检索结果-内蒙古大学图书馆

13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Fan, Zhong-Xin Tang, Lintao Li, Shihua Liu, Rongjie School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Florida State University Department of Statistics TallahasseeFL32304 United States

ISBN: (纸本)9798350361674

Achieving optimal speed regulation for permanent magnet synchronous motors (PMSMs) remains a challenging task, particularly in selecting the most suitable controller to meet desired objectives. This paper considers the optimal speed tracking problem of PMSMs. We employ a reinforcement learning algorithm to obtain optimal controller with a linear form. The reinforcement learning approach incorporates a critic-actor network structure, which approximates the value function and optimal control, respectively. Specifically, a weight updating method for the critic network is introduced, where the update of the actor network is guided by the critic network. Through data collection and neural network training, dynamic acquisition of the optimal controller gain is achieved. In addition, a novel activation function is implemented in the network, leading to improved control performance concerning dataset size and reduced training time. At final, a real-world PMSM application is presented along with comparisons to demonstrate effectiveness. The desire idea of resulting optimal controllers is not only applicable to linear systems but also capable of approximating arbitrary nonlinear optimal controllers, thus offering practical engineering versatility. © 2024 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Research on Vibration Suppression for Industrial Robots Based on Dynamic Feedforward control

Research on Vibration Suppression for Industrial Robots Base...

引用

第43届中国控制会议

作者： Bin Huang Yahui Gan Fang Fang Bo Zhou Xianzhong Dai School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

To address the challenges of low position tracking accuracy and high vibrations in mechanical arms controlled by PID closed-loop systems, this paper introduces a torque feedforward control scheme based on dynamic models. The paper initially analyzes the causes of vibrations during robot motion, establishing a mathematical model to quantify the trajectory accuracy and repeatability of vibrations. Subsequently, a torque feedforward control scheme based on dynamic models is designed, and its feasibility is theoretically analyzed. In this motion control scheme, precise dynamic models are utilized to calculate and output the desired torque. The torque values are then converted into motor current values, which are superimposed on the control output of the current loop in the servo to achieve real-time torque compensation. Finally, through simulation experiments, the paper validates that the dynamics-based torque feedforward control effectively suppresses robot vibrations, enhances tracking accuracy,and improves dynamic performance. The findings demonstrate the efficacy of the proposed control strategy in addressing the challenges associated with PID-controlled robotic arm systems.

关键词： Industrial robots feedforward control vibration suppression

来源：评论

学校读者我要写书评

暂无评论

SSD object detection algorithm based on knowledge map

引用

International Journal of Wireless and Mobile Computing 2024年第2期27卷 152-160页

作者： Huang, Li Wang, Xiaofeng Lu, Jianhua Hu, Wei Zhang, Changrong College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China Key Laboratory of Metallurgical Equipment and Control Technology of the Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China

With the pervasive integration of artificial intelligence into all aspects of human life, talent emerges as a primary resource. Upon analysing the current state of talent training in higher education institutions, issues such as dispersed knowledge points, overlapping content, a singular practice approach and ineffective evaluation have been identified. In response to these challenges, this paper proposes a multidisciplinary and comprehensive practical teaching methodology grounded in the knowledge graph framework. It delves into diverse paths for practical teaching and assessment, including aspects like teaching objectives, problem decomposition, resource integration, implementation methods and performance evaluation. The practical application of the SSD algorithm in researching service robot indoor object detection serves as an illustrative example. Employing the holistic practical teaching approach facilitated by the knowledge graph, this model guides students in acquiring object detection expertise, thereby enhancing their comprehensive development. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Model Prediction Based Adaptive Variable Impedance control of Manipulator with Passivity

Model Prediction Based Adaptive Variable Impedance Control o...

引用

第43届中国控制会议

作者： Yang Xiao Wenbo Liu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Aiming at the compliance control of rigid manipulators in human-robot interaction scenarios, a new variable impedance control(VIC) model is proposed to improve the adaptive ability of the manipulator to adjust compliance in different phases of the task. The parameter selection problem is transformed into a controller design problem. Impedance constraints are set by introducing the prior knowledge of the person, information about the state and contact force, and manipulability. The one-step model predictive control(MPC) method is used to search for the optimal solution of impedance parameters, so that the manipulator can adaptively select different balance relations between tracking accuracy and compliance. Moreover, in order to avoid the damage of time-varying impedance parameters to the stability, a tank-based method is implemented to ensure the passivity of the impedance system. Finally, the simulation results verify the effectiveness of the proposed control scheme.

