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2023 China Automation Congress, CAC 2023

作者： Li, Xin Zhai, Chao Zhang, Hehong China University of Geosciences School of Automation Wuhan Campus Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Computer and Data Science Fuzhou University Fuzhou China

ISBN: (纸本)9798350303759

Considering the actual multi-agent coverage process, the motion trajectories are seriously affected by disturbances and noise. In this paper, a cooperative control method based on active disturbance rejection controller (ADRC) for multiple mecanum-wheeled robots (MWMR) is proposed to improve its robustness. In particular, to suppress the total disturbances during the running of each robot and reduce large computation and observation cost of high order ADRC, a reduced-order cascaded ADRC (RC-ADRC) is proposed. Moreover, distributed controller is proposed to track the expected trajectories of multiple mecanum-wheeled robots under disturbances. Compared with the proposed RC-ADRC based cooperative control scheme and PID based cooperative control one, the favorable motion trajectory tracking performance is obtained. Simulation results verify the superiority of the method. © 2023 IEEE.

关键词： controllers

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An Effective Hybrid Genetic Algorithm for the Multi-Robot Task Allocation Problem with Limited Span

SSRN

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SSRN 2024年

作者： Liu, Wenbo Kuang, Zhian Zhang, Yongcong Zhou, Bo He, Pengfei Li, Shihua School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Shanghai Friendess Electronic Technology Shanghai201100 China

Multi-robot task allocation is one of the most interesting multi-robot systems that have gained considerable attention due to various real-world applications. In this paper, we focus on a multi-robot task allocation problem where a set of industrial robots, which are installed on a gantry and have a limited working span, have to jointly perform a set of weld lines in large size. We present a mathematical model that captures the objective of minimizing the cycle time, i.e., the time required to complete a given set of weld lines. Due to the inherent difficulty of the problem, we propose an effective hybrid genetic algorithm to solve it. Because the robots are associated with a limited working span, the algorithm integrates a specific region division algorithm to divide the workpieces into a set of regions where the robots can reach all the weld lines in each region. It also incorporates a dedicated route-based crossover to generate promising offspring solutions and an effective neighborhoodbased local search procedure to improve each offspring solution as much as possible. Extensive experimental results on three benchmark instances show that the algorithm significantly outperforms reference methods. Additional experiments on real-world instances are presented to verify the algorithm’s effectiveness in solving the multi-robot task allocation problem with limited span. © 2024, The Authors. All rights reserved.

关键词： Industrial robots

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Acoustically Driven Micropipette for Hydrodynamic Manipulation of Mouse Oocytes

Acoustically Driven Micropipette for Hydrodynamic Manipulati...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhaofeng Zuo Xiaoming Liu Zhuo Chen Yuyang Li Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micromanipulation techniques that can achieve controlled fine operations at the micro scale play an important role in biomedical fields including embryo engineering, gene engineering, drug screening, and cell analysis. However, micromanipulation of biological micro-objects, such as cells and micro tissues, suffers from mechanical damage and low efficiency. Several techniques have been introduced to manipulate cells more easily, but most of them are restricted by expensive devices, limited work area, and potential damage to cellular structure. Here we develop a hydrodynamic manipulation method to rotate and transport mouse oocytes, which utilizes acoustic waves and micropipette to generate acoustic radiation force and excite microstreaming. This method can accomplish rotational and translational operations precisely and controllably. We tested the process of trapping, rotation, and transportation of the mouse oocytes, and measured rotational and translational speed with a range of applied voltage. The method was able to shorten the cost time of delivery and posture adjustment before oocyte injection. Our study provides an easy-to-use technique for oocyte manipulation without contact, and it has the potential to be universally applied in many cellular studies.

关键词： Visualization Voltage measurement Three-dimensional displays Force Transportation Hydrodynamics Biology

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Optimal Tracking Performance of Networked control systems Under DoS and its Applications

Optimal Tracking Performance of Networked Control Systems Un...

