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26th International Conference on Automation and Computing, ICAC 2021

作者： Zhao, Hongqiang Luo, Chao Xu, Yongkang Li, Jiehao Central South University State Key Laboratory of High Performance Complex Manufacturing School of Mechanical and Electrical Engineering ChangSha China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China

ISBN: (纸本)9781860435577

The 6 × 6 Wheel-drive mobile robot is widely used in the field of special operations, and there is the phenomenon of slipping in the process of steering. To study the steering accuracy and stability of mobile robot, the dynamic model of 6 × 6 Wheel-drive Mobile Robot is established, and the sliding mode control strategy of differential steering based on mobile robot is proposed. Firstly, taking the torque of six wheels and the operator's direction control as input, the three-dimensional attitude and the relative position of the steering center of the mobile robot are obtained by using the position and attitude sensor, to determine the reference steering angle of the mobile robot. Secondly, considering the relationship between the position error and the velocity error, a recursive sliding surface is designed, and a neural network is introduced to approach the uncertain part of the mobile robot model. Then, a nonlinear gain function is applied to construct a dynamic surface control law. Finally, through the Trucksim/Simulink co-simulation model, the nonlinear gain recursive sliding mode dynamic surface adaptive control method for mobile robot trajectory tracking can improve the tracking speed and control precision, and the control force and torque are smooth and reasonable. The results show that the method is effective in improving the steering accuracy and stability of mobile robot. © 2021 Chinese Automation and Computing Society in the UK-CACSUK.

关键词： Mobile robots

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Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors

Deep Domain Adaptation Regression for Force Calibration of O...

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IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Zhuo Chen Ni Ou Jiaqi Jiang Shan Luo Department of Engineering Robot Perception Lab Centre for Robotics Research King’s College London London United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors.

关键词： Accuracy Force Tactile sensors Lighting Elastomers Data collection Optical imaging Adaptive optics Calibration Optical sensors

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Data-Driven Model for Detection,Isolation and Accommodation of Faulty Angle of Attack Sensor Measurements in Fixed Winged Aircraft

Data-Driven Model for Detection,Isolation and Accommodation ...

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第34届中国控制与决策会议

作者： Bemnet Wondimagegnehu Mersha Hongbin Ma School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Ethiopian Airlines' Boeing 737-8 MAX nosedived and crashed shortly after takeoff on March 10,2019,at Ejere Town,south of Addis Ababa.A faulty angle of attack(AOA) sensor was the cause of the *** airplane accidents have been linked to faulty AOA sensors in the *** majority of the AOA sensor fault detection,isolation,and accommodation(SFDIA) literature relied on linear model-driven techniques,which are not suitable when the system's model is uncertain,complex,or *** multilayer perceptron(MLP) models have been employed in datadriven models in the literature and the effectiveness of deep learning-based data-driven models has not been *** this work,a data collection and processing method that ensures the collected data is not monotonous and a data-driven model for AOA SFDIA is *** proposed model uses a deep learning-based recurrent neural network(RNN) to accommodate for faulty AOA measurement under flight conditions with faulty AOA measurement,faulty total velocity measurement,and faulty pitch rate *** residual analysis with a fixed threshold is used to detect and isolate faulty AOA *** proposed and benchmark models are trained with the adaptive momentum estimation(Adam) *** show that the proposed model effectively detects,isolates,and accommodates faulty AOA measurements when compared to other data-driven benchmark *** method is able to detect and isolate faulty AOA sensors with a detection delay of 0.5 seconds for ramp failure and 0.1 seconds for step failure.

关键词： Data-driven modeling intelligent transportation systems Faulty angle of attack measurement Sensor fault Detection Isolation and Accommodation(SFDIA) and Recurrent neural network

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Data-driven control of consensus tracking for discrete-time multi-agent systems

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Journal of the Franklin Institute 2023年第7期360卷 4661-4674页

作者： Xiufeng Zhang Gang Wang Jian Sun Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming 650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming 650504 China School of Automation Beijing Institute of Technology Beijing 100081 China Key Lab of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are available. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results.

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Temperature control System of Thermoelectric Cooler Based on Improved ADRC

Temperature Control System of Thermoelectric Cooler Based on...

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Chinese control and decision Conference, CCDC

作者： Xiyuan Shan Tao Cai Zhicheng Zong Hongbo Mu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Aiming at the problems containing complex working conditions, modeling difficulties and long-time delay of thermoelectric cooler temperature control system, an improved ADRC control method combining ADRC and Smith predictor is proposed in this paper. ADRC deals with the disturbances and uncertain dynamics in the system, SP compensates the time delay to improve the control performance. Compared with the traditional PID controller, the proposed control method has faster response speed and stronger anti-disturbance ability, meanwhile, overcomes the dependence of Smith predictor on object parameters to a certain extent. Through simulation and experimental verification, a good control effect is obtained, which provides a positive guidance of the related application of thermoelectric cooler.

