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control Technology and Applications (CCTA),

作者： Hao Sun Zongxuan Sun Shihua Li Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing PR China University of Minnesota-Twin Cities Minneapolis Minnesota USA

ISBN: (纸本)9781665436441

Electrohydraulic systems, which have been widely used in a broad range of applications, are a typical nonlinear system with uncertainties. The presence of nonlinearities, parameter variations degrades the performance of linear controllers, such as the PID controller. As one of the most robust control strategies, sliding mode control methods attract the attention of researchers and are applied to electrohydraulic systems. However, for many applications, only the piston position measurement information is available. Owing to the existence of the nonlinear orifice equation, the observer design is a challenging task and satisfactory performance is not guaranteed in the existing literature. Therefore, an output feedback based high-order sliding mode control (HOSMC) design of electrohydraulic systems is proposed in this paper. By using an exact differentiator, the derivatives of the tracking error are obtained and used to construct the HOSMC. Compared to the conventional sliding mode control (SMC), the HOSMC can achieve a finite-time convergence and improved tracking accuracy. To verify the tracking performance, a simulation is performed on a camless engine valve actuation system.

关键词： Robust control Uncertainty Switching frequency Simulation Position measurement Valves Electrohydraulics

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Cooperative control Based on Distributed Attack Identification and Isolation

Cooperative Control Based on Distributed Attack Identificati...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Hailing Liu Dalin Huang Ya Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

This paper studies the secure consensus control of multi-agent systems where some agents are injected into malicious attacks and compromised. We focus on the distributed detection and identification of attacks on agents and the realization of consensus of agents against attacks. Firstly, we design monitors that can perform precise distributed attack detection. Then, we propose a distributed attack identification algorithm by constructing distributed observers. After that, a cooperative controller is proposed which ensures the normal control of systems by means of isolating the agents which are attacked. Finally, we validate our results through simulation examples.

关键词： Multi-agent systems Monitoring Sensors Sensor systems Security Observers Data models

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Consensus-based Distributed Augmented Lagrangian Method for Nonconvex Optimization with Coupled Constraints

Consensus-based Distributed Augmented Lagrangian Method for ...

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Chinese Automation Congress (CAC)

作者： Yanxu Su School of Artificial Intelligence Anhui University Hefei P. R. China Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Southeast University Nanjing P. R. China

Abstract: In this paper, we study the nonconvex optimization problems with consideration of globally coupled constraints. The constrained optimization problem is converted into an augmented Lagrangian function, and a distributed primal-dual algorithm is exploited in the context of finite-time consensus for solving such a problem. Particularly, we do not require the globally coupled constraints to be separable. Instead, we introduce some local variables for estimating the constraint violations. Under some mild assumptions in the research of nonconvex optimization, we prove the convergence of the presented algorithm to a KKT point of the problem. The numerical experiment verifies the correctness and the effectiveness of the theoretical results.

关键词： Automation Heuristic algorithms Aggregates Numerical simulation Linear programming Optimization Lagrangian functions

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MADDPG Algorithm for Coordinated Welding of Multiple Robots

MADDPG Algorithm for Coordinated Welding of Multiple Robots

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作者： Weibin Chen Lei Hua Leixin Xu Benshun Zhang Mengmeng Li Tao Ma Yang-Yang Chen School of Automation Southeast University Robot Department Jiangsu Automation Research Institute School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University

This paper deals with the coordinated welding problem of multi-robot systems by applying a deep reinforcement learning algorithm which is called multi-agent deep deterministic policy gradient(MADDPG).It is assumed that the states and actions of robots are continuous and each robot can only get local information of its neighbors.A novel reward composed of trajectory optimization,coordinated welding and collision avoidance is designed,which yield multi-robot systems to arrive the welding targets quickly,achieve the simultaneous welding for a weld line and avoid collision among *** results are provided to demonstrate the effectiveness of the proposed control algorithm.

关键词： Deep multi-agent reinforcement learning MADDPG Coordinated welding

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Finite-Time Synchronization of Flux-controlled complex-Valued Memristive Neural Networks

Finite-Time Synchronization of Flux-Controlled Complex-Value...

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Neuromorphic Computing (ICNC), International Conference on

作者： Yonghuan Wang Leimin Wang Genping Wu 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 Wuhan China Wuhan Second Ship Design and Research Institute Wuhan China

In this paper, by using the flux-controlled memristor model, the finite-time synchronization problem of delayed complex-valued memristive neural networks (MCNNs) is studied. Firstly, according to the proposed memristor model, we model the MCNNs as continuous systems on voltage-flux-time $(\wp, \varpi, t)$ domain. Then, we design a class of approaches to realize state synchronization between the drive and response systems, and the corresponding synchronization conditions are achieved. Finally, the effectiveness of results is illustrated with the simulations.

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QMIX Algorithm for Coordinated Welding of Multiple Robots

QMIX Algorithm for Coordinated Welding of Multiple Robots

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作者： Liangchuang Liao Yang-Yang Chen School of Electronic Science & Engineering Southeast University Robot Department Jiangsu Automation Research Institute School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University

This paper considers the coordinated welding control based on deep multi-agent reinforcement *** discrete-time states and actions with local observation for the welding robots and the characteristics of the weld lines(e.g.,the starting points of the weld lines and the ending points of the weld lines) are defined,which is suitable to use the monotonic value function factorisation for deep multi-agent reinforcement learning(QMIX) algorithm.A novel reward composed of trajectory optimization,collision avoidance and the task done is designed,which is proved by the simulation in the grid-world environment.

