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第41届中国控制会议

作者： Xiong Lei Yulin Xu Chao Zhai School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In multi-agent system(MAS),it is of great significance to study the problem of cooperative *** this work,we propose a vision-based cooperative localization scheme for multi-agent systems equipped with RGB-D ***,we formulate the cooperative localization problem of ***,the relative pose between agents with overlapping field of view in MAS can be solved by using an improved feature extraction and matching algorithm,which requires the index function to screen the unimportant feature points in the image to reduce the computation *** system does not require all agents to have a common area of view,and we can calculate the relative pose between agents whose field of view does not overlap at all by accumulating the ***,experiments are carried out to validate the effectiveness and feasibility of this method.

关键词： Multi-agent system Cooperative localization Feature extraction and matching Index function

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Stability Analysis of Discrete-Time Delayed Neural Networks via A Cubic Function Negative-Determination Lemma 41

Stability Analysis of Discrete-Time Delayed Neural Networks ...

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第41届中国控制会议

作者： Wen-Hu Chen Fei Long Cui Zhu Chuan-Ke Zhang