检索结果-内蒙古大学图书馆

Sensorless control of PMSM Drives Using Octant Newton-Raphson Method and Reduced-Order EKF Considering Speed Reversal and Noise

引用

IEEE Transactions on Power Electronics 2025年

作者： Xiang, Fuyuan Yu, Ke Chen, Congyan Li, Shihua Southeast University School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

For back electromotive force-based sensorless control in permanent magnet synchronous motor (PMSM) drives, the conventional phase-locked loop (PLL) exhibits a ±π position estimation error during speed reversal. This paper presents an octant Newton-Raphson method (ONRM) based PLL, which employs a newly defined objective function and a position octant method. It not only ensures the position estimation converges correctly during speed reversal but also improves dynamic performance compared to the conventional PLL. The applicability condition of the ONRM in the presence of noise is also analyzed in detail. Subsequently, due to the noise sensitivity of the ONRM, a reduced-order extended Kalman filter is designed to filter out the non-Gaussian noise in the position estimation while simultaneously estimating the speed. The effectiveness of the proposed sensorless control scheme is verified on a 1.5 kW PMSM drive platform. © 1986-2012 IEEE.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

End-to-end multi-task reinforcement learning-based UAV swarm communication attack detection and area coverage

引用

Knowledge-Based systems 2025年 316卷

作者： Yu, Jin Zhang, Ya Sun, Changyin School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

This paper proposes an innovative end-to-end multi-task reinforcement learning framework designed to enhance the security and operational stability of UAVs in complex communication attacks environments. In scenarios involving multiple UAV coverage, the framework classifies attack types and predicts UAV behaviors, which enables rapid response and compromised data recovery. First, a spatiotemporal attention mechanism is employed to strengthen the network by capturing temporal dependencies in the communication data and improving the recognition of hybird attack mode, thereby facilitating the integration of detection and repair. Second, the causal inference mechanism introduced in this study extracts true causal relationships from interference, which ensures the accuracy and stability of action predictions for area coverage under attack conditions. Finally, the entire process is modeled as a multi-task Markov decision process, optimizing overall decision-making efficiency. Additionally, the dynamic pheromone induction mechanism is proposed to realize the adaptive regional cooperative coverage of multiple UAVs. The experimental results demonstrate that the proposed algorithm can effectively detect hybrid attacks and predict UAV actions, protecting the multi-UAV cooperative area coverage. © 2025

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Context-Aided Semantic-Aware Self-Alignment for Video-Based Person Re-Identification

引用

IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Ran, Zhidan Xiao, Zhiyao Lu, Xiaobo Wei, Xuan Liu, Wei Southeast University School of Automation Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China

Video-based person re-identification (Re-ID) aims at associating the video sequences of the identical person across multiple cameras. The ubiquitous appearance misalignment poses a major obstacle for video person Re-ID. Existing alignment-based methods generally rely on off-the-shelf semantic parsing models to locate visible human parts, which ignore identifiable personal belongings and cannot handle various interferences (e.g., pedestrian detection errors and occlusions) in video clips. In this work, we propose a novel framework termed Context-Aided Semantic-Aware Self-Alignment (CSSA) for video-based person Re-ID. First, we propose to jointly learn pixel-level part-aligned representations and semantic-aligned global-level representations in an end-to-end manner. Unlike most existing approaches that depend on prior information in terms of pose for part estimation, CSSA can locate different body parts and achieve the pixel-level semantic alignment without extra human topology semantics. Second, a Context-Aided Region Enhancement (CARE) module is proposed to efficiently highlight macro-visual patterns associated with the target pedestrian and suppress noise caused by factors like background clutters and occlusions. Third, we propose a Semantic-Aware Global Feature Alignment (SGFA) method for generating pair-wise semantic-aligned global representations, which play an essential role in both the training and inference phases. Extensive experimental results on multiple challenging benchmarks indicate the superiority and effectiveness of the proposed CSSA. © 1991-2012 IEEE.

