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第41届中国控制会议

作者： Zihan Zhang Zhijian Fang Jie Cai Wenhe Peng 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

Energy storage system is generally used to ensure the stability and reliability of *** the system generally contains multiple energy storage units,and due to the process,material and other aspects of the limitation,the initial state of charge(SOC) of each energy storage unit cannot be guaranteed to be completely equal,which leads to the shortening of the life of energy storage unit,and affect the economic benefits of energy storage system ***,this paper analyzes the influence conditions between energy storage units according to the calculated formula of energy storage unit *** value of charge between energy storage systems is analyzed through the active power output of the system,and then the difference is obtained by comparing the value of charge of each energy storage unit with the average value of charge of each *** the iterative algorithm is used to update the state of each node,and the balance factor is introduced to gradually reduce the difference on the basis of droop control to optimize and control the output of these energy storage nodes to achieve SOC *** the economic benefits such as maintenance cost of energy storage system are ***,a working model of microgrid is established and the feasibility and economy of this method are verified by simulation.

关键词： Economy Micro grid Energy storage system Droop control SOC balance

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Stability Analysis for Delayed Neural Networks via a Relaxed Negative-Determination Quadratic Function Method 41

Stability Analysis for Delayed Neural Networks via a Relaxed...

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第41届中国控制会议

作者： Yu-Long Fan Ke-You Xie Xing-Chen Shangguan Hongzhang Wang Chuan-Ke 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

This paper presents an improved stability condition for neural networks with a time-varying ***,an improved Lyapunov-Krasovskii functional(LKF) is constructed by introducing the delay-product term and the augmented ***,a less conservative delay-dependent stability criterion for neural networks with a time-varying delay is established by utilizing the generalized reciprocally convex combination and a relaxed quadratic function ***,a numerical example is used to illustrate the merit and effectiveness of the proposed stability criterion.

关键词： Neural Networks Time-varying Delay Stability Analysis Reciprocally Convex Matrix Inequality NegativeDetermination Method

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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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Hybrid Group Consensus of Multi-agent systems with Time-delays and Additive Noises 41

Hybrid Group Consensus of Multi-agent Systems with Time-dela...

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第41届中国控制会议

作者： Chuanjian Li Xiaofeng Zong 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 hybrid group consensus of multi-agent systems that consist of two groups in environments with time-delays and additive noises is studied in this *** hybrid group consensus implies that the agents in one group achieve strong consensus and the agents in another group achieve weak consensus.A new type of control protocol is proposed to achieve the following hybrid group consensus behavior:the agents in the first group and in the second group achieve strong consensus and weak consensus,*** sufficient conditions are obtained for the hybrid group consensus problem in both mean square and almost sure ***,a simulation example is given to illustrate the feasibility of the theoretical results.

关键词： multi-agent system hybrid group consensus time-delays additive noises

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot

Design and locomotion characteristic analysis of a novel ten...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Mo, Jixue Gao, Changqing Fang, Hao Yang, Qingkai Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Research Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Beijing Institute of Technology School of Automation Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9798350325706

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot's hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment. © 2023 IEEE.

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A Brief Overview of ChatGPT:The History,Status Quo and Potential Future Development

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1122-1136页

作者： Tianyu Wu Shizhu He Jingping Liu Siqi Sun Kang Liu Qing-Long Han Yang Tang the Key Laboratory of Smart Manufacturing in Energy Chemical Process East China University of Science and TechnologyShanghai 200237China the Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the School of Information Science and Engineering East China University of Science and TechnologyShanghai 200237China the Research Institute of Intelligent Complex Systems Fudan UniversityShanghai 200437China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia

ChatG PT,an artificial intelligence generated content (AIGC) model developed by OpenAI,has attracted worldwide attention for its capability of dealing with challenging language understanding and generation tasks in the form of *** paper briefly provides an overview on the history,status quo and potential future development of ChatGPT,helping to provide an entry point to think about ***,from the limited open-accessed resources,we conclude the core techniques of ChatGPT,mainly including large-scale language models,in-context learning,reinforcement learning from human feedback and the key technical steps for developing *** further analyze the pros and cons of ChatGPT and we rethink the duality of ChatGPT in various *** it has been widely acknowledged that ChatGPT brings plenty of opportunities for various fields,mankind should still treat and use ChatG PT properly to avoid the potential threat,e.g.,academic integrity and safety ***,we discuss several open problems as the potential development of ChatGPT.