关键词： Deep multi-agent reinforcement learning Welding robots QMIX

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A Double Node Thin-Film Thermocouples for In-Situ measurement

A Double Node Thin-Film Thermocouples for In-Situ Measuremen...

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Automation, Robotics and Computer engineering (ICARCE), International Conference on

作者： Rong Ma Meiju Zhang Zhongkai Zhang Manguo Huang Xiaobo Liang Jiangjiang Liu Zhaojun Liu Bian Tian State Key Laboratory for Mechanical Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China Beijing Changcheng Aeronautic Measurement and Control Technology Research Institute Aviation Key Laboratory of Science and Technology on Special Condition Monitoring Sensor Technology Beijing China

ISBN: (纸本)9781665475495

The design, fabrication, testing and implementation of a new high-performance tungsten-rhenium thin film thermocouple are introduced. In this paper, tungsten-rhenium TFTCs are taken as the research object, after simulation analysis in COMSOL software and design, it is made by screen-printing technology and magnetron sputtering. This kind of thin film thermocouple primarily utilizes two kinds of electrode materials with varying composition combination, mainly tungsten with 5% rhenium and tungsten with 26% rhenium. Furthermore, high-temperature annealing is performed to maintain the mechanical properties and thus improve thermoelectric performance. The results demonstrate that the performance is reliable in the temperature range of 150-600 C° with a repeatability of 2.02%, providing application value for high-temperature in-situ sensing.

关键词： Temperature measurement Temperature distribution Thermocouples Tungsten Robot sensing systems Software Sensors

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Asynchronous Trajectory Matching-Based Multimodal Maritime Data Fusion for Vessel Traffic Surveillance in Inland Waterways

arXiv

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arXiv 2023年

作者： Guo, Yu Liu, Ryan Wen Qu, Jingxiang Lu, Yuxu Zhu, Fenghua Lv, Yisheng The School of Navigation Wuhan University of Technology Wuhan430063 China The National Engineering Research Center for Water Transport Safety Wuhan430063 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

The automatic identification system (AIS) and video cameras have been widely exploited for vessel traffic surveillance in inland waterways. The AIS data could provide the vessel identity and dynamic information on vessel position and movements. In contrast, the video data could describe the visual appearances of moving vessels, but without knowing the information on identity, position and movements, etc. To further improve vessel traffic surveillance, it becomes necessary to fuse the AIS and video data to simultaneously capture the visual features, identity and dynamic information for the vessels of interest. However, traditional data fusion methods easily suffer from several potential limitations, e.g., asynchronous messages, missing data, random outliers, etc. In this work, we first extract the AIS- and video-based vessel trajectories, and then propose a deep learning-enabled asynchronous trajectory matching method (named DeepSORVF) to fuse the AIS-based vessel information with the corresponding visual targets. In addition, by combining the AIS- and video-based movement features, we also present a prior knowledge-driven anti-occlusion method to yield accurate and robust vessel tracking results under occlusion conditions. To validate the efficacy of our DeepSORVF, we have also constructed a new benchmark dataset (termed FVessel) for vessel detection, tracking, and data fusion. It consists of many videos and the corresponding AIS data collected in various weather conditions and locations. The experimental results have demonstrated that our method is capable of guaranteeing high-reliable data fusion and anti-occlusion vessel tracking. © 2023, CC BY.

关键词： Deep neural networks

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Path Planning of Mobile Robot Based on an Improved Genetic Algorithm 2

Path Planning of Mobile Robot Based on an Improved Genetic A...

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2nd IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2022

作者： Chen, Zenghua Xiong, Gang Liu, Sheng Shen, Zhen Li, Yue Institute of Automation Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Chang'an University School of Automobile Xi'an China

ISBN: (纸本)9781665492270

In order to solve the problem of premature convergence of the basic genetic algorithm when planning the robot running path, the basic genetic algorithm is improved and optimized. Different population initialization methods are used to initialize multiple populations randomly, so as to improve the diversity of populations;Improve the adaptive strategy and elite strategy of crossover and mutation operators to improve the convergence speed of the algorithm;Add the path tortuosity as the planning index in the fitness function to make the planned path smoother, and add constraints to the model to avoid obstacles;Finally, through the transformation of the coding paradigm of the above improved genetic algorithm, it can run on Flink distributed cluster to obtain faster solution speed, so as to meet the efficiency requirements of path planning in large-scale robot cluster system. The optimized algorithm is compared with the basic genetic algorithm. The simulation results show that the improved algorithm is efficient in robot path planning. © 2022 IEEE.

关键词： Genetic algorithms

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Adaptive Multi-dimensional Taylor Network control for Cement Calciner Outlet Temperature

Adaptive Multi-dimensional Taylor Network Control for Cement...

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IEEE Information Technology, Networking, Electronic and Automation control Conference

作者： Mao-Qi Zhang Hong-Sen Yan Lin-Wei Yu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (数字)9781728143903

ISBN: (纸本)9781728143910

This paper focuses on the problem of adaptive multi-dimensional Taylor network control (adaptive MTN) for cement calciner outlet temperature. Firstly, we establish a mathematical model for the cement calciner system, and the model structure is designed as a multi-input single-output data-driven form with time-delay. Secondly, the cross-correlation method and the recursive least squares method are used to identify the model parameters. Thirdly, based on gradient descent method, MTN controller is designed to implement the online update of network weights. Finally, experiment results are given to illustrate the effectiveness of the proposed control strategy.

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