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第29届中国控制与决策会议

作者： Yunong Zhang Chumin Li Penghao He Min Yang Xuyun Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Time-varying reciprocal and inverse computation are considered as fundamental problems in scientific and engineering fields,which are more complicated than static ***-time Zhang dynamics（CTZD）model is a powerful method for such complicated *** obtain a discrete-time Zhang dynamics（DTZD） model,a new formula of 4-instant g-square finite difference（4IgSFD） is proposed in this *** that the formula has a truncation error of O（g）,where g denotes the sampling *** the aid of the formula 4IgSFD,the 4IgSFD-type DTZD model is *** 4IgSFD-type DTZD model has a high calculative precision with truncation error of O（g）.Through numerical experiments,the convergence and stability of 4IgSFD-type DTZD model are illustrated via time-varying reciprocal and inverse computation.

关键词： Finite Difference Time-Varying Reciprocal and Inverse Computation 4IgSFDL-Type DTZD Model Numerical Experiments Residual Error

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Three-State Space Reformulation and control of MD-Included One-Link Robot System Using Direct-Derivative and Zhang-Dynamics Methods 29

Three-State Space Reformulation and Control of MD-Included O...

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第29届中国控制与决策会议

作者： Yunong Zhang Wan Li Binbin Qiu Yaqiong Ding Deyang Zhang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Tracking control of nonlinear systems is a hot topic in various fields, especially in robotics. In this paper,a nonlinear one-link(1L) robot system with motor dynamics(MD) included is investigated, and a novel method, i.e.,Zhang-dynamics(ZD) method, is applied to solve the tracking control problem of this nonlinear system. A ZD controller of the nonlinear MD-included 1L robot system is designed. The simpleness and effectiveness of ZD method are proved through theoretical analysis. Moreover, computer-simulation results substantiate the high performance of the ZD controller. It is worth pointing out that our research provides the feasibility of applying ZD method in more and more practical fields.

关键词： Tracking control Nonlinear System One-Link Robot System Motor Dynamics Zhang-Dynamics Method

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Joint Algorithm of Message Fragmentation and No-Wait Scheduling for Time-Sensitive Networks

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 478-490页

作者： Xi Jin Changqing Xia Nan Guan Peng Zeng Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016 Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Department of Computing Hong Kong Polytechnic UniversityHong KongChina

Time-sensitive networks(TSNs)support not only traditional best-effort communications but also deterministic communications,which send each packet at a deterministic time so that the data transmissions of networked control systems can be precisely scheduled to guarantee hard real-time ***-wait scheduling is suitable for such TSNs and generates the schedules of deterministic communications with the minimal network resources so that all of the remaining resources can be used to improve the throughput of best-effort ***,due to inappropriate message fragmentation,the realtime performance of no-wait scheduling algorithms is ***,in this paper,joint algorithms of message fragmentation and no-wait scheduling are ***,a specification for the joint problem based on optimization modulo theories is proposed so that off-the-shelf solvers can be used to find optimal ***,to improve the scalability of our algorithm,the worst-case delay of messages is analyzed,and then,based on the analysis,a heuristic algorithm is proposed to construct low-delay ***,we conduct extensive test cases to evaluate our proposed *** evaluation results indicate that,compared to existing algorithms,the proposed joint algorithm improves schedulability by up to 50%.

关键词： Message fragmentation networked control system real-time scheduling time sensitive network

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A Novel Tandem Ducted Fan UAV Attitude control Based on Cascade PID controller 42

A Novel Tandem Ducted Fan UAV Attitude Control Based on Casc...

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42nd Chinese control Conference, CCC 2023

作者： Yu, Ziqi South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong Guangzhou510640 China

ISBN: (纸本)9789887581543

In this paper, we introduce a novel tandem ducted fan unmanned aerial vehicle (UAV) and focus on the attitude control problem of it. Firstly, the structural layout of this new vehicle is introduced, then the force analysis and mathematical formula are performed based on kinematic and dynamical formulas. Secondly, this section is not only focuses on the degsign of controller but also the analysis of its advantages. For example, how they can improve system performance through frequency domain analysis, implementation of specific algorithms. Thirdly, an outdoor flight experiment is completed. The experimental process is as follows: after having the appropriate parameters, the vehicle is first allowed to fly to a height of about 10 meters and hover down, and then three attitude angle changes are performed. Finally, we conclude that the cascade PID controller for this type of UAV attitude control is simple, practical and can cope with many flight conoditions and indicate the shortcomings of this dissertation and future work. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Robust control

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From Euclid Division of Constant Integers to Zhang Division of Time-Varying Variables 2

From Euclid Division of Constant Integers to Zhang Division ...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Yunong Zhang Min Yang Maotai Zou Sheng Wu Binbin Qiu School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

Static Euclid division has been studied for many decades. In this paper, we focus on time-varying division(or termed, Zhang division). As Zhang dynamics(ZD) and gradient dynamics(GD) have shown powerf

ISBN: (纸本)9781467389808

关键词： Mathematical model Trajectory Solid modeling Computational modeling Solids Numerical models Hardware