关键词： AIGC ChatGPT GPT-3 GPT-4 human feedback large language models

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A Task Assignment Scheme Designed for Online Urban Sensing Based on Sparse Mobile Crowdsensing

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IEEE Internet of Things Journal 2025年第11期12卷 17791-17806页

作者： Zeng, Hongjian Xiong, Yonghua She, Jinhua Yu, Anjun China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China Tokyo University of Technology School of Engineering Hachioji Tokyo192-0982 Japan Jiangxi Ganyue Expressway Co. Ltd Jiangxi Nanchang330000 China

Sparse Mobile Crowdsensing (SMCS) achieves urban-scale environmental sensing by assigning tasks to workers in specific subareas and inferring global data from the collected information. However, the effectiveness of SMCS is often limited because many studies overlook workers' mobility and data collection time during subarea selection, as well as the time constraints of the sensing cycle in task assignment. This may affect the task completion timeliness and data quality. To address these issues, we develop a subarea evaluation method based on deep reinforcement learning, considering both the temporal effectiveness of sensing tasks and the importance of subarea selection for data inference. Using the subarea evaluation values derived from this method, we establish an online urban sensing task assignment model which is subject to constraints of sensing cycle time and cost budget. This model aims to find the task assignment result that minimizes data inference error by maximizing the comprehensive utility value. Considering the characteristics of the task assignment model, we propose an evolutionary algorithm named OTA-EA, which is based on an improved genetic algorithm. Its enhanced evolutionary operators can avoid generating infeasible solutions while maintaining robust search and optimization performance. Lastly, we conduct experimental evaluations of these methods on the real-world datasets. The results demonstrate that our subarea evaluation method can significantly reduce the data inference error, and our evolutionary task assignment algorithm can achieve better task assignment results than the baseline algorithms. © 2014 IEEE.

关键词： Genetic algorithms

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A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Pipeline Anomaly Detection Based on KPCA and Cosine Distance Prototypical Network 26

Pipeline Anomaly Detection Based on KPCA and Cosine Distance...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Yi, Kang Liu, Xin Hu, Wenkai Li, Yupeng School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9798331521950

Accurately and promptly detecting the pipeline anomaly is crucial to the safe operation of pipeline systems, while a difficulty lies in that many existing methods require massive data for training models. However, pipelines are running under normal state for the most of the time, and labeled pipeline anomaly data is usually scarce. Among the commonly used sensors, vibration sensors are widely utilized in pipeline detection because of their advantages such as easy installation and high sensitivity. However, the vibration signal shows non-stationary characteristics when anomalies occur, and are contaminated by noises, making it difficult to represent the actual state with features extracted from either the time or frequency domain. Accordingly, this paper proposes a pipeline anomaly detection method based on the KPCA (kernel principal component analysis) and cosine distance prototypical network. First, features are extracted from original signals;then, the feature dimension is reduced by KPCA;last, the cosine distance is introduced to the prototypical network for anomaly detection. The effectiveness of the proposed method is demonstrated by case studies involving experimental data. © 2025 IEEE.

关键词： Frequency domain analysis

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PDM control Strategy of Extremely High Gain ICPT System Applying for Electrical Isolation Aimed at Maximum Efficiency 48

PDM Control Strategy of Extremely High Gain ICPT System Appl...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yue, Haojiang Fang, Zhijian Xia, Yuangeng China University of Geosciences Wuhan Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation Wuhan China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

In order to achieve electrical isolation, high-voltage transformers must use insulating materials. However, in some applications, such as medical treatment, transformers using insulating materials may cause problems of weight increase and flexible movement. As a result, the inductively coupled power transfer (ICPT) system are used to replace regular high transformers, with the air gap between the primary and secondary coils serving as electrical insulation. Under the SP resonance compensation structure, the ICPT system needs to achieve exceptionally high gain, which will result in the voltage gain being sensitive to frequency variations. When the frequency deviates slightly from the resonance point, more circulation and loss occurs, lowering the efficiency of the system. Therefore, this paper proposes a control strategy based on the combination of pulse-duration modulation (PDM) and maximum efficiency point tracking (MEPT) is proposed, at the first resonance point of the ICPT system based on the SP resonance compensation structure. This control method is capable of producing medium and high voltage constant voltage output, and the switch tube achieves zero current switching during operation. In the case of a wide load variation range, maximum efficiency point tracking may be obtained at the same time. Finally, a 100W high-gain ICPT experimental platform is built, and the constant voltage output with 25 times high gain is realized over the transmission distance of 11.2cm, which verifies the effectiveness of the control strategy. © 2022 IEEE.

关键词： Pulse width modulation

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