关键词： Semantic Segmentation

来源：评论

学校读者我要写书评

暂无评论

Haptic-Aided Navigation Vehicle: Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios

引用

Journal of Shanghai Jiaotong University (Science) 2025年 1-9页

作者： Li, Mingwang Li, Xinde Zhang, Zhentong Zhang, Zeyu Zhao, Haoming School of Software Southeast University Suzhou Jiangsu215000 China School of Automation Southeast University Nanjing210018 China School of Cyber Science and Engineering Southeast University Nanjing211102 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Nanjing214135 China Nanjing Center for Applied Mathematics Nanjing211135 China Southeast University Shenzhen Research Institute Shenzhen Guangdong518063 China

As autonomous mobile robots are increasingly deployed in complex environments, traditional vision sensors and LiDAR encounter considerable limitations, particularly in detecting obstacles in blind spots or transparent objects. To address the issue of blind spots, we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle (HANV). This system integrates haptic sensors and LiDAR to deliver comprehensive perception, significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors. To tackle the challenge of transparent obstacles, which are often undetected by both vision and LiDAR sensors, we employ a fusion of haptic sensors and LiDAR. The haptic system provides physical contact feedback, ensuring reliable detection of transparent obstacles such as glass, while LiDAR offers long-range sensing capabilities. This combination enables HANV to navigate effectively in environments with transparent obstacles, overcoming the limitations of traditional sensing systems. Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles. HANV achieves high success rates, minimal collisions, and efficient obstacle avoidance, particularly excelling in complex, confined spaces where conventional systems prove inadequate. These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments. (Figure presented.) © Shanghai Jiao Tong University 2025.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Energy-based Swing-up control of the Soft Inverted Pendulum with Affine Curvature

引用

Nonlinear Dynamics 2025年 1-20页

作者： Wang, Yongjia Xin, Xin School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Institute of Intelligent Unmanned Systems Southeast University Nanjing China

This paper studies the energy-based swing-up control of an underactuated soft inverted pendulum, a template model of soft robots with its base attached to the ground and its curvature described by an affine function. First, this paper presents a necessary and sufficient condition for the linear controllability of the robot around its upright equilibrium point (UEP). Next, without any constraint on its stiffness, this paper derives an energy-based controller to swing up the robot to its UEP, where the pendulum is in its upright position, and provides a necessary and sufficient condition such that the controller is free of singular points. Then, this paper characterizes the patterns of closed-loop equilibrium points with respect to the physical parameters of the pendulum and the gains of the derived controller, and analyzes the closed-loop motion corresponding to the special case in which desired convergence of the total mechanical energy is achieved. In such case, this paper reveals that the UEP is generically the unique closed-loop equilibrium point, and provides clarification regarding its stability. These results serve as guidelines of the design of soft robots and the tuning of control gains to achieve the desired performance of the swing-up control. Finally, this paper conducts numerical simulations to validate the theoretical results and to demonstrate the effectiveness and performance of the derived controller in swinging up the robot to its UEP from initial states far from the UEP, even under the challenging condition of very low stiffness.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Orthogonal Time Frequency Space with Sub-Band Index Modulation

引用

IEEE Communications Letters 2025年第5期29卷 1047-1051页

作者： Zhang, Si-Yu Zhang, Yue-Xia Shahrrava, Behnam Beijing Information Science and Technology University Key Laboratory of Modern Measurement and Control Technology Ministry of Education Key Laboratory of Information and Communication Systems Ministry of Information Industry School of Information and Communication Engineering Beijing100101 China University of Windsor Department of Electrical and Computer Engineerning Windsor N9B 3P4 Canada

This letter proposes an innovative orthogonal time-frequency space with sub-band index modulation (OTFS-SBIM) scheme. To overcome the complexity and spectral efficiency (SE) limitations inherent in the OTFS-IM, this study introduces a transmission mechanism where sub-carriers are equally divided into two sub-bands, and the index modulation (IM) operations are restricted to a single sub-band. To offset the potential SE loss, the proposed OTFS-SBIM employs a band-controlling bit β and performs IM independently in the in-phase and quadrature (I/Q) dimensions. These improvements ensure both the diversity gain and enhanced bit error rate (BER) performance. Further, a low-complex maximum likelihood (ML) detection is proposed for bit recovery. Finally, analytical expressions for average bit error probability (ABEP) and peak-to-average power ratio (PAPR) are derived and used to evaluate the OTFS-SBIM’s performance. Simulation results demonstrate that the proposed scheme outperforms the OTFS-IM scheme in terms of the BER and PAPR metrics while maintaining higher SE. © 1997-2012 IEEE.

