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IEEE International Conference on control Science and Systems engineering (CCSSE)

作者： Huai Xiao Qingxin Meng Xuzhi Lai Ze Yan Shiying Zhao Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei China

This paper proposes an inverse compensation feed-forward control strategy for a vertical pneumatic artificial muscle (PAM) system. Firstly, we conduct a preliminary experiment on the vertical PAM system, and on this basis, we analyze the motion characteristics of the system. Moreover, we clarify the control objective of this paper. Then, we establish a model that can describe the hysteresis characteristics of the system, and we further construct an inverse compensation feedforward controller by inversing this established model. Finally, we carry out some tracking control experiments based on the vertical PAM experimental platform to verify the effectiveness and superiority of the proposed control strategy,

关键词： Artificial muscles Tracking control systems Real-time systems Modeling Feedforward systems Hysteresis

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Distributed end-effector formation control for networked 2-DoF flexible-joint manipulators with partially underactuated agents

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Automatica 2025年 179卷

作者： Zhiyu Peng Bayu Jayawardhana Xin Xin School of Automation Southeast University and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen The Netherlands Institute of Intelligent Unmanned Systems Southeast University China

The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. This paper investigates the distributed end-effector formation control of networked planar two-link manipulators with flexible joints, emphasizing cases where some agents are underactuated. The underactuated agents can be active–passive (AP) manipulators, where only the first joint is actuated; passive–active (PA) manipulators, where only the second joint is actuated; or a combination thereof. First, we establish an equilibrium property for the discussed underactuated manipulators with flexible joints. Building upon this property, we introduce the novel concept of virtual end-effectors for manipulators, whose positions serve as intermediate variables in the controller design. Then, we extend the distance-based and displacement-based formation controllers to accommodate this group of manipulators by coupling virtual end-effectors, rather than actual end-effectors used in existing works. Finally, we investigate the set of desired and reachable shapes for the networked end-effectors to highlight how the presence of underactuated manipulators affects the applicability of the proposed controllers. This analysis demonstrates that the distance-based method accommodates more underactuated manipulators in the group than the displacement-based method. We validate both our analysis and the proposed distributed controllers through numerical simulations.

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Stability Analysis for Amplidyne Electrical Systems with Time-Varying Delay via a Negative-Determination Quadratic Function Lemma

Stability Analysis for Amplidyne Electrical Systems with Tim...

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Chinese control Conference (CCC)

作者： Hong-Jian Huang Hong-Zhang Wang Yu-Long Fan Ke-You Xie Chuan-Ke Zhang School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P. R. China

In this paper, the stability of Amplidyne Electrical Systems (AESs) with a time-varying delay is studied. Firstly, the model of AESs with a time-varying delay is established. Secondly, an augmented Lyapunov-Krasovskii functional (LKF) is constructed. Then, a less conservative delay-dependent stability criterion for AESs with a time-varying delay is obtained by utilizing the generalized reciprocally convex combination and an advanced negative-determination quadratic function lemma. Finally, the superiority and effectiveness of the proposed criterion is verified by a numerical example.

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Event-Triggered control of Networked System Considering Denial of Service Attack

Event-Triggered Control of Networked System Considering Deni...

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Chinese control Conference (CCC)

作者： Ting-Wei Zhang Yu-Long Fan Chuan-Ke Zhang School of Automation Chinese University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Ministry of Education Engineering Research Center of Intelligent Technology of Geo-Exploration Wuhan P. R. China

This paper presents an improved stability criterion and controller design scheme condition for a networked control system under denial of service (DoS) attack. Firstly, the DoS attack interval is divided into attack interval and no attack interval, therefore, a switching-like event-triggered control can be established to reduce the waste of network resources and improve network efficiency. Then, the studied system is transformed into a time-delay system, and an improved stability criterion and controller design method are established by using Lyapunov-Krasovskii functional (LKF). Finally, the effectiveness of the proposed method is verified by a simulation example.

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Fast accurate position control of light-responsive liquid crystal elastomer actuator

Fast accurate position control of light-responsive liquid cr...

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Asian control Conference

作者： Xinyu Nie Jundong Wu Yawu Wang Chun-Yi Su Daiki Sato Jinhua She School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Gina Cody School of Engineering and Computer Science Concordia University Montreal Quebec Canada Laboratory for Future Interdisciplinary Research of Science and Technology (FIRST) Tokyo Institute of Technology Yokohama Kanagawa Japan The School of Engineering Tokyo University of Technology Tokyo Japan

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Light-responsive liquid crystal elastomers (LCEs) are promising for soft robot actuators due to their ability to respond to light stimuli and produce deformation. In order to realize their application in soft robots, fast and accurate position control is essential. Based on the intrinsic physical nature of LCE actuator's deformation, a terminal sliding mode controller (TSMC) is designed to efficiently adjust the temperature of the actuator, thus directly controlling the actuator deformation. In order to achieve the target temperature, a prediction model is established to predict the target temperature corresponding to the target displacement. Moreover, a proportional integration controller is applied to eliminate model errors and disturbances. The feasibility of the control strategy is experimentally verified, and compared with conventional PID controller. The results prove that the proposed control strategy can achieve fast and accurate control of displacement.

