检索结果-内蒙古大学图书馆

A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

引用

Journal of systems Science & complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Identification and Prediction of Microvascular Invasion in Hepatocellular Carcinoma Based on Multiple Sequence Fusion Images 43

Identification and Prediction of Microvascular Invasion in H...

引用

43rd Chinese control Conference, CCC 2024

作者： Lu, Mingguang Zhu, Yuan China University of Geosciences School of Automation 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 Wuhan430074 China

ISBN: (纸本)9789887581581

Hepatocellular carcinoma (HCC) is one of the most difficult diseases to be treated fundamentally in the medical field in today's world, and the recurrence rate of HCC has been increasing year by year in recent years. The study on the identification and prediction of microvascular invasion phenomenon (MVI) in hepatocellular carcinoma is beneficial to the postoperative prevention of hepatocellular carcinoma patients, which can greatly improve the survival probability of patients after surgery. In this study, a new MVI prediction method (MSF-GWO-GPR) was proposed, which combines the multi-sequence image features of imaging histology, sifts out the unimportant features through the T-test method and the dimensionality reduction of Lasso regression, and establishes the multi-sequence Gaussian process regression (GPR) prediction model for data fusion, and combined with the Gray Wolf Optimization (GWO) algorithm to design a suitable optimization objective function to optimize the hyper-parameters in the GPR, in order to get better prediction results. Compared with the existing methods, the data from different sequences of MRI images are selected for fusion in this study, which makes the feature data richer and more complete, and the model applicability is better;moreover, by optimizing the hyperparameters in the model through the GWO, the model can be made more accurate, reduce the risk of misidentified prediction, and improve the accuracy rate. The experimental results show that MSF-GWO-GPR outperforms widely used machine learning methods in terms of accuracy, F1 score, precision, recall and AUC metrics. This may provide a new idea for the identification and prediction of MVI in hepatocellular carcinoma. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Dimensionality reduction

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Kinematics analysis of lower limb rehabilitation robot based on D-H method 41

Kinematics analysis of lower limb rehabilitation robot based...

引用

第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

来源：评论

学校读者我要写书评

暂无评论

An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

引用

第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

来源：评论

学校读者我要写书评

暂无评论

Distributed Robust MPC Based Lateral control of Vehicle Platoons 42

Distributed Robust MPC Based Lateral Control of Vehicle Plat...

引用

42nd Chinese control Conference, CCC 2023

作者： Weng, Zhixiang Li, Panshuo Mao, Xingyan School of Automation The Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou510006 China

ISBN: (纸本)9789887581543

The lateral control of vehicle platoons, which ensures that the vehicle can follow its leader in lane change and turn scenarios, is important in practice. This paper studies lateral control of vehicle platoons under external disturbance and communication delay. A lateral dynamic characteristics model of vehicle platoons based on path-following strategy is established. Then the distributed robust model predictive control strategy is adopted, where the minimum robust positive invariant set is used to characterize the influence of the external disturbance on the actual system state and the model predictive method is employed to control the nominal system. In order to ensure the lateral disturbance string stability of vehicle platoons, a condition of model predictive controller is provided. Simulation results in different steering scenarios demonstrate the merits of the proposed method. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Vehicles

来源：评论

学校读者我要写书评

暂无评论

intelligent control of Networked Flow Production Subject to Input Delay and Parameter Perturbation 42

Intelligent Control of Networked Flow Production Subject to ...

引用

42nd Chinese control Conference, CCC 2023

作者： Wan, Liheng Li, Peiyuan Deng, Zuolin Li, Panshuo School of Automation Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou510006 China

ISBN: (纸本)9789887581543

The flow production, which combines several manufacturing units and operates the periodic tasks, can be modelled as periodic piecewise linear systems. Based on it, the non-fragile control of networked periodic piecewise linear systems under input delay and parameter perturbation, is studied in this paper. The exponential stabilization conditions under input delay are proposed via Lyapunov-Krasovskii functional and free weighting matrices, which reduce the conservativeness of conditions. Furthermore, controller gain perturbation, and asynchronous switching due to input delay, are first investigated jointly for periodic piecewise linear systems. The non-fragile stabilizing controllers are designed for additive and multiplicative perturbation of controller gains, respectively. The controller gains can be obtained by iterative linear matrix inequality (ILMI) approach. Numerical examples are given to verify the proposed methods. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Networked control systems

来源：评论

学校读者我要写书评

暂无评论

Event-Triggered Distributed intelligent Learning control of Six-Rotor UAVs under FDI Attacks

IEEE Transactions on Artificial Intelligence

引用

IEEE Transactions on Artificial Intelligence 2024年第7期5卷 3299-3312页

作者： Wu, Ying Chen, Mou Li, Hongyi Chadli, Mohammed Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing211106 China University Paris-Saclay Univ Evry IBISC Evry91020 France Guangdong University of Technology School of Automation The Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China

Aiming at the six-rotor unmanned aerial vehicles (UAVs) subjected to false data injection (FDI) attacks, an event-triggered-based distributed intelligent learning control strategy is proposed in this article. The reinforcement learning algorithm which is designed based on neural networks (NNs) is introduced to achieve intelligent optimal control. Under the actor-critic-identifier frame, three kinds of NNs are used to realize the control action, evaluate the system performance, and estimate the unknown dynamic, respectively. Then, an improved event-triggered strategy including a decreasing function of the consensus error is designed to reduce the waste of resources while decreasing the adverse impact on tracking control performance as far as possible, which also does not exhibit Zeno behavior. Furthermore, an adaptive compensation control scheme is given, which can effectively compensate for the negative impacts brought by the FDI attacks existing in information interaction among UAVs. Despite the impact of lumped disturbances and FDI attacks, the proposed disturbance-observer-based distributed intelligent learning control strategy can still guarantee that all signals in the closed-loop UAV systems are bounded, and all follower UAVs can track the signal of the leader UAV. Finally, some simulation verification diagrams are shown to test the feasibility of the designed control strategy. © 2020 IEEE.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

RRT-Forest: An Efficient Multi-UAV Cooperative Path Planning Method for Indoor Rescue 8

RRT-Forest: An Efficient Multi-UAV Cooperative Path Planning...

引用

8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Chen, Jintao Li, Hongyi Zhou, Qi The School of Automation and the Guangdong Provincial Guangdong University of Technology Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China

ISBN: (纸本)9798350300178

Sending multi unmanned aerial vehicles (UAVs) to extinguish indoor flames is a feasible solution for the difficulty of fire rescuing in high-rise constructions. However, the difficulty of cooperative path planning hinders the application of multi-UAVs in such a dangerous task. Aiming at the difficulty, an improved RRT-Forest algorithm is proposed, which could be operated in high dimensional path planning space with extremely complex and nonconvex environments, to realize efficient multi-UAVs cooperative global path planning. Numerical simulation results indicate that the method is feasible and efficient in obtaining collision-free paths for multi-UAVs. © 2023 IEEE.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：