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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

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

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

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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

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Fixed-Time Cooperative Tracking for Delayed Disturbed Multi-Agent Systems Under Dynamic Event-Triggered control

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IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 930-933页

作者： Jian Liu Yongbao Wu Mengwei Sun Changyin Sun School of Automation Southeast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China Institutes of Physical Science and Information Technology Anhui UniversityHefei 230601China IEEE

Dear editor,Recently,researchers have obtained many new results about the multi-agent systems(MASs)[1]-[3].In[1],the fixed-time cooperative control(FTCC)algorithm of linear MASs with matched disturbances was *** nonholonomic chained-form dynamics case was considered in[2].In[3],the output tracking problem with data packet dropout was solved for high-order ***,delay frequently occurs because of the non-ideal data transmission[4],and the corresponding FTCC algorithm of MASs with delay was given in[5].

关键词： editor Dynamic Trigger Event

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

Disturbance Rejection Control Method Based on Adaptive Compo...

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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

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End-to-end multi-task reinforcement learning-based UAV swarm communication attack detection and area coverage

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Knowledge-Based Systems 2025年 316卷

作者： Yu, Jin Zhang, Ya Sun, Changyin School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

This paper proposes an innovative end-to-end multi-task reinforcement learning framework designed to enhance the security and operational stability of UAVs in complex communication attacks environments. In scenarios involving multiple UAV coverage, the framework classifies attack types and predicts UAV behaviors, which enables rapid response and compromised data recovery. First, a spatiotemporal attention mechanism is employed to strengthen the network by capturing temporal dependencies in the communication data and improving the recognition of hybird attack mode, thereby facilitating the integration of detection and repair. Second, the causal inference mechanism introduced in this study extracts true causal relationships from interference, which ensures the accuracy and stability of action predictions for area coverage under attack conditions. Finally, the entire process is modeled as a multi-task Markov decision process, optimizing overall decision-making efficiency. Additionally, the dynamic pheromone induction mechanism is proposed to realize the adaptive regional cooperative coverage of multiple UAVs. The experimental results demonstrate that the proposed algorithm can effectively detect hybrid attacks and predict UAV actions, protecting the multi-UAV cooperative area coverage. © 2025

关键词： Reinforcement learning

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Image-Based Fast Finite-Time Target Tracking control of Onboard Inertially Stabilized Camera Platform

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IEEE Transactions on Industrial Electronics 2024年第12期71卷 16409-16418页

作者： Sun, Xunhong Zhu, Wenwu Du, Haibo Chen, Weile Chen, Chih-Chiang Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Southeast University School of Automation Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

In this article, we investigate the problem of fast finite-time target tracking control of the inertially stabilized platform (ISP) with a camera that mounted on a mobile robot. At first, the kinematics of the onboard ISP target tracking system is established by the geographic coordinate and pinhole camera model, which includes the state-dependent uncertainties and external disturbances. Then, based on the image information captured by camera, a continuous image-based fast finite-time control algorithm is designed for target tracking. Rigorous analysis proves that the target can be tracked at the center of camera's view in finite time in the absence of disturbances. In the presence of disturbances, the tracking error can converge to a region around the origin in finite time. Simulation and experimental comparisons are presented to confirm the efficiency of the proposed method. © 1982-2012 IEEE.

关键词： Mobile robots

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A distributed finite-time economic dispatch algorithm in smart grid

A distributed finite-time economic dispatch algorithm in sma...

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2022 Jiangsu Annual Conference on Automation, JACA 2022

作者： Lin, Luxin Wang, Xiangyu School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China

ISBN: (纸本)9781839538476

This paper focuses on the design of an initialization-free distributed finite-time algorithm for the economic dispatch problem in smart grid, where the generation units only communicate with its neighbors to minimize the total cost cooperatively. Firstly, the optimal solution of the economic dispatch problem is analyzed in accordance with the saddle-point dynamics. Then, an initialization-free finite-time algorithm is presented to guarantee the active power generation and the incremental cost converge to the optimal solution in a distributed manner. At last, some numerical simulations are preformed to validate the proposed method. Copyright© JACA 2022 All rights reserved.

关键词： Smart power grids

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A novel task-oriented framework for dual-arm robotic assembly task

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Frontiers of Mechanical Engineering 2021年第3期16卷 528-545页

作者： Zhengwei WANG Yahui GAN Xianzhong DAI School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China

In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm *** this framework,visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces,where the performance of tasks can be abstracted as a high-level state for intelligent *** assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the ***,the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the *** are set up with a dual-arm robotic system(ABB YuMi and an RGB-D camera)to validate the proposed *** results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： dual-arm assembly Al reasoning intelligent system task-oriented motion planning visual perception

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keypoints-guided Lightweight Network for Single-view 3D Human Reconstruction

Keypoints-guided Lightweight Network for Single-view 3D Huma...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yuhang Chen Chenxing Wang School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Single-view 3D human reconstruction has been a hot topic due to the potential of wide applications. To achieve high accuracy, existing works usually take computationally intensive models as backbone for exhaustive underlying features and then directly estimate human mesh vertices. These factors lead to redundant parameters, large calculations and low efficiency, while lightweight solutions to address these challenges are relatively scarce. In this work, based on the problems studied above, we propose a keypoints-guided lightweight network with an encoding-decoding framework. As the input is an image, a lightweight backbone named multi-stage and global feature enhanced network is designed for 2D encoding, where some operations of multi-scale fusion and frequency domain filtering are performed to extract more informative but low-resolution features. As the output is mesh of human body, we construct a keypoints-based 3D human template, with which the 2D low-resolution features can be mapped to 3D space to guide the 3D decoding with high efficiency and high accuracy. Extensive experiments on popular benchmarks 3DPW and Human3.6M illustrate the favorable trade-off between the accuracy and complexity of our method. Our code is publicly available at https://***/ChrisChenYh/***.

关键词： Three-dimensional displays Accuracy Image coding Frequency-domain analysis Estimation Benchmark testing Feature extraction

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Efficient Circuit Diagram Retrieval via Graph Representation

Efficient Circuit Diagram Retrieval via Graph Representation

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Chinese Automation Congress (CAC)

作者： Ming Gao Hongcai Chen Kanjian Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex System Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

In the field of electronic engineering, the retrieval of circuit diagrams has become an area of considerable research interest. This is attributed to the critical role it plays in consulting legacy electronic designs and in the identification of design plagiarism. Existing image retrieval techniques, which are proficient in managing natural images, typically involve the conversion of images into feature vectors and retrieve similar images according to the closeness of these vectors. However, these methods encounter limitations when adapted to the more specialized and complex domain of circuit diagrams. This paper introduces an innovative approach to the retrieval of circuit diagrams through the use of a graph representation of these diagrams. This novel approach effectively transforms the retrieval task into a graph retrieval problem. The methodology proposed in this paper is comprised of two main components: A recognition algorithm for circuit diagrams designed to accurately extract the components and the topological structure of the circuit and a retrieval strategy based on graph similarity. This methodology is pioneering in its use of graph representation for circuit diagram retrieval, incorporating topological features that are often not considered by conventional image retrieval methods. The experimental results presented in this paper validate the effectiveness of the proposed approach.

关键词： Patents Machine learning algorithms Databases Plagiarism Circuit simulation Image retrieval Integrated circuit interconnections Transforms Feature extraction Vectors

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