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IEEE Conference on Decision and control

作者： Wenwen Wu Shanying Zhu Shuai Liu Xinping Guan Department of Automation Shanghai Jiao Tong University Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China School of Control Science and Engineering Shandong University Jinan China

The Industrial Internet of Things (1IoT) gradually becomes a new paradigm for information exchange in the industrial production environment. To ensure the high reliability of IloT services, an efficient resource allocation method with good robustness is urgently needed under complex industrial environments. This paper considers the distributed constraint- coupled resource allocation problem with noisy information exchange over an undirected network, where each agent holds a private cost function and obtains the solution via only local communications. Communication noise poses a challenge to gradient-tracking based algorithm as the impact of noise will accumulate and its variance tends to infinity when the noise is persistent. Adopting noise-tracing scheme, we propose an exact noise-robust distributed gradient-tracking algorithm to achieve cost-optimal distribution of resources, which can avoid noise-accumulation in the tracking step. Moreover, noise suppression parameters are introduced to further attenuate the impact of noise. With diminishing suppression parameters, it is theoretically proved that the proposed algorithm is able to achieve exact convergence to the optimal solution. Finally, a numerical example is provided for verification.

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Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law Yun Huang Edmond Q.Wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

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Direction-Constrained control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks

arXiv

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arXiv 2024年

作者： Xu, Mengxin Wan, Weiwei Wang, Hesheng Harada, Kensuke Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-0043 Japan Department of Automation the Key Laboratory of System Control and Information Processing of Ministry of Education the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however, cannot be directly applied to human interaction due to its allowance of arbitrary velocity direction adjustments. To resolve this limitation, we introduce the concept of directional constraints and develop a direction-constrained optimization algorithm to handle the nonlinearities induced by these constraints. The algorithm solves two sub-problems, minimizing the error and minimizing the deviation angle, in parallel, and combines the results of the two sub-problems to produce a final optimal outcome. The mutual influence between these two sub-problems is analyzed to determine the best parameter for combination. Additionally, the velocity objective in our control framework is computed using a variable admittance controller. Traditional admittance control does not account for constraints. To address this issue, we propose a variable admittance control method to adjust control objectives dynamically. The method helps reduce the deviation between robot velocity and human intention at the constraint boundaries, thereby enhancing interaction efficiency. We evaluate the proposed method in scenarios where a human operator physically interacts with a 7-degree-of-freedom robotic arm. The results highlight the importance of incorporating directional constraints in pHRI for hierarchical tasks. Compared to existing methods, our approach generates smoother robotic trajectories during interaction while avoiding interaction delays at the constraint boundaries. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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Digital-Twin-Based Clock Synchronization in Industrial IoT systems

Digital-Twin-Based Clock Synchronization in Industrial IoT S...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Ting Cheng Shuai Liu Qimin Xu Shanying Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China School of Control Science and Engineering Shandong University Jinan China

Close and efficient cooperation between devices in the Industrial Internet of Things (IIoT) requires precise clock synchronization as a prerequisite. The uncertainty of IIoT networks and the complexity of industrial environments have led to less precise clock synchronization achieved by traditional algorithms and higher network resource consumption. This paper proposes a digital-twin-based clock synchronization scheme for IIoT systems. By building the digital model for each local clock to predict their clock skew, the information interaction required to achieve synchronization is reduced. In order to model the clock accurately, this paper proposes to use the extended state Kalman filter to handle uncertain dynamics and unknown measurement bias to improve the estimation accuracy of clock skew further. The simulation results show that the proposed algorithm can achieve high- precision clock synchronization while reducing the consumption of network resources.

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control Barrier Function-Based Force Constrained Safety Compliance control for Manipulator

Control Barrier Function-Based Force Constrained Safety Comp...

