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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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Inverse Reinforcement Learning Integrated Reinforcement Learning for Single Intersection Traffic Signal control 5

Inverse Reinforcement Learning Integrated Reinforcement Lear...

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5th International Conference on Industrial Artificial Intelligence, IAI 2023

作者： Gu, Shiyi Zhang, Tingting Zhang, Ya Southeast University School of Automation Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China Army Engineering University College of Command and Control Engineering Nanjing210017 China

ISBN: (纸本)9798350325294

Traffic Signal control (TSC) optimization is vital for efficient traffic flow in urban intersections. Recent research has explored the application of Reinforcement Learning (RL) agents to tackle TSC challenges. However, the selection of an appropriate reward function in RL agent training still relies on subjective judgment and experience. To address this issue, an Inverse Reinforcement Learning (IRL) integrated RL algorithm is proposed. In the IRL learning section, expert trajectory data are collected and analyzed by Relative Entropy IRL (REIRL). The latent reward of expert policy is reconstructed and utilized in RL agent training process. In the RL control section, a Double Dueling Deep Q Network is applied under a cycle control framework. As verified in simulations, the introduction of expert experience improves the performance of the RL agent to the expert level and concurrently enables robustness to expert policy noises. © 2023 IEEE.

关键词： Reinforcement learning

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Containment control of Multi-Agent systems with Stochastic Multiplicative Noises

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Journal of systems Science & complexity 2022年第3期35卷 909-930页

作者： REN Junhao ZONG Xiaofeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied *** on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure ***,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure *** is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent *** examples are also introduced to illustrate the effectiveness of the theoretical results.

关键词： Containment control multi-agent system multiplicative noises stochastic system

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Design of Recursive Filtering Scheme via An Improved Weighted Try-Once Discard Protocol 6

Design of Recursive Filtering Scheme via An Improved Weighte...

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6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： Zheng, Kaiwen Hu, Jun Du, Junhua Yu, Hui Harbin University of Science and Technology Department of Applied Mathematics Harbin150080 China Harbin University of Science and Technology Heilongjiang Prov. Key Lab. of Optimization Control and Intelligent Analysis for Complex Systems Harbin150080 China School of Automation Harbin University of Science and Technology Harbin150080 China

ISBN: (纸本)9798350356618

This paper investigates the recursive filtering (RF) problem for stochastic multi-rate (MR) systems, where the information transmission is regulated by an improved weighted try-once-discard protocol (IWTODP). In order to reduce communication overhead and mitigate network congestion, the IWTODP is firstly proposed and designed to schedule the order of data transmission from the sensors. The main objective of this paper is to design a new RF scheme to minimize the upper bound (UB) on the filtering error (FE) covariance in each iteration step in the presence of IWTODP and MR sampling. In particular, an iterative way is given to provide the expression form of the gain of RF. Finally, the effectiveness of the proposed RF method is illustrated through simulation example. © 2024 IEEE.

关键词： Stochastic systems

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Exploring Image Generation for UAV Change Detection

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1061-1072页

作者： Xuan Li Haibin Duan Yonglin Tian Fei-Yue Wang Peng Cheng Laboratory Shenzhen 518000China IEEE State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083 Department of Automation University of Science and Technology of ChinaHefei 230027 State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China

Change detection(CD)is becoming indispensable for unmanned aerial vehicles(UAVs),especially in the domain of water landing,rescue and ***,even the most advanced models require large amounts of data for model training and ***,sufficient labeled images with different imaging conditions are *** by computer graphics,we present a cloning method to simulate inland-water scene and collect an auto-labeled simulated *** simulated dataset consists of six challenges to test the effects of dynamic background,weather,and noise on change detection ***,we propose an image translation framework that translates simulated images to synthetic *** framework uses shared parameters(encoder and generator)and 22×22 receptive fields(discriminator)to generate realistic synthetic images as model training *** experimental results indicate that:1)different imaging challenges affect the performance of change detection models;2)compared with simulated images,synthetic images can effectively improve the accuracy of supervised models.

关键词： Change detection computer graphics image translation simulated images synthetic images unmanned aerial vehicles(UAVs)

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Model Prediction Based Adaptive Variable Impedance control of Manipulator with Passivity

Model Prediction Based Adaptive Variable Impedance Control o...

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第43届中国控制会议

作者： Yang Xiao Wenbo Liu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Aiming at the compliance control of rigid manipulators in human-robot interaction scenarios, a new variable impedance control(VIC) model is proposed to improve the adaptive ability of the manipulator to adjust compliance in different phases of the task. The parameter selection problem is transformed into a controller design problem. Impedance constraints are set by introducing the prior knowledge of the person, information about the state and contact force, and manipulability. The one-step model predictive control(MPC) method is used to search for the optimal solution of impedance parameters, so that the manipulator can adaptively select different balance relations between tracking accuracy and compliance. Moreover, in order to avoid the damage of time-varying impedance parameters to the stability, a tank-based method is implemented to ensure the passivity of the impedance system. Finally, the simulation results verify the effectiveness of the proposed control scheme.

关键词： Variable Impedance control(VIC) Model Predictive control(MPC) Tank-based method Passivity

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Data-driven identification of variational equations for vortex-induced vibration systems

Data-driven identification of variational equations for vort...