关键词： Variable Impedance control(VIC) Model Predictive control(MPC) Tank-based method Passivity

来源：评论

学校读者我要写书评

暂无评论

Smooth and Time-optimal Improved-Bezier Trajectory Planning Based on Dynamics for Industrial Robots

Smooth and Time-optimal Improved-Bezier Trajectory Planning ...

引用

第43届中国控制会议

作者： Wei Cai Yahui Gan Fang Fang Bo Zhou Xianzhong Dai School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper presents a smooth and time-optimal improved-Bezier trajectory planning algorithm that addresses the avoidance of solving switching points and solves the problem of discontinuous torque on the basis of the time-optimal path parameterization(TOPP) algorithm. The proposed approach employs the TOPP-RA algorithm with a friction model, to construct the optimal velocity trajectory under the constraints of the geometric paths and joint torques. Moreover, the proposed algorithm utilizes an enhanced Bezier curve instead of the jerk constraint in the trajectory optimization model to achieve a smooth trajectory. The modified Bezier curve optimizes the peaks of the pseudo-velocity curve in the phase plane to change the discontinuity of joint torque. The proposed algorithm ensures absolute time optimality and achieve a s mooth tr ajectory. The results of the MATLAB simulation experiment on a two-link motion system indicate the validity of the proposed algorithm.

关键词： time-optimal smooth trajectory planning improved-Bezier trajectory

来源：评论

学校读者我要写书评

暂无评论

An Approach for Upper Limb Movement Intention Recognition Using EEG and sEMG Fusion based on the MCPSA-CIIM 5

An Approach for Upper Limb Movement Intention Recognition Us...

引用

5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhang, Weiming Zhang, Xiaodong Xu, Cheng Zhou, Guchuan Zhang, Teng Wang, Yu Xi'an Jiaotong University Shaanxi Key Laboratory of Intelligent Robot School of Mechanical Engineering Shaanxi Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China

ISBN: (纸本)9798350307320

The upper limb motion intention recognition method based on electroencephalography (EEG) and surface electromyography (sEMG) fusion has achieved significant results in fields such as prosthetic control. However, most existing fusion methods use manual means to select features, which cannot capture temporal and spatial features at different scales, and ignore the correlation features between the two types of signals. To address these issues, this article proposes a fusion recognition method for upper limb motion intention EEG and sEMG based on Multi-scale Convolution, Polarized Self-Attention, and Cross Intelligence Integration Module. This article extracts multidimensional temporal and spatial features of EEG and sEMG through multi-scale convolution, and introduce polarized self-attention mechanism to filter the extracted multi-scale features. Simultaneously using cross enhancement strategy to extract correlation features between EEG and sEMG. Finally, the features are input into the classification network for recognition. This method was validated on the Jeong database, and the results showed that compared with CNN-LSTM and EEGNet, the recognition accuracy of this method increased by 2.63% and 3.15%, respectively. © 2023 IEEE.

关键词： Electroencephalography

来源：评论

学校读者我要写书评

暂无评论

Research on Path Planning of Mobile Robot Based on DWA-IMP-A∗ Algorithm 42

Research on Path Planning of Mobile Robot Based on DWA-IMP-A...

引用

42nd Chinese control Conference, CCC 2023

作者： Liu, Zhi Zhang, Lin Wang, Shoukun Niu, Tianwei Xu, Yongkang Cao, Jin School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology Beijing100081 China

ISBN: (纸本)9789887581543

Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of path planning, the most popular A∗ algorithm has some problems, such as heuristic function cannot be estimated accurately, node redundancy, path is not smooth, and obstacle avoidance cannot be achieved in real time. To solve these problems, A fusion algorithm of improved A∗ combined with reverse path and dynamic window method (DWA-IMP-A∗) was proposed. The algorithm refines the heuristic function by incorporating the reverse path. The node optimization algorithm is used to further reduce the path length. The generated trajectories are smoothed by cubic spline interpolation. At the same time, it is integrated with the improved DWA algorithm to improve the efficiency and safety of robot path planning. The algorithm takes ROS mobile robot as the carrier and is tested under typical road conditions. Compared with A∗ algorithm, the planning time is reduced by 54.6% and the path length is reduced by 6.37%. Experimental results verify the effectiveness and robustness of the algorithm. The research results have certain reference significance for the path planning of various types of mobile robots and the research of driverless vehicles. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

