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Adaptive sliding mode control of electromechanical actuator with improved parameter estimation

Adaptive sliding mode control of electromechanical actuator ...

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作者： Li, Hao Bai, Yongqiang Su, Zhong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China Key Laboratory of Modern Measurement and Control Technology Beijing Information Science and Technology University Ministry of Education Beijing 100101 China

ISBN: (纸本)9788995605646

An adaptive sliding mode control scheme for electromechanical actuator has been presented. The adaptive control strategy can estimate the uncertain parameters and adaptively compensate the modeled dynamical uncertainties, while the sliding mode control method overcomes the unmodelled dynamics. In the adaptive law an equivalent output injection of the sliding mode observer which contains the parameter estimation error is used, and estimates of parameters can approximate the true values without prediction-error that is typically used in compositive adaptive law. Due to the improved estimation of uncertain parameters, the sliding mode law can robustifies the design against model uncertainties with a small swithcing gain. Stability of the system with the proposed approach has been proved and it has also been shown that the system states can reach the sliding mode in finite time. Finally, the effectiveness of the proposed control scheme has been exhibited via simulation examples. © 2011 Asian control Association.

关键词： Parameter estimation

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The Development and Industry Risks of New Energy Vehicles in China

The Development and Industry Risks of New Energy Vehicles in...

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2022 International Conference on Statistics, Data Science, and Computational Intelligence, CSDSCI 2022

作者： Tang, Xi-Ru Wang, Bin Institute of Urban System Engineering Beijing Academy of Science and Technology Beijing100035 China Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100192 China

ISBN: (纸本)9781510661325

The development of the new energy automobile industry is an important direction to accelerate the construction of a powerful automobile country, and it is also an effective means to break the constraints of energy and environment, which is of great strategic significance to China. In this article, based on the perspective of the development of the overall new energy vehicle industry, we analyze the market size and development stage of China's new energy vehicle industry, and explore the characteristics of the industry's development. Further, this paper analyzes the industry risks of the future development of new energy vehicles under the background of the imminent withdrawal of government financial subsidies and the transition of the new energy vehicle industry from policy-driven to market-driven, and provides theoretical support for the healthy and sustainable development of Chinese new energy vehicle industry. © 2023 SPIE.

关键词： Automotive industry

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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

Global output feedback stabilization for a class of nonlinea...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Wang, Xiangyu Qian, Chunjiang Li, Shihua School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9783902823458

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme. Copyright © 2013 IFAC.

关键词： Growth rate

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Improved Fourier transform profilometry based on color pattern projection

Improved Fourier transform profilometry based on color patte...

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Chinese Conference on Pattern Recognition

作者： Huang, Hao Da, Feipeng Key Laboratory of Measurement and Control for Complex System of Ministry of Education Institute of Automation Southeast University Nanjing 210096 China

ISBN: (纸本)9781424472109

In this paper a novel 3D shape measurement technique based on color fringe projection is proposed to solve the spectrum aliasing and phase unwrapping issues existed in Fourier transform profilometry. Set the RG components of the color fringe to two different frequencies of sinusoidal pattern and the B component to the average value of R or G component. Then project the pattern to the object. Separate these RGB components of the captured color pattern and use our method to process these three gray patterns. By using the proposed method, the background and high frequency noises can be eliminated during FTP process, also the accurate unwrapped phase which contains the height information can be got by using two frequencies of wrapped phase to unwrap the phase. Only one frame color pattern is needed to get the 3D information of an object. Experiment results show that the 3D information of an object can be obtained rapidly and accurately using the proposed method. And also the object can be measured dynamically. ©2010 IEEE.

关键词： Fourier transforms

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RGB-D Co-attention Network for Semantic Segmentation 15th

RGB-D Co-attention Network for Semantic Segmentation

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15th Asian Conference on Computer Vision, ACCV 2020

作者： Zhou, Hao Qi, Lu Wan, Zhaoliang Huang, Hai Yang, Xu National Key Laboratory of Science and Technology of Underwater Vehicle Harbin Engineering University Harbin China The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783030695248

Incorporating the depth (D) information for RGB images has proven the effectiveness and robustness in semantic segmentation. However, the fusion between them is still a challenge due to their meaning discrepancy, in which RGB represents the color but D depth information. In this paper, we propose a co-attention Network (CANet) to capture the fine-grained interplay between RGB’ and D’ features. The key part in our CANet is co-attention fusion part. It includes three modules. At first, the position and channel co-attention fusion modules adaptively fuse color and depth features in spatial and channel dimension. Finally, a final fusion module integrates the outputs of the two co-attention fusion modules for forming a more representative feature. Our extensive experiments validate the effectiveness of CANet in fusing RGB and D features, achieving the state-of-the-art performance on two challenging RGB-D semantic segmentation datasets, i.e., NYUDv2, SUN-RGBD. © 2021, Springer Nature Switzerland AG.