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Design of Yaw controller for a Small Unmanned Helicopter Based on ADRC

Design of Yaw Controller for a Small Unmanned Helicopter Bas...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Huang, Linjie Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

ISBN: (纸本)9789811581540

For ensuring the stabilities of unmanned helicopters under various working conditions, this paper introduces a yaw controller based on ADRC. Because the effect of PI or PID controller is not enough in some severe environments such as working in a situation with strong wind, so ADRC is wildly used in the area of UAV. However, it takes a lot of time to adjust parameters, which is not conductive to piratical application. What this article makes is to enhance and to simplify traditional ADRC through practical experiments and theory analysis. This paper uses gradient descent to identify the actuator gain$$b:control$$, and summarizes the practical tuning experience during the tuning process. Compared with the traditional PID method, the experimental analysis claim that the method proposed in this article has significant advantages in both dynamic performance and anti-interference performance. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： controllers

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What Is 1/0 in the General Sense of Physics, Applied Computation, and/or Electronics? 34

What Is 1/0 in the General Sense of Physics, Applied Computa...

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第三十四届中国控制会议

作者： ZHANG Yunong QIU Binbin LING Yingbiao YANG Zhi PENG Chen School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467374439

For twelve centuries, the division-by-zero singularity has been deemed as a notorious problem. Here, using the ideas from dynamics theory, and viewing everything as the result of change in the form of dynamical system(i.e., a temporal evolution perspective), we show that division by zero can be well understood by studying from a neat gradient-based dynamical *** addition to providing a new perspective towards the division operation, we introduce a framework in which a concept of generalized division is described, enclosing the singularity-conquering division as a special case, and bringing new possibilities to various fields in industry, such as control applications.

关键词： Singularity,Dynamical System,Division-by-Zero Problem,Generalized Division,control Applications

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Policy Iteration Adaptive Dynamic Programming for Optimal control of Multi-Player Stackelberg-Nash Games 41

Policy Iteration Adaptive Dynamic Programming for Optimal Co...

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第41届中国控制会议

作者： Mingduo Lin Bo Zhao Derong Liu Yongwei Zhang School of Systems Science Beijing Normal University Key Laboratory of Industrial Internet of Things & Networked Control Ministry of EducationChongqing University of Posts and Telecommunications School of Automation Guangdong University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates multi-player Stackelberg-Nash(SN) game problems of nonlinear continuous-time systems via policy iteration adaptive dynamic programming(ADP).To represent different hierarchical roles,the appropriate cost functions of the leader and each follower are *** introducing the ADP technique,the policy iteration algorithm is developed to obtain approximate solutions of the coupled HJ equation of each ***,the multi-player SN equilibrium is derived to guarantee the stability of the closed-loop ***,the developed method is realized by employing the critic neural networks through the gradient-based weight updating ***,simulation example validates the effectiveness of the present method.

关键词： Adaptive Dynamic Programming Optimal control Stackelberg Games Neural Networks Multi-Player systems

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Matrix ODE Tool for Solution of Matrix-valued ODE with Application to Online Time-varying Matrix Inversion 13

Matrix ODE Tool for Solution of Matrix-valued ODE with Appli...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yunong Zhang Nanhao Wang Jiadi Wang Chen Peng Yingbiao Ling School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781509013463

In modern engineering researches, dynamics of systems are often studied by well-design computer simulations,and these dynamics are usually depicted in the form of vectoror matrix-valued ordinary differential equation(ODE) systems.A common approach for solution of matrix-valued ODE in MATLAB is to use the Kronecker product and vectorization technique. However, the vectorization procedure may be troublesome, and it can be difficult if not impossible to vectorize a complicated matrix-valued ODE(especially when it is nonlinear).Differing from the traditional approach, this paper proposes an elegant, compact and effective tool(named MatrixO DE)for solving a matrix-valued ODE with arbitrary right hand side. As a complement and extension of the built-in solvers in MATLAB, the proposed MatrixO DE tool allows solving a matrix-valued ODE using matrix language directly, i.e., users do not need to perform matrix-vector transformations. Application of the proposed MatrixO DE tool to online time-varying matrix inversion further substantiates its effectiveness for matrix-valued ODE solving.

关键词： Special software for simulation dynamical equations scientific computation matrix-valued ODE time-varying matrix inversion

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Dynamic control Allocation for a Twin Ducted Fan UAV

Dynamic Control Allocation for a Twin Ducted Fan UAV

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Meng, Chaoheng Pei, Hailong Cheng, Zihuan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

ISBN: (纸本)9789811581540

Twin ducted fan UAV is a novel aircraft with redundant control effectors and the interactions between actuators and control allocators can not be ignored. In this paper, dynamic control allocation is used to deal with the control allocation problem of Twin ducted fan UAV. First, the actuator rate is penalized in the optimization function of the control allocation based on the quadratic programming method. Second, a post-compensation method is applied to compensate for command increment attenuation. The simulation results show that the dynamic control allocation method with actuator dynamic compensation can prevent the high bandwidth actuator from saturating in advance, and the virtual control command is effectively allocated to actuators with different bandwidths. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Actuators

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