关键词： Heating systems Actuators Accuracy Deformation Position control Process control Elastomers

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Stability Analysis of Discrete Networked Systems with Network Induced Delay and Malicious Packet Dropout Based on a Matrix Transformation Method

Stability Analysis of Discrete Networked Systems with Networ...

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Chinese control Conference (CCC)

作者： Meng-Ying Zhou Wen-Hu Chen Chuan-Ke Zhang Ya-Xin Hou Ke-You Xie School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P. R. China

This paper is concerned with the stability of discrete-time networked control systems with network induced delay and malicious packet dropout. Firstly, network induced delay and malicious packet dropout are analyzed, and the data packet dropout is converted into the change rate of time delay. Secondly, the functional of time delay and change rate of time delay is constructed, and some summation terms are generated when calculating the functional forward difference. Moreover, the auxiliary-function-based summation inequality and reciprocally convex matrix inequality are used to estimate the resulting summation terms. Then, a less conservative stability criterion for discrete networked systems with network delay and data packet loss is established. Finally, the validity of the proposed stability criterion is illustrated by a numerical example.

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Design and Implementation of Gaussian Filter for Nonlinear System with Randomly Delayed measurements and Correlated Noises

Design and Implementation of Gaussian Filter for Nonlinear S...

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Chinese control Conference (CCC)

作者： Weijie Cui Xinmei Wang Qian Hu Fei Du School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P. R. China

A new Gaussian approximate (GA) filter for nonlinear systems with one-step randomly delayed measurement and correlated noise is proposed in this paper. Firstly, a general framework of Gaussian filter is designed under Gaussian assumption on the conditional density. Then, the implementation of Gaussian filter is transformed into the approximation of the Gaussian weighted integral in the proposed frame. Secondly, a new cubature Kalman filtering(CKF)algorithm is developed on the basis of the spherical-radial cubature rule. The efficiency and superiority of the proposed method are illustrated in the numerical examples.

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An Improved Synchronization Criterion for Time-Delayed Lur'e Systems via Cubic Function Negative-Determination Lemma

An Improved Synchronization Criterion for Time-Delayed Lur'e...

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Chinese control Conference (CCC)

作者： Yu-Fei Peng Yu-Long Fan Yong He Xing-Chen Shangguan School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan P. R. China

In this paper, the master-slave synchronization issue of chaotic Lur’ e systems with time-varying-delay feedback control is investigated. Firstly, the synchronization problem of chaotic system is transformed into the stability problem of chaotic synchronization error system, which is studied based on Lyapunov-Krasovskii functional (LKF) method. Secondly, a novel augmented LKF with more cross terms that related to time-varying delay is proposed. Based on the application of the relaxation integral inequality and the reciprocally convex matrix inequality, an improved synchronization criterion is derived by using the cubic function negative-determination lemma. Finally, a numerical simulation example demonstrates the effectiveness and advantages of the proposed methods.

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H∞ State Estimation for Time-Delayed Static Neural Networks Using an Improved Delay-Product-Type LKF

H∞ State Estimation for Time-Delayed Static Neural Networks...

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Chinese control Conference (CCC)

作者： Yong-He Lao Yu-Long Fan Liang-Tong Luo Chuan-Ke Zhang School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan P. R. China

This paper is concerned with $H_{\infty}$ performance state estimation of static neural networks with a time-varying delay. First, a PI estimator with exponential term is used to estimate neuron states based on output measurement. Second, an augmented Lyapunov-Krasovskii functional (LKF) containing delay-product-type non-integral terms and single integral terms is constructed by introducing negative definite terms. After that, a criterion with less conservatism is derived based on extended reciprocally convex matrix inequality. Finally, a numerical example is provided to reveal the effectiveness of the proposed approach.

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Directional quantum-squeezing-enabled nonreciprocal enhancement of entanglement

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Physical Review Applied 2024年第6期22卷 064001-064001页

作者： Tian-Xiang Lu Baijun Li Yan Wang Dong-Yang Wang Xing Xiao Hui Jing College of Physics and Electronic Information Gannan Normal University Ganzhou 341000 Jiangxi China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics and Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha 410081 Hunan China Institute of Quantum Precision Measurement State Key Laboratory of Radio Frequency Heterogeneous Integration College of Physics and Optoelectronic Engineering Shenzhen University Shenzhen 518060 Guangdong China School of Electronics and Information Zhengzhou University of Light Industry Zhengzhou 450001 Henan China School of Physics and Microelectronics Zhengzhou University Zhengzhou 450001 Henan China

We theoretically propose how to achieve nonreciprocal enhancement of bipartite and tripartite entanglement using an optomechanical resonator coupled to a nonlinear optical resonator. We find that by our pumping the nonlinear resonator, directional optical squeezing can occur along the pump direction, resulting in an asymmetric detuning and chiral photon interaction between the two resonators. As a result, nonreciprocal enhancement of bipartite and tripartite entanglement can be achieved, exhibiting robustness regarding bath temperature. Specifically, in one direction, bipartite entanglement can be enhanced by about 2 times and tripartite entanglement can be enhanced by about 3.5 times compared with the opposite direction. Our work provides a route to manipulate and enhance nonreciprocal bipartite and tripartite entanglement using directional quantum squeezing, which may find potential applications in constructing chiral quantum networks.

关键词： Optomechanics Quantum entanglement Quantum optics Cavity resonators

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