speed prediction errors. Based on the tracking policy, a zone model predictive control (ZMPC) method is then designed to guarantee travel safety and avoid undesired acceleration. Further, a coordination strategy of CAV platoon and roadside unit (RSU) is proposed to prevent the platoon from potential collision in the case of traffic anomalies, where an event-based communication trigger is designed to determine whether and when the platoon establishes communication links with RSU to acquire exogenous sensing data of anomaly segment. Finally, the evaluation results illustrate the effectiveness of the proposed method in improving travel safety and comfortableness. © 1967-2012 IEEE.

关键词： Braking performance

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Dynamic Fault Detection Based on Variational Bayesian Mixture Probabilistic Principal Component Analysis 11

Dynamic Fault Detection Based on Variational Bayesian Mixtur...

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11th IEEE Data Driven control and Learning Systems Conference, DDCLS 2022

作者： Huang, Chenghong Chai, Yi Wei, Chihang Zhu, Zheren Chongqing University College of automation Chongqing400044 China Hangzhou Normal University School of Information Science and Technology Hangzhou311121 China Institute of Industrial Process Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

It is essential to achieve real-time fault detection of the industrial process to reduce the occurrence of accidents during the industrial process. However, there are some problems in the actual monitoring process, such as the instability of sensor measurement, losing packet while transferring data, which causes problems like missing data and outliers while sampling from actual monitoring data. In addition, the monitoring data are interrelated in time series. Thus, a fault detection method based on DMPPCA model is proposed in this study. DMPPCA can not only consider the above problems at the same time, but also determine the dimension of latent variables automatically. Finally, the effect of proposed DMPPCA model was validated by a three-phase flow facility. © 2022 IEEE.

关键词： Fault detection

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Single-Loop Deadbeat Predictive control Framework for Uncertain SPMSM Drives With Disturbance Observation

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IEEE Transactions on Transportation Electrification 2025年

作者： Jiang, Fuxi Wang, Siqi Guo, Yuhao Cheng, Zhe Ye, Jie Cheng, Shanmei Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Huazhong University of Science and Technology School of Optical and Electronic Information Wuhan430074 China

To mitigate the detrimental effects of parameter perturbations and external load torque on the accuracy of speed and current tracking control in surface-mounted permanent magnet synchronous motor (SPMSM) drive systems, while avoiding the complexities inherent in traditional speed-current series control architectures, this paper presents a single-loop deadbeat predictive control (SDPC) framework that incorporates online disturbance observation. The control input voltage vector is directly computed using an SDPC controller in conjunction with a set of discrete-time disturbance observers (DDOBs). This proposed methodology offers two notable advantages over existing research: (i) it substantially reduces the number of adjustable controller parameters, requiring only the tuning of the observer bandwidth and the speed scaling gain, which enhances its practicality for engineering applications;and (ii) the disturbance estimation and compensation mechanism utilizing DDOBs significantly improves the robustness of the SPMSM system. Furthermore, the SDPC framework ensures that the system maintains satisfactory transient and steady-state tracking performance in response to reference signals. Experimental comparisons validate both the effectiveness and superiority of the proposed method. © 2015 IEEE.

关键词： Permanent magnets

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Traffic Pricing Based on Network Congestion Games with Player and Resource Failures

Traffic Pricing Based on Network Congestion Games with Playe...

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第43届中国控制会议

作者： Shuqi Liu Jinhuan Wang Lin Wang Institute of Mathematics School of ScienceHebei University of Technology Department of Automation Shanghai Jiaotong Universityand the Key Laboratory of System Control and Information ProcessingMinistry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper investigates the pricing problem of transportation based on a framework of network congestion game with both player and resource ***,the traffic pricing problem is modeled as a network congestion game by redefining the player's cost function in the event of player and resource ***,by using the method of semi-tensor product of matrices,the game with player and resource failures is algebraized and verified to be a weighted potential *** weighted potential function is also ***,the impact of player and resource failures on Nash equilibria(NEs) is studied,and the condition on keeping the NE of the original game unchanged is ***,the theoretical results are verified by numerical examples.