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International Conference on Automation and Computing (ICAC)

作者： Haiyan Liang Xinming Wang Jianliang Mao Jun Yang The Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing China College of Automation Engineering Shanghai University of Electric Power Shanghai PR China Department of Aeronautical and Automotive Engineering Loughborough University Loughborough UK

In this paper, a safety-critical compliance control with force constraint is proposed for the interaction task of a manipulator in the Cartesian space. Different from the conventional impedance control approach, the interaction force constraint is considered and interpreted by designing a new Force Constrained control Barrier Function (FCCBF) with exploiting the environment model. By formulating and solving a quadratic programming with modifying the baseline impedance controller under the FCCBF constraint, the proposed controller can not only make manipulator's interaction process satisfy expected compliance without exceeding permissible contact force range, but can also improve the dynamic characteristics of the system by eliminating force overshooting phenomena. Furthermore, with using the technique of nonlinear disturbance observer, a force sensor-less FCCBF approach is also provided, where the contact force is treated as an external disturbance. Finally, the effectiveness of the proposed algorithms is verified by both simulations and experimental tests on a 6 degree-of-freedom manipulator.

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Virtual Inertia control Strategy for Photovoltaic Power Generation Based on Improved Incremental Conductance Method 7

Virtual Inertia Control Strategy for Photovoltaic Power Gene...

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7th Asia Conference on Power and Electrical engineering, ACPEE 2022

作者： Gao, Zhimin Cao, Yongji Zhang, Hengxu Qin, Hao Yang, Dong Ma, Huan Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan China Technical University of Denmark Department of Electrical Engineering Kgs. Lyngby Denmark Institute State Grid Shandong Electric Power Company State Grid Shandong Electric Power Research Jinan China

ISBN: (纸本)9781665418195

The large-scale integration of renewable energy units such as wind and photovoltaic power has greatly reduced the equivalent rotational inertia of the power system. PV arrays are static generating elements and have no inertial response without additional control. In order to improve the stability of renewable energy grid operation, this paper proposes a virtual inertia control strategy for photovoltaic power generation by improving the incremental conductance method. This paper firstly introduces the working principle and model of the PV array, and then improves the incremental conductance method based on PI controller to propose PV power generation power reserve control strategy. The PV output is changed for inertial support based on droop control and virtual inertia control by detecting grid frequency changes. Simulation results show that this control strategy results in a better inertial response of the photovoltaic power system. © 2022 IEEE.

关键词： Power control

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Quantitative Analysis of Frequency Dynamics in Real Power system 7

Quantitative Analysis of Frequency Dynamics in Real Power Sy...

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7th Asia Conference on Power and Electrical engineering, ACPEE 2022

作者： Qin, Hao Cao, Yongji Zhang, Hengxu Gao, Zhimin Yang, Dong Ma, Huan Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan China Technical University of Denmark Department of Electrical Engineering Kgs. Lyngby Denmark State Grid Shandong Electric Power Company State Grid Shandong Electric Power Research Institute Jinan China

ISBN: (纸本)9781665418195

As the proportion of renewable energy sources increases, the randomness and volatility of the frequency increase, and its dynamic behaviors are becoming more complex. In order to clearly characterize the frequency fluctuation characteristics of the power system, the long-term statistical characteristics are analyzed based on the measured data. The bimodal normal distribution is used, and the measured frequency is decomposed into continuous and short-time-scale components using the moving average method. Based on historical data, the derivation law of the frequency fluctuation characteristics of regional power system is explored, and it is found that the frequency fluctuation characteristics of different regions continue to differentiate, and the characteristics of the sending-end power system frequency being higher than the rated frequency and relatively drastic fluctuations are becoming more and more obvious. © 2022 IEEE.

关键词： Normal distribution

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Real-time Semantic Segmentation of Solar Photovoltaic Arrays for Autonomous UAV Flights

Real-time Semantic Segmentation of Solar Photovoltaic Arrays...