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第十三届全国流体力学学术会议

作者： Kang Lu Zheng Zeng Rongchun Hu Zichen Deng Department of Engineering Mechanics MIIT Key Laboratory of Dynamics and Control of Complex SystemsNorthwestern Polytechnical University

In this study, a data-driven approach using the embedded variational principle is used to identify the variational equations of vortex-induced vibration fluid-solid coupled systems, in particular the coupling term and the aerodynamic damping term. Under the data-driven paradigm,variational equation identification is primarily accomplished through five steps: collecting discrete data, setting variational functions, building the product function, solving linear equations, and evaluating errors. The explicit variational equations of the system are eventually determined automatically from the excitation and response. Gaussian white noise is added to the excitation to evaluate the method's noise robustness. The findings demonstrate that numerical estimation which stays away from higher-order derivatives significantly enhances the variational law identification's noise robustness by taking advantage of the variational law's lower order time ***, the arbitrariness of the variational setting inherent in the variational law significantly improves the effectiveness of data utilization and lowers the necessary data volume. In addition, a system of linear equations is solved by identifying connected nonlinear equations, which significantly increases modelling efficiency. The basis for engineering modelling, optimization, and control of intricate fluid-solid coupled systems are provided by these benefits.

关键词： Data-driven System identification vortex-induced vibration fluid-solid coupled variational principle

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Disturbance Rejection control Method Based on Adaptive Composite Disturbance Observer for Permanent Magnet Synchronous Motor

Disturbance Rejection Control Method Based on Adaptive Compo...

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第43届中国控制会议

作者： Yu Fang Di Wu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The vehicle electronic scroll compressors exhibits significant speed fluctuations during low-speed and heavy-load *** periodic fluctuation of load torque leads to speed *** limited sensitivity gain of traditional disturbance observers results in poor performance in suppressing periodic *** response to this issue,this study adopts an adaptive composite disturbance observer to estimate and compensate for load disturbances,in order to reduce speed fluctuations in the low-speed *** adaptive composite disturbance observer has achieved simultaneous and adaptive observation and estimation of periodic and aperiodic slow varying *** adaptive notch filter(ANF) based on variable step-size quantize least mean square(VSQLMS) algorithm is used to estimate the fundamental frequency of periodic *** simulation experiments,the method proposed has improved the control accuracy and dynamic response performance of the system,and has enhanced its robustness.

关键词： Extended State Observer internal model principle ANF multiple disturbance

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Research on Vibration Suppression for Industrial Robots Based on Dynamic Feedforward control

Research on Vibration Suppression for Industrial Robots Base...

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第43届中国控制会议

作者： Bin Huang Yahui Gan Fang Fang Bo Zhou Xianzhong Dai School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

To address the challenges of low position tracking accuracy and high vibrations in mechanical arms controlled by PID closed-loop systems, this paper introduces a torque feedforward control scheme based on dynamic models. The paper initially analyzes the causes of vibrations during robot motion, establishing a mathematical model to quantify the trajectory accuracy and repeatability of vibrations. Subsequently, a torque feedforward control scheme based on dynamic models is designed, and its feasibility is theoretically analyzed. In this motion control scheme, precise dynamic models are utilized to calculate and output the desired torque. The torque values are then converted into motor current values, which are superimposed on the control output of the current loop in the servo to achieve real-time torque compensation. Finally, through simulation experiments, the paper validates that the dynamics-based torque feedforward control effectively suppresses robot vibrations, enhances tracking accuracy,and improves dynamic performance. The findings demonstrate the efficacy of the proposed control strategy in addressing the challenges associated with PID-controlled robotic arm systems.

关键词： Industrial robots feedforward control vibration suppression

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Reliability Assessment of LCC-HVDC links Using Protection Devices 1

Reliability Assessment of LCC-HVDC links Using Protection De...

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1st International Conference on Renewable Solutions for Ecosystems: Towards a Sustainable Energy Transition, ICRSEtoSET 2023

作者： Hameurlaine, Abdelhadi Boukezzi, Larbi Karef, Salah Sayah, Haouari University of Djelfa Laboratory of Applied Automation & Industrial Diagnostics Djelfa Algeria University of Djelfa Materials Science and Informatics Laboratory Msil Djelfa Algeria University of Djelfa Com Laboratory of Modeling Optimization and Simulation of Real Complex Systems Djelfa Algeria University of SidiBel-Abbes Intelligent Control and Electrical Power System Laboratory SidiBel-Abbes Algeria

ISBN: (纸本)9798350346336

the DC/AC interaction and the presence of the high nonlinearity in the HVDC links, these problems needs to examine the behavior of the system in steady-state and transient conditions in order to define the great role of protection functions and control parameters. Furthermore, control and protection systems are a vital part of an HVDC system to guarantee the safety, reliability, and stability of its operation. This research aim is to provide the solutions for control and protection problems that can occur in HVDC link. In this paper, we study how we mitigate this serious malfunction of commutation failure process in the operation of HVDC converters. Indeed some protection functions like the commutation failure prevention. Furthermore, HVDC transmission systems are vulnerable to DC faults and its protection becomes ever more important with the fast growth in the number of installations. Finally, the dynamics of the studied power system including the HVDC link is thoroughly investigated through various simulation scenarios. © 2023 IEEE.

关键词： HVDC power transmission

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