An H∞ Load Frequency control Scheme for Multi-Area Power system Under Cyber-Attacks and Time-Varying Delays

引用

IEEE Transactions on Power systems 2023年第2期38卷 1336-1349页

作者： Zhang, Guangdou Li, Jian Bamisile, Olusola Xing, Yankai Cai, Dongsheng Huang, Qi University of Electronic Science and Technology of China Power System Wide-Area Measurement and Control Sichuan Province Key Laboratory School of Mechanical and Electrical Engineering Sichuan Chengdu610056 China Chengdu University of Technology College of Nuclear Technology and Automation Engineering Sichuan611400 China

In the power system, the application of the signals transmitted from the sensors to the controller can significantly improve the dynamic performance. However, cyber-attacks and time delays exist widely in the communication network, which has a considerable effect on stability, operation, and control. In this paper, an ${{\boldsymbol{H}}_\infty }$ load frequency control (LFC) scheme for multi-area power systems under cyber-attacks and time-varying delays is investigated. First, false data injection attacks (FDIA), as well as denial of service (DoS) attacks, are viewed as two typical cyber-attacks and introduced into the multi-area power system. Then, the state-space equations of the LFC power system under these two attacks and time-varying delays are analyzed and modeled. Furthermore, by using Lyapunov stability theory and linear matrix inequality (LMI) method, an ${{\boldsymbol{H}}_\infty }$ LFC scheme for attacked and delayed power systems is developed. The purpose of the proposed controller is to guarantee the closed-loop system exponentially mean-square stable with prescribed ${{\boldsymbol{H}}_\infty }$ performance. Finally, a three-area LFC system is employed to demonstrate the effectiveness of the proposed mechanism. The simulation results verified that the control performance of an attacked and delayed system can be improved significantly via the designed controller. © 1969-2012 IEEE.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Disturbance Rejection control Method Based on Adaptive Composite Disturbance Observer for Permanent Magnet Synchronous Motor

Disturbance Rejection Control Method Based on Adaptive Compo...

引用

第43届中国控制会议

作者： Yu Fang Di Wu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The vehicle electronic scroll compressors exhibits significant speed fluctuations during low-speed and heavy-load *** periodic fluctuation of load torque leads to speed *** limited sensitivity gain of traditional disturbance observers results in poor performance in suppressing periodic *** response to this issue,this study adopts an adaptive composite disturbance observer to estimate and compensate for load disturbances,in order to reduce speed fluctuations in the low-speed *** adaptive composite disturbance observer has achieved simultaneous and adaptive observation and estimation of periodic and aperiodic slow varying *** adaptive notch filter(ANF) based on variable step-size quantize least mean square(VSQLMS) algorithm is used to estimate the fundamental frequency of periodic *** simulation experiments,the method proposed has improved the control accuracy and dynamic response performance of the system,and has enhanced its robustness.

关键词： Extended State Observer internal model principle ANF multiple disturbance

来源：评论

学校读者我要写书评

暂无评论

An Algorithm for Cooperative Navigation Using Neural Network to Identify Colored Noise Online

An Algorithm for Cooperative Navigation Using Neural Network...

引用

2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Sheng, Danting Cheng, Jin Li, Fengyi Hao, Mingrui Beijing Electro-mechanical Engineering Institute CASIC Beijing China HIWING Technology Academy of CASIC CASIC Beijing China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation CASIC Beijing China

ISBN: (纸本)9798350384185

In practical applications of cooperative navigation algorithms based on Kalman filtering, noise is often colored noise, which does not meet the requirement of Gaussian white noise for Kalman ***, an algorithm is proposed to identify and compensate for colored noise online using a BP neural ***, a cooperative navigation model based on Kalman filtering is ***, by studying the update process of Kalman filtering, the neural network is incorporated into the prediction calculation of the observations, following the online learning and updating of the Kalman *** simulations show that under conditions of colored noise, the results of the Kalman filter ***, after correction by the BP neural network, the filtering converges, providing high reference value for improving the accuracy of cooperative navigation. © 2024 IEEE.

关键词： Wiener filtering

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：