关键词： Signal modulation

来源：评论

学校读者我要写书评

暂无评论

Lyapunov-based stochastic model predictive control of stochastic nonlinear systems with input-delay using multi-dimensional Taylor network

引用

Journal of the Franklin Institute 2025年第9期362卷

作者： Zheng, Xiao-Yi Yan, Hong-Sen Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Jiangsu Nanjing210096 China School of Automation Southeast University Jiangsu Nanjing210096 China

Most of the existing stability control approaches to stochastic nonlinear systems with input-delay are based on robust mechanisms, which tend to be too conservative. Here, a Lyapunov-based stochastic model predictive control (LSMPC) scheme using the Fokker–Planck equation (FPE) is proposed to solve the problem. In the framework of the LSMPC approach, input-delay is compensated by the predictor feedback strategy, and the LSMPC method is extended to stochastic nonlinear systems with input-delay. FPE is introduced to describe the dynamic evolution of the probability density function (PDF) for stochastic nonlinear systems. The multi-dimensional Taylor network (MTN) is applied for approximating the solution of FPE. The proposed FPE-based LSMPC method proves to be capable of securing the probabilistic feasibility and stability of the closed-loop system. The closed-loop states turn out to succeed in converging to the small region around the origin in probability. The validity of the presented scheme is verified by an example. © 2025 The Franklin Institute

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

Targetless Automatic Edge-to-Edge Extrinsic Calibration of LiDAR-Camera System Based on Pure Laser Reflectivity

引用

IEEE Transactions on Instrumentation and measurement 2025年 74卷

作者： Zhu, Weijie Shan, Shuo Tong, Chaoliu Zhang, Kanjian Wei, Haikun Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Nanjing210096 China

High-precision calibration of LiDAR and cameras is an essential precondition for multi-sensor fusion systems. Since controlled targets are not always available in field, targetless calibration methods have emerged as a practical alternative to traditional target-based approaches. However, the complexity and variability of natural scenes pose significant challenges to feature extraction and matching in the targetless calibration process. To address these issues, this paper proposes a targetless, automatic edge-to-edge calibration method based solely on laser reflectivity, aimed at enhancing calibration accuracy and feature consistency in the LiDAR-Camera calibration (LCC) task. Traditional methods primarily focus on the 3D information of LiDAR point clouds for feature detection. In contrast, the proposed method leverages the superior capabilities of laser reflectivity to perceive color, depth, and material properties. This strategy enables robust edge feature consistency in 2D, thereby enhancing overall calibration accuracy. Experimental results demonstrate that the proposed method reduces translation error by an average 61.9% compared to existing state-of-the-art targetless approaches, offering enhanced feature extraction accuracy and robustness, particularly in complex and unstructured environments. © 1963-2012 IEEE.

关键词： Digital cameras

来源：评论

学校读者我要写书评

暂无评论

Composite-mask GAN based on refined optical flow and disparity map for SLAM visual odometry

引用

Optoelectronics Letters 2025年

作者： JI Yuehui JIANG Jingwei LIU Junjie SONG Yu GAO Qiang School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory of Control Theory and Application for Complex Systems

Although deep learning methods have been widely applied in slam visual odometry over the past decade with impressive improvements， the accuracy remains limited in complex dynamic environments. In this paper， a composite mask-based generative adversarial network is introduced to predict camera motion and binocular depth maps. Specifically， a perceptual generator is constructed to obtain the corresponding parallax map and optical flow from between two neighboring frames. Then， an iterative pose improvement strategy is proposed to improve the accuracy of pose estimation. Finally， a composite mask is embedded in the discriminator to sense structural deformation in the synthesized virtual image， thereby increasing the overall structural constraints of the network model， improving the accuracy of camera pose estimation， and reducing drift issues in the Visual Odometer. Detailed quantitative and qualitative evaluations on the KITTI dataset show that the proposed framework outperforms existing conventional， supervised learning and unsupervised depth VO methods， providing better results in both pose estimation and depth estimation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Congruent-transformation-based stability criterion of T-S fuzzy systems with time-varying delay via the generalized line-integral Lyapunov function

引用

IEEE Transactions on Automation Science and engineering 2025年 22卷 14669-14678页

作者： Liu, Zhou-Zhou Jin, Li He, Yong China University of Geosciences School of Automation Wuhan430074 China China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

This paper is concerned with the stability analysis of Takagi-Sugeno (T-S) fuzzy systems with time-varying delays. First, by constructing a generalized line-integral Lyapunov function (GLILF), applying the free-matrix-based inequality and the delay-derivative-dependent free-weighting-matrices method, a basic stability criterion is derived. Besides, the structure of the matrices in the stability criterion is reconstructed through congruent transformation, and an improved stability criterion is derived accordingly. To clarify the advancement of the proposed method, a stability condition is given without the GLILF. Finally, two numerical examples and a practical example are applied to show the advancement and merits of the presented method. © 2004-2012 IEEE.

关键词： Lyapunov functions

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：