关键词： Robust control Employee welfare Delay effects Simulation Perturbation methods Predictive models control systems

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An Improved Active Disturbance Rejection control Method for Crane System

An Improved Active Disturbance Rejection Control Method for ...

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Chinese control and decision Conference, CCDC

作者： Yubo Sun Xiyuan Shan Zhicheng Zong School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

In order to improve the dynamic performance of the underdriven crane system, an improved linear active disturbance rejection controller (LADRC) based on the new error was proposed. The improved LADRC takes the error value between the disturbance and its observed value multiplied by a coefficient as the basis for adjusting the linear extended state observer (LESO). The improved method has two advantages. Firstly, the new error can prevent the traditional LESO from choosing larger parameter adjustment disturbances, which will limit the performance of the observer. Secondly, the pole can be configured by adjusting the coefficient to obtain better dynamic characteristics. Finally, the effectiveness of the proposed method is verified by simulation and experiment. The proposed method can effectively restrain the swing of the payload and it is robust to system parameters perturbation as well.

关键词： Robust control Couplings Adaptation models Cranes Uncertainty Perturbation methods Bandwidth

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GAT-Net: A Network using Grid Attention and Transformer for Dynamic Facial Expression Recognition

GAT-Net: A Network using Grid Attention and Transformer for ...

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Chinese control and decision Conference, CCDC

作者： Wenxin Dai Yaping Dai Kaoru Hirota Shuai Shao School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Dynamic facial expression recognition (DFER) in the wild has received widespread attention recently. There are complex factors such as face occlusion and pose variation in the wild. Facial expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature representation. This paper proposes an end-to-end DFER network GAT-Net based on the grid attention module and Transformer, which improves the robustness and accuracy of DFER in the wild. Specifically, GAT-Net is divided into two components: spatial feature extraction and temporal feature processing. The grid attention module of the spatial feature extraction component guides the network to pay attention to the local salient features of the face, which reduces the interference of field occlusion and non-frontal poses. The Transformer in the temporal feature processing component guides the network to learn the temporal relationship of high-level semantic features and the global representation of facial expression features. These two components balance the subtle competition between local features and global feature representations of facial expressions. The ablation experiment has proved the effectiveness of the grid attention module and Transformer. Experiments demonstrate that our GAT-Net outperforms state-of-the-art methods on DFEW and AFEW benchmarks with accuracies of 67.53%, and 50.14% respectively.

关键词： Face recognition Semantics Interference Benchmark testing Transformers Feature extraction Robustness

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Open-/Closed-loop Active Learning for Data-driven Predictive control

arXiv

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arXiv 2024年

作者： Feng, Shilun Shi, Dawei Shi, Yang Zheng, Kaikai The State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China The Department of Mechanical Engineering Faculty of Engineering University of Victoria VictoriaBCV8N 3P6 Canada

An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and closed-loop stages. The learning objective is to minimize the volume of the set of admissible systems. First, a performance measure based on historical data and the input sequence is introduced to characterize the upper bound of the volume of the set of admissible systems. On the basis of this performance measure, an open-loop active learning strategy is proposed to minimize the volume by actively designing inputs during the open-loop stage. For the closed-loop stage, an closed-loop active learning strategy is designed to select and learn from informative closed-loop data. The efficiency of the proposed closed-loop active learning strategy is proved by showing that the unselected data cannot benefit the learning performance. Furthermore, an adaptive predictive controller is designed in accordance with the proposed data acquisition approach. The recursive feasibility and the stability of the controller are proved by analyzing the effect of the closed-loop active learning strategy. Finally, numerical examples and comparisons illustrate the effectiveness of the proposed data acquisition strategy. Copyright © 2024, The Authors. All rights reserved.

关键词： Active learning

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Primal-dual Accelerated Mirror-Descent Method for Constrained Bilinear Saddle-Point Problems

arXiv

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arXiv 2024年

作者： Li, Weijian Zeng, Xianlin Pavel, Lacra The Department of Electrical and Computer Engineering University of Toronto TorontoONM5S 3G4 Canada The Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

We develop a first-order accelerated algorithm for a class of constrained bilinear saddle-point problems with applications to network systems. The algorithm is a modified time-varying primal-dual version of an accelerated mirror-descent dynamics. It deals with constraints such as simplices and convex set constraints effectively, and converges with a rate of O(1/t2). Furthermore, we employ the acceleration scheme to constrained distributed optimization and bilinear zero-sum games, and obtain two variants of distributed accelerated algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Mirrors

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Gait Planning and Motion control Based on Vrep Simulation for Quadruped Robot

Gait Planning and Motion Control Based on Vrep Simulation fo...

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Linqi Zhou Zhihua Chen Jun Liu Zhi Liu Yumeng Chen Liting Zhang key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology Nanchang Hangkong University Nanchang China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot’s foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper.

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