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7th International Conference on Intelligent Robotics and control engineering, IRCE 2024

作者： Zhang, Chunli Xie, Yuwei Yan, Lei Qian, Fucai Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing College of Automation and Information Engineering Xi'an China

ISBN: (纸本)9798350352399

In this paper, high-speed train is regarded as a single prime point, a new tracking control method combining adaptive control and Kalman filtering is proposed. This paper solves the noise interference problem in the tracking control process of high-speed train. The method first linearises the original system, then uses Kalman filtering to do model estimation, and the controller is designed for the predictive model through adaptive control. Finally, MATLAB is used to simulate and verify the effectiveness of this method. This proposed method successfully solves the problems of nonlinearity, noise interference and unknown parameters in system. The error caused by resistance in the high-speed train tracking control process can be dealt with effectively. © 2024 IEEE.

关键词： Kalman filters

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Adaptive RBF neural-networks control for a class of time-delay nonlinear systems

Adaptive RBF neural-networks control for a class of time-del...

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作者： Zhu, Qing Fei, Shumin Zhang, Tianping Li, Tao Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Jiangsu Nanjing 210096 China College of Information Engineering Yangzhou University Jiangsu Yangzhou 225009 China

A control scheme combined with backstepping, radius basis function (RBF) neural networks and adaptive control is proposed for the stabilization of nonlinear system with input and state delay. By using state transformation, the original system is converted to the system without input delay. The RBF neural network is employed to estimate the unknown continuous function. The controller is designed for the converted system so that the closed-loop system is bounded. According to the relation between the original system and the converted one, the state of the original system is proved to be bounded. The control scheme ensures that the closed-loop system is semi-globally uniformly ultimately bounded. © 2008 Elsevier B.V. All rights reserved.

关键词： Backstepping

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Impedance control with New Inner Torque loop for Compliant Joints and Its Performance Analysis 36

Impedance Control with New Inner Torque loop for Compliant J...

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第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

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Handwritten character recognition based on weighted integral image and probability model 8th

Handwritten character recognition based on weighted integral...

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8th International Conference on Image and Graphics, ICIG 2015

作者： Wu, Jia Da, Feipeng Wang, Chenxing Gai, Shaoyan College of Automation Southeast University Nanjing Jiangsu210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9783319219622

A system of the off-line handwritten character recognition based on weighted integral image and probability model is built in this paper, which is divided into image preprocessing and character recognition. The objects of recognition are digitals and letters. In the image preprocessing section, an adaptive binarization method based on weighted integral image is proposed, which overcomes the drawbacks in the classic binarization algorithms: noise sensitivity, edge coarseness, artifacts etc.;In the character recognition section, combined with statistical features and structural features, an probability model based on the Bayes classifier and the principle of similar shapes is developed. This method achieves a high recognition rate with rapid processing, strong anti-interference ability and fault tolerance. © Springer International Publishing Switzerland 2015.

关键词： Fault tolerance

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Fringe image processing based on structured light series

Fringe image processing based on structured light series

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2009 International Conference on Optical Instruments and Technology, OIT 2009

作者： Gai, Shaoyan Da, Feipeng Li, Hongyan Key Laboratory of Measurement and Control for Complex System Ministry of Education Southeast University Nanjing Jiangsu 210096 China Research Institute of Automation Southeast University Nanjing Jiangsu 210096 China

ISBN: (纸本)9780819478993

The code analysis of the fringe image is playing a vital role in the data acquisition of structured light systems, which affects precision, computational speed and reliability of the measurement processing. According to the self-normalizing characteristic, a fringe image processing method based on structured light is proposed. In this method, a series of projective patterns is used when detecting the fringe order of the image pixels. The structured light system geometry is presented, which consist of a white light projector and a digital camera, the former projects sinusoidal fringe patterns upon the object, and the latter acquires the fringe patterns that are deformed by the object's shape. Then the binary images with distinct white and black strips can be obtained and the ability to resist image noise is improved greatly. The proposed method can be implemented easily and applied for profile measurement based on special binary code in a wide field. © 2009 SPIE.

关键词： Data acquisition

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City-specific vehicle emission control strategies to achieve stringent emission reduction targets in China's Yangtze River Delta region

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Journal of Environmental Sciences 2017年第1期29卷 75-87页

作者： Shaojun Zhang Ye Wu Bin Zhao Xiaomeng Wu Jiawei Shu Jiming Hao University of Michigan Department of Mechanical EngineeringAnn ArborMI 48109USA Tsinghua University State Key Joint Laboratory of Environment Simulation and Pollution ControlSchool of EnuironmentBeijing 100084China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China Joint Institute for Regional Earth System Science and Engineering Department of Atmospheric and Oceanic SciencesUniversity of CaliforniaLos AngelesCalifornia 90095USA

The Yangtze River Delta（YRD） region is one of the most prosperous and densely populated regions in China and is facing tremendous pressure to mitigate vehicle emissions and improve air *** assessment has revealed that mitigating vehicle emissions of NOx would be more difficult than reducing the emissions of other major vehicular pollutants（e.g.,CO,HC and PM_（2.5）） in the YRD *** in Shanghai,where the emission control implemented are more stringent than in Jiangsu and Zhejiang,we observed little to no reduction in NOx emissions from 2000 to ***-reduction targets for HC,NOx and PM_（2.5） are determined using a response surface modeling tool for better air *** design city-specific emission control strategies for three vehicle-populated cities in the YRD region：Shanghai and Nanjing and Wuxi in *** results indicate that even if stringent emission control consisting of the Euro 6/VI standards,the limitation of vehicle population and usage,and the scrappage of older vehicles is applied,Nanjing and Wuxi will not be able to meet the NOx emissions target by ***,additional control measures are proposed for Nanjing and Wuxi to further mitigate NOx emissions from heavy-duty diesel vehicles.

关键词： Vehicle Emission control Scenario Yangtze River Delta

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Rotating machinery fault diagnosis based on improver resonance sparse decomposition

Rotating machinery fault diagnosis based on improver resonan...

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7th International Symposium on Test Automation and Instrumentation, ISTAI 2018

作者： Yang, Wei Wang, Hongjun School of Electromechanical Engineering BISTU Beijing100192 China Key Laboratory of Modern Measurement and Control Technology BISTU Beijing100192 China Beijing Key Laboratory of Mechanical-Electronic System Measurement and Control BISTU Beijing100192 China

Fault diagnosis of rotating machinery plays an important role for the reliability and safety of modern industrial systems, and it is challenging to detect the weak character signal in the noisy background. This article presents an improved resonance sparse decomposition method for fault diagnosis of rolling bearings. The PSO algorithm is used to optimise the quality factor of the resonance sparse decomposition, which can overcome the deficiency caused by the manual given quality factor in the traditional resonance sparse decomposition method and achieve the effective separation of resonance components. An envelope analysis of the low-resonance decomposition including the major fault components was performed to extract the fault feature frequency. Based on this, the two decomposition methods are applied to the fault diagnosis of the inner and outer rings of the bearing, respectively. The experimental results show that the improved resonance sparse decomposition method can reduce the interference components when extracting the frequency of fault features and improve the accuracy of fault diagnosis. © 2019 Institution of engineering and Technology. All rights reserved.

关键词： Failure analysis

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Design of neural network disturbance observer using RBFN for complex nonlinear systems

Design of neural network disturbance observer using RBFN for...

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作者： Li, Juan Yang, Jun Li, Shihua Chen, Xisong School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China

ISBN: (纸本)9789881725592

To solve the difficulty that the applications of disturbance observer (DOB) approaches have been limited to minimum phase systems, a neural network disturbance observer using RBFN (RBFNDOB) is proposed for complex nonlinear systems, i.e., minimum phase system and non-minimum phase system, which may be with matching or mismatching disturbances. The proposed RBFNDOB is a simple modification of the original DOB by using a RBFN to identify the inverse model of system which can track the parameter variations of real system by an on-line learning algorithm. The non-minimum phase system can be transformed into minimum phase system by constructing a pseudo-system to solve the zero dynamics in the right half plane. The RBFNDOB combining with a feedback controller can effectively suppress the disturbances of the closed-loop systems. The effectiveness and validity of the proposed control algorithm can be verified by simulations. © 2011 Chinese Assoc of Automati.

关键词： Closed loop systems

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GPI observer-based composite current-constrained control approach for DC–DC buck converters

GPI observer-based composite current-constrained control app...

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2019 Jiangsu Annual Conference on Automation, JACA 2019

作者： Wang, Zuo Guo, Tianliang Wang, Xiangyu Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China

In this study, overcurrent protection technique is investigated for the voltage regulation problem of the DC–DC buck converter system with time-varying disturbances and uncertainties. Normally, fast dynamics during the start-up phase generates large transient current. The overlarge transient current may lead to risks of hardware damage. By selecting conservative control parameters, the current constrained performance can be realised. However, the transient performance and disturbance rejection ability are sacrificed. It is of significant importance to design a controller which keeps a good balance between dynamic performance and overcurrent protection. Moreover, the control accuracy is inevitable affected by the time-varying disturbances effects, including load variations, input voltage fluctuations and circuit parameter perturbations. In this paper, the control design is divided into two parts. Firstly, by inserting a dynamic penalty term into the state feedback controller, a baseline current-constrained scheme is developed. Rigorous stability analysis and current constraint performance are given under the presented baseline controller. Secondly, taking the time-varying disturbances into account, a novel GPI observer-based composite current-constrained controller can be developed by combining disturbance estimations and the baseline controller. Experimental results are provide to demonstrate the effectiveness of the presented control strategy. © 2019 Institution of engineering and *** rights reserved.

关键词： controllers

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Nonlinear L2 disturbance attenuation control design of UPFC for power flow control 29

Nonlinear L2 disturbance attenuation control design of UPFC ...

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第29届中国控制与决策会议

作者： Xingyu Lv Bangjun Lei Shumin Fei Office of Educational Administration Guizhou Institute of Technology School of Electrical and Information Engineering Guizhou Institute of Technology Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

ISBN: (纸本)9781509046584

A nonhnear L disturbance attenuation control（DAC） of unified power flow controller（UPFC） is investigated in power system by using Hamiltonian function ***,the dissipative Hamiltonian structure of the UPFC system is established by means of variable ***,based on the obtained dissipative Hamiltonian structure,a nonhnear L DAC is put *** results on the two-area four-machine power system demonstrate the effectiveness and robustness of the nonhnear L DAC in comparison with that of direct feedback linearization control（DFLC） and add-On self-tuning（ST） control and PI *** research results show that the nonhnear L DAC has better performance than the other controls.

关键词： UPFC uncertain nonlinear dynamical system Hamiltonian function method nonlinear L2 DAC

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