关键词： Semantic Segmentation

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A New Accurate Method of Compensating Phase-Shifting Error

A New Accurate Method of Compensating Phase-Shifting Error

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Chinese Conference on Pattern Recognition (CCPR)

作者： Lin Zhu Feipeng Da Shaoyan Gai Key Laboratory of Measurement and Control of Complex System of Ministry of Education College of Automation South-East University Nanjing China

A new accurate phase-shifting error compensating algorithm for phase-measuring profilometry is proposed and proved. In this error detecting algorithm, we use three adjacent phase points for research object, approximately suppose that the sinusoidal fringe projection to the plate, the phase differences between adjacent pixels are equal. Then we put the phase shift error into the original algorithm for error compensation. Simulation results show the inhibitory effect of the errors after using the new algorithm for error compensation. Lastly we use the new algorithm for three-dimensional reconstruction of physical measurement. The final effect image shows obviously that the new compensation algorithm is better than the original. So this error extracting algorithm can effectively improve the accuracy of three-dimensional measurement.

关键词： Optimized production technology Phase shifting interferometry Algorithm design and analysis Optical interferometry measurement uncertainty Phase measurement Approximation algorithms

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A new accurate method of compensating phase-shifting error

A new accurate method of compensating phase-shifting error

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Chinese Conference on Pattern Recognition

作者： Zhu, Lin Da, Feipeng Gai, Shaoyan Key Laboratory of Measurement and Control for Complex System of Ministry of Education Colledge of Automation Southeast University Nanjing 210096 China

ISBN: (纸本)9781424472109

关键词： Error compensation

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Study on Self-Organizing Aggregation Method for Massive Flexible Resources and Its Simulation 4

Study on Self-Organizing Aggregation Method for Massive Flex...

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4th International Conference on Advanced Electrical and Energy systems, AEES 2023

作者： Yin, Changwei Ji, Wenlu Ye, Ting Mao, Tingfeng Zhang, Kaifeng Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Power Supply Company of State Grid Jiangsu Electric Power Co. Ltd. Nanjing China

ISBN: (纸本)9798350342659

Distributed flexible resources are developing in the trend of sea quantization. In this situation, the existing resource aggregation methods are facing bottlenecks, and it is difficult to fully exploit the regulation potential of massive flexible resources. In order to achieve efficient and flexible aggregation in the scenario of massive resources, this paper proposes a self-organizing aggregation method for flexible resources based on the social network and simulates the aggregation process under the proposed method based on the multi-agent simulation platform NetLogo. Firstly, this paper outlines the idea of the self-organizing aggregation method for flexible resources, which projects flexible resources from the physical space to the social network space, and realizes flexible aggregation through the interactive attraction between resources in the social network. Secondly, this paper establishes a simulation model for flexible resource self-organizing aggregation based on the NetLogo platform. The model defines four types of agents involved in the self-organizing aggregation process and provides detailed specifications for their attributes and interaction rules. Finally, simulation experiments are designed to verify the rationality of the self-organizing aggregation method and simulation model proposed in this paper. The simulation results show that, following the idea of self-organizing aggregation, massive flexible resources can autonomously and flexibly aggregate through the interaction attraction in the social network due to the incentive of task gain, demonstrating the effectiveness and rationality of the self-organizing aggregation method and the simulation model proposed in this paper. © 2023 IEEE.

关键词： Multi agent systems

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Improved Fourier Transform Profilometry Based on Color Pattern Projection

Improved Fourier Transform Profilometry Based on Color Patte...

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Chinese Conference on Pattern Recognition (CCPR)

作者： Hao Huang Feipeng Da Key Laboratory of Measurement and Control of Complex System of Ministry of Education Institute of Automation South-East University Nanjing China

关键词： Fourier transforms Color Shape measurement Charge coupled devices Three dimensional displays measurement by laser beam

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Robust Velocity-Regulation control of Gimbal Servo systems Using a Predictive Comprehensive Disturbance Observer

Robust Velocity-Regulation Control of Gimbal Servo Systems U...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Yang, Weifeng Jiang, Yuan Li, Shihua Nanjing Chenguang Group Co. Ltd Nanjing210008 China School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

A robust high-precision velocity-regulation controller is researched for gimbal servo systems (GSSs) in this paper, which aims to mitigate the impact of multiple adverse factors, including both the internal time-delay characteristics and external time-varying disturbances. First, to enable a more accurate estimation and compensation against disturbances of multifrequency-band under input time-delay, a generalized system modelling of GSS is developed with detailed classification and description of different uncertainties. On the basis of such a generalized model, a predictive comprehensive disturbance observer (PCDO) is designed to accurately predict both system states and multiple disturbances with multi-frequency-band. Based upon the predictions provided from PCDO, a composite controller is further constructed to ensure the closed-loop stability of GSS. A rigorous robust stability proof of the closed-loop system is presented. Simulation analysis under various uncertainties are conducted to thoroughly validate the efficacy of the proposed PCDO-based control approach. © The Institution of engineering & Technology 2024.

关键词： Time delay

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