关键词： Semi-tensor product network congestion game player and resource failures

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Ascent Guidance for Air-Breathing Hypersonic Vehicles Based on MPSP

Ascent Guidance for Air-Breathing Hypersonic Vehicles Based ...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： He, Qianwei Wu, Hao Tang, Maoqin Liu, Lei Wang, Yongji Cheng, Zhongtao National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9789811581540

For the strong nonlinearity and uncertainty in the ascent guidance problem of air-breathing hypersonic vehicle, an adaptive ascent guidance scheme based on model predictive static programming (MPSP) algorithm is investigated in this paper. The purpose of guidance scheme is to drive the vehicle to the desired terminal states under the disturbance and uncertain environment. Since MPSP algorithm is effective in solving terminal constrained optimal control problem, the guidance command is obtained to shape the ascent trajectory of the vehicle by this technique. Besides, considering that MPSP is a model-dependent algorithm that will be affected by the complex and changeable atmospheric environment, an extended Kalman filter (EKF) is adopted to identify the deviation of thrust coefficient, lift coefficient and drag coefficient online in a real flight condition, which can provide the adaptability of guidance scheme. Finally, the performance of the proposed guidance scheme in simulation proves that its effectiveness in flight missions. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Hypersonic vehicles

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Stability Enhancement of Inverter-Current Feedback Grid-Following Inverters Using a Passivity-Based Voltage controller

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IEEE Transactions on Energy Conversion 2025年

作者： Huang, Yukai Xu, Jinbang Ye, Jie Huang, Songtao Ren, Ziao Shen, Anwen Hu, Yihua Huazhong University of Science and Technology National Key Laboratory of Science and Technology on Multispectral Information Processing Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China King's College London Department of Engineering LondonWC2R 2LS United Kingdom

Grid-following inverters remain the primary interface for modern renewable energy systems due to their strong power output performance. As the global demand for clean and efficient energy conversion increases, optimizing the stability of inverter systems is crucial for integrating renewable sources into the power grid. In certain energy conversion scenarios, current sensors are placed on the inverter side due to equipment constraints and space limitations, which can impact the stability of the inverter. Although the stability of inverter-side current feedback (ICF) configurations has been studied, methods to further enhance their stability remain underexplored. In this paper, the stability of ICF grid-following inverters is analyzed using a passivity-based design approach, focusing on a point of common coupling voltage controller. The proposed controller is thoroughly analyzed, and a detailed design strategy is presented to ensure stability under varying grid impedance conditions. Experimental results validate the theoretical analysis, demonstrating the effectiveness of the proposed design in enhancing the stability of ICF grid-following inverters. These advancements contribute to improving energy conversion efficiency and reliability. © 2025 IEEE.

关键词： Energy conversion efficiency

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Attitude control of Reentry Vehicle Based on Adaptive Dynamic Programming with Incremental Model

Attitude Control of Reentry Vehicle Based on Adaptive Dynami...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Li, Xu Zheng, Zongzhun Liu, Lei Cheng, Zhongtao Wang, Yongji National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9789811581540

Based on the incremental model, this paper investigates an adaptive dynamic programming (ADP) control scheme for reentry vehicles. First, the attitude dynamics of the reentry vehicle and its incremental form are established, then the ADP-based optimal controller is devised with reference to the dual heuristic dynamic programming (DHP) framework. Expediently, some local incremental parameters that the controller requires can be estimated through recursive least squares (RLS) technology online, replacing the model network that needs to be globally trained in advance in DHP. In addition, a target critic network is introduced to reduce the impact of state changes on the network parameters during the internal iterations of a time step, so it improves the learning stability. Finally, this control strategy is implemented to an attitude control system of the reentry vehicle, and online simulations verify its effectiveness. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Attitude control

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Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry

Robust optimization-based fusion of GNSS and Visual-Inertial...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Hou, Jake Jie Wu, Xinrui Shan, Jiwei Li, Dun Wang, Hesheng Shanghai Jiao Tong University Department of Automation China Shanghai Karlang Industrial Nantong Intelligent Technology Co. Ltd China Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

SLAM is significant to autonomous mobile robots. In order to realize drift-free state estimation and provide accurate localization results for the subsequent navigation, we develop an optimization-based framework consisting of a high-frequency Inertial-Wheel Odometry(IWO), Visual-Inertial-Wheel Odometry(VIWO) and a global fusion module. To fuse the local state with the position provided by GNSS, we perform ternary edge in factor graph optimization to estimate the transformation between the local frame and ENU coordinate. Thanks to the tightly-coupled VIWO, the localization property of the odometry presents more robustness, and improve the accuracy of global fusion. A noise repropagation strategy is introduced to ensure the consistency of the IMU and wheel odometer. We evaluate the proposed system on public datasets and test it in real-world scenario. The experimental results show that our system achieves accurate pose estimation in outdoor environments. © 2022 IEEE.

关键词： Frequency estimation

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