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Chinese Automation Congress (CAC)

作者： Xinyu Ren Bo Li Feng Zhao Xiangyong Chen Xianhe Zhang Xiaowei Jiang Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing Universities of Shandong Linyi University Linyi China Key Laboratory of Complex systems and Intelligent Computing School of Automation and Electrical Engineering Universities of Shandong Linyi University Linyi China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked control systems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, and bandwidth constraints. The channel noise is assumed to be additive Gaussian white noise (AWGN). Due to the randomness of DoS attack, a Bernoulli distribution is used for DoS modeling. Utilizing frequency domain analysis methods, coprime factorization, all-pass decomposition, and Youla parameterization, an explicit expression for the optimal tracking performance (OTP) of the system under the two-degree-of-freedom (TDOF) controller is derived. The analysis indicates that non-minimum phase (NMP) zeros, unstable poles (UPs), DoS attack, and network constraints affect the OTP of NCSs. Finally, the theoretical results are validated through simulations of MIMO NCS and vehicle control system.

关键词： Automation Networked control systems Frequency-domain analysis Bandwidth Interference White noise Cyber-physical systems Poles and zeros MIMO communication Multi-agent systems

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A Reinforcement Learning Based Dynamic Multi-Objective Constrained Evolutionary Algorithm for Open-Pit Mine Truck Scheduling

A Reinforcement Learning Based Dynamic Multi-Objective Const...

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2023 China Automation Congress, CAC 2023

作者： Qiu, Junxiang Li, Changhe Yang, Shengxiang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo- Exploration Ministry of Education Wuhan430074 China School of Computer Science and Informatics De Montfort University Leicester United Kingdom

ISBN: (纸本)9798350303759

Aiming at the truck scheduling problem in the open-pit mine scenario, a truck scheduling model based on real-time ore blending is established, and an adaptive evolution algorithm for truck scheduling based on DCNSGA-III is proposed. In the established scheduling model, the real-time grade variance of the crushing plant is minimized as one of the optimization objectives, and the Q-learning algorithm is introduced to adaptively select one of the most effective operators during the search process. Experiments show that the proposed method can effectively control the grade fluctuation of the ore flow and better scheduling schemes are obtained in comparison with algorithms equipped with the traditional search operator selection methods. © 2023 IEEE.

关键词： Evolutionary algorithms

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Photovoltaic Data Cleaning Method Based on DBSCAN Clustering, Quartile Algorithm and Pearson Correlation Coefficient Interpolation Method 6

Photovoltaic Data Cleaning Method Based on DBSCAN Clustering...

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6th International Conference on Energy, Electrical and Power engineering, CEEPE 2023

作者： Wang, Biyuan Deng, Xingye Chen, Taowei Li, Yidong Huizhou Power Supply Bureau Guangdong Power Grid Co Guangdong China School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (纸本)9798350348279

The proportion of photovoltaic power generation in the global energy structure is increasing year by year. Because of its volatility and periodicity, grid-connected photovoltaic challenges the safe and stable operation of power grid. One of the ways to solve this problem is data mining. Data mining needs high-quality data support, and data cleaning is one of the important means to improve data quality. Aiming at the problem of poor quality of original PV data, this paper analyzes two typical outliers of PV data and proposes a PV output data cleaning method based on Density-Based Spatial Clustering of Applications with Noise (DBSCAN) clustering algorithm, quartile algorithm and Pearson correlation coefficient interpolation method. Comparison of DBSCAN clustering algorithm combined with the quartile method of outlier identification with the quartile method alone outlier identification, the effectiveness of the method proposed in this paper is verified. Then using the method proposed in this paper for outlier identification based on Pearson correlation coefficient interpolation and cubic spline interpolation to verify the data filling effect, the results show that Pearson correlation coefficient interpolation is superior to cubic spline interpolation. Finally, two sets of data with different data cleaning methods are substituted into the Long short-term memory (LSTM) Model to verify accuracy of the cleaning method proposed in this paper. © 2023 IEEE.