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第43届中国控制会议

作者： Nanyan Li Hao Chen Zhigang Sun Jing Gao Dewei Yi Cunjia Liu Jinya Su School of Automation Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education Southeast University State Grid Jiangsu Integrated Energy Service Co. Ltd. Department of Computing Science University of Aberdeen Department of Aeronautical and Automotive Engineering Loughborough University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper considers the real-time semantic segmentation of solar PhotoVoltaic(PV) arrays using down-facing cameras onboard Unmanned Aerial Vehicles(UAVs) to support autonomous navigation for ultra-low altitude industrial inspection. Various semantic segmentation algorithms, including SegNet, UNet, Deeplabv3+, and their respective variants, are compared to identify the most suitable one that strikes a balance between segmentation and real-time performance. Subsequently, each video frame is processed by the selected segmentation network to create a solar array mask. This mask is then optimally fitted to diverse solar array shapes to determine angular and horizontal deviations between the image center and the solar array center-line. The algorithms are validated on a self-constructed dataset of 594 solar PV array UAV images, encompassing varied environmental conditions and solar farm layouts. The top-performing network, lightweight vgg16bn-Unet, achieves 99.4% overall accuracy and 98.2% Intersection over Union(IoU), while the most balanced network, mobilev3-Deeplabv3+, attains 98.9% accuracy and96.5% IoU, with a 27.59 fps(using an NVIDIA GeForce MX150 GPU) suitable for real-time UAV flights.

关键词： CNN Machine Vision Solar Inspection UAV Navigation Real-time and Embedded systems

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Passivation of degradation path enables high performance perovskite nanoplatelet lasers with high operational stability

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Photonics Research 2022年第6期10卷 1440-1452页

作者： GUOHUI LI HUIHUI PI YANFU WEI BOLIN ZHOU YA GAO RONG WEN YUYING HAO HAN ZHANG BENG S.ONG YANXIA CUI College of Physics and Optoelectronics Key Laboratory of Interface Science and Engineering in Advanced MaterialsKey Laboratory of Advanced Transducers and Intelligent Control System of Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Collaborative Innovation Centre for Optoelectronic Science and Technology Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong ProvinceCollege of Physics and Optoelectronic EngineeringShenzhen Key Laboratory of Micro-Nano Photonic Information TechnologyGuangdong Laboratory of Artificial Intelligence and Digital Economy(SZ)Shenzhen UniversityShenzhen 518060China Department of Chemistry Research Centre of Excellence for Organic ElectronicsInstitute of Advanced MaterialsHong Kong Baptist UniversityKowloon TongHong KongChina

MAPbI_(3)perovskite has attracted widespread interests for developing low-cost near infrared semiconductor gain ***,it faces the instability issue under operation conditions,which remains a critical *** is found that the instability of the MAPbI_(3)nanoplatelet laser comes from the thermal-induced degradation progressing from the surface defects towards neighboring *** using PbI_(2) passivation,the defect-initiated degradation is significantly suppressed and the nanoplatelet degrades in a layer-by-layer way,enabling the MAPbI_(3)laser to sustain for 4500 s(2.7×10^(7) pulses),which is nearly three times longer than that of the nanoplatelet laser without ***,the PbI_(2) passivated MAPbI_(3)nanoplatelet laser with the nanoplatelet cavity displays a maximum quality factor up to∼7800,the highest reported for all MAPbI_(3)nanoplatelet ***,a high stability MAPbI_(3)nanoplatelet laser that can last for 8500 s(5.1×10^(7) pulses)is demonstrated based on a dual passivation strategy,by retarding the defect-initiated degradation and surface-initiated degradation *** work provides in-depth insights for understanding the operating degradation of perovskite lasers,and the dual passivation strategy paves the way for developing high stability near infrared semiconductor laser media.

关键词： stability initiated high

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Sensor-based Multi-Robot Coverage control with Spatial Separation in Unstructured Environments

Sensor-based Multi-Robot Coverage Control with Spatial Separ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xinyi Wang Jiwen Xu Chuanxiang Gao Yizhou Chen Jihan Zhang Chenggang Wang Yulong Ding Ben M. Chen Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai P. R. China Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information system), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others.

关键词： Point cloud compression system recovery Robot sensing systems Sensors Safety Multi-robot systems Task analysis

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