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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Peng Zhang Hong-Sen Yan Yang Yang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t

ISBN: (纸本)9781467389808

Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t

关键词： Marine vehicles Force Torque Hydrodynamics Optimal control Harmonic analysis

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Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

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Science China(Information Sciences) 2018年第7期61卷 182-199页

作者： Zhenhua ZHAO Jun YANG Cunjia LIU Wen-Hua CHEN School of Automation Southeast University Key Laboratory of Measurement and Control of CSEMinistry of Education Department of Aeronautical and Automotive Engineering Loughborough University

This paper proposes a new nonlinear composite bilateral control framework for n-degree-offreedom(n-DOF) teleoperation systems with external disturbances. Different with the existing methods which usually regard the dynamics of the master and slave robots as linear impedance models, the proposed control framework fully considers the nonlinear dynamics of the n-DOF teleoperation systems. Central to the proposed framework is the utilization of nonlinear disturbance observers for estimating the disturbances in master and slave robot systems. The nonlinear composite bilateral controller is constructed by incorporating the disturbance estimations into the nonlinear feedback linearization controller. The proposed control method guarantees satisfactory position tracking performance and desired remote force haptic simultaneously for the n-DOF teleoperation systems with external disturbances. The effectiveness of the proposed control framework is validated by its applications on 2-DOF teleoperation systems.

关键词： teleoperation system nonlinear bilateral control remote force haptic disturbance rejection nonlinear disturbance observer

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Model Predictive Tracking control for Rigid Manipulators with Disturbance Rejection 41

Model Predictive Tracking Control for Rigid Manipulators wit...

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第41届中国控制会议

作者： Yihui Lu Linyan Han Jinhao 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)9789887581536

ISBN: (纸本)9781665482561

A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence of disturbances will lead to poor control accuracy and even *** a two-degree-of-freedom(2-DoF) rigid manipulator,a composite algorithm combing model predictive control(MPC) and a generalized proportional integral observer(GPIO) is *** the proposed method,feedback linearization technology is used to decouple the *** order to improve the ability of disturbance rejection,a GPIO is used to estimate the lumped disturbances and the estimated values are added to the control law by feedforward *** is conducted to validate the proposed algorithm.

关键词： Model Predictive control(MPC) Manipulator Generalized Proportional Integral Observer(GPIO) Feedback Linearization

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Finite-time control for DC-DC Boost Converter Using Nonsingular Terminal Sliding Modes via Exact Feedback Linearization 36

Finite-time Control for DC-DC Boost Converter Using Nonsingu...

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第36届中国控制会议

作者： Jie Pan Hongyu Cui Zuo Wang Shihua Li Qi Li Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

ISBN: (纸本)9781538629185

This paper investigates a finite-time disturbance observer（FTDO） based nonsingular terminal sliding mode control（NTSMC） approach for DC-DC boost converter *** using exact feedback linearization theory and control method to solve the output voltage regulation problem under the load resistance changes and external input voltage *** the disturbance estimated by FTDO into the design of the nonlinear dynamic sliding mode surface,a finite-time NTSMC method is developed to reject the effects of mismatched disturbances and achieve finite-time tracking *** compared with the nominal NTSMC method,the proposed method obtains a better disturbance rejection ability no matter the disturbances satisfy the matching condition or *** is shown that the stability of closed-loop system can be guaranteed by the proposed *** comparison results are displayed to demonstrate the robustness of the proposed controller against input voltage variations and load uncertainties.

关键词： DC-DC Boost Converter Nonsingular Terminal Sliding Mode control（NTSMC） Finite-time Disturbance Observer（FTDO） Mismatched Disturbances Load Resistance Uncertainties External Input Voltage Variations

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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Multi-dimensional Taylor Network Optimal control for Tank Firing in High Speed Motion 2

Multi-dimensional Taylor Network Optimal Control for Tank Fi...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Dong-Xiao Li Hong-Sen Yan Tao Jin School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

In this paper, a method of tank gun stability control system based on multi-dimensional Taylor network optimal control(MTN) is proposed. As the fact that tank itself has a strong nonlinear characteris

ISBN: (纸本)9781467389808

关键词： Weapons Roads Prototypes Stability analysis PI control PD control

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Intra-hour PV Power Forecasting based on Multi-source Data and PSC-SVR Model 41

Intra-hour PV Power Forecasting based on Multi-source Data a...

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第41届中国控制会议

作者： Kai Wang Weijing Dou Haikun Wei Kanjian Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Accurate photovoltaic power forecasting(PVPF) can ensure the stability of grid operation and the reliability of economic ***,PV power generation is greatly affected by weather conditions,thus more external information needs to be combined to improve the forecasting *** on the measured data and NWP data,this paper proposes a PSC-SVR model to forecast the intra-hour PV *** model consists of PV physical model(PSC) and support vector regression(SVR).PSC converts the irradiance as a priori feature of the model,including calculating the sun position,irradiance separation and transposition *** is used for the two-stage data fusion of NWP power modeling and power *** method was verified on 4 power stations in the public data set *** forecasting PV power in the next one hour,the average RMSE/MAE of all stations is 1.927 MW/1.167 MW,which decreases by 40%/55% compared with persistent model,6%/7% compared with NWP correction forecasting method,9%/13% and 32%/34% compared with the single measured data and single NWP *** above results show the effectiveness of our proposed model in multi-source data fusion and PV power forecasting.

关键词： Photovoltaic Power Forecasting NWP Data Fusion Physical Model Support Vector Regression

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Interaction Torque Estimation for Robotic Manipulators under Low-Speed Condition 41

Interaction Torque Estimation for Robotic Manipulators under...

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第41届中国控制会议

作者： Yufeng He Wenwu Zhu Linyan Han Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper studies the interaction torque estimation method of the rigid robotic manipulator under the low-speed ***,a nonlinear friction model is established to analysis the influence of *** the noise into consideration,a least square identification method is ***,a finite-time extended state observer is established to estimate the interaction torque,which is capable of estimating time-varying *** stability of the system is demonstrated based on the Lyapunov *** results are given to show the effectiveness of the proposed method.

关键词： Force estimation Robotic manipulator Stribeck friction Finite-time observer

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Disturbance Observer-based Pointing control of Leighton Chajnantor Telescope

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Research in Astronomy and Astrophysics 2024年第1期24卷 135-150页

作者： Weirui Chen Zheng Wang School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China

Leighton Chajnantor Telescope(LCT), i.e., the former Caltech Submillimeter Observatory telescope, will be refurbished at the new site in Chajnantor Plateau, Chile in 2023. The environment of LCT will change significantly after its relocation, and the telescope will be exposed to large wind disturbances directly because its enclosure will be completely open during observation. The wind disturbance is expected to be a challenge for LCT's pointing control since the existing control method cannot reject this disturbance very well. Therefore, it is very necessary to develop a new pointing control method with good capability of disturbance rejection. In this research, a disturbance observer—based composite position controller(DOB-CPC) is designed, in which an H∞feedback controller is employed to compress the disturbance, and a feedforward linear quadratic regulator is employed to compensate the disturbance precisely based on the estimated disturbance signal. Moreover, a controller switching policy is adopted, which applies the proportional controller to the transient process to achieve a quick response and applies the DOB-CPC to the steady state to achieve a small position error. Numerical experiments are conducted to verify the good performance of the proposed pointing controller(i.e., DOB-CPC) for rejecting the disturbance acting on LCT.

关键词： instrumentation:miscellaneous methods:analytical methods:numerical telescopes

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Circular Formation Flight control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 505-516页

作者： Yangyang Chen Rui Yu Ya Zhang Chenglin Liu School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan UniversityWuxi 214122China

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target *** from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper *** from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as *** the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)*** the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching ***,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation *** validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

关键词： Directed network external disturbance flight control unmanned aerial vehicles(UAVs)

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