关键词： Data mining

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On a Small Phase Theorem with Necessity over Phase Bounded Nonlinear Uncertainties⋆

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IFAC-PapersOnLine 2023年第2期56卷 1877-1882页

作者： Xiaokan Yang Dan Wang Wei Chen Department of Mechanics and Engineering Science Peking University Beijing 100871 China Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden State Key Laboratory for Turbulence and Complex Systems Peking University Beijing 100871 China

In this paper, we consider the feedback interconnection of a linear time-invariant (LTI) system and phase bounded uncertainties that are possibly nonlinear and/or time-varying. We devise a small phase condition and show that it is necessary and sufficient for robust stability over such phase bounded uncertainties, in a similar spirit to the well-known small gain condition being necessary and sufficient for robust stability over norm bounded uncertainties. Moreover, we show that the small phase condition can be verified using a state space characterization via linear matrix inequalities (LMIs), which extends the sectored real lemma in previous work.

关键词： Small phase theorem robust stability cone of phase bounded uncertainties

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Oscillation Trajectory Optimization and control Method for Two-Link Underactuated Manipulators

Oscillation Trajectory Optimization and Control Method for T...

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Chinese control Conference (CCC)

作者： Lejun Wang Huiming Wang Xianlun Tang Zixin Huang Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China

This paper provides an oscillation trajectory optimization and control method for two-link underactuated manipulators (UMs) in a vertical plane. The proposed method solves the problem that the UMs cannot always enter the balance region in the partitioning method. First, we establish the system dynamic model, and analyze the system couple characteristics. Then, we program an oscillation trajectory for the active link, and use the intelligent method to obtain the trajectory parameters, so ensuring the system can reach the area adjacent to the target position through tracking control. Next, we design the controller to realize the stable control at the target position. Finally, the simulation results show the effectiveness and generality of the control strategy.

关键词：

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GPIO Based Iterative Learning control for Manipulators with Time-Varying Disturbances 42

GPIO Based Iterative Learning Control for Manipulators with ...

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42nd Chinese control Conference, CCC 2023

作者： Lu, Huangyuwei Wang, Zuo Sun, Jiankun Xiao, Xi Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Shenzhen Research Institute Southeast University Shenzhen518063 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing211106 China

ISBN: (纸本)9789887581543

To improve the disturbance rejection ability and repetitive tracking accuracy of manipulators, a composite iterative learning control (ILC) scheme via generalized proportional integral observer (GPIO) is proposed. A high-order polynomial is first employed to model the time-varying disturbances that include unmodeled dynamics, parameter uncertainties and load fluctuations. A GPIO is then designed to estimate the disturbances and high-order time derivatives. By introducing estimations into a PD-type ILC at each iteration, a composite control scheme is obtained, such that the undesirable influence of time-varying disturbances can be effectively attenuated in the repetitive tracking process of manipulators. In this paper, the rigorous stability analysis of the closed-loop system is presented to guarantee that the tracking error exponentially converges to zero as the iteration number tends to infinity. The effectiveness of the proposed control scheme is finally verified by simulation results. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Disturbance rejection

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Adaptive Backstepping Sliding Mode control for Underwater Glider Trajectory Tracking Based on Nonlinear Disturbance Observer

Adaptive Backstepping Sliding Mode Control for Underwater Gl...

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2023 China Automation Congress, CAC 2023

作者： Li, Zhenjia Cao, Weihua Gan, Chao Wen, Mingming School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Guangzhou Marine Geological Survey Guangzhou510000 China

ISBN: (纸本)9798350303759

An adaptive backstepping dynamic surface sliding mode controller based on nonlinear disturbance observer (NDOABSMC) is designed to track zigzag motion of underwater glider (UG). Firstly, a nonlinear disturbance observer is devised to observe ocean current. Then, the backstepping sliding mode control is used to devise motion attitude controller of UG to ensure that UG can track the target trajectory quickly. Additionally, the stability of UG's control system is analyzed. In the end, the proposed control strategy is compared with other approaches. © 2023 IEEE.

关键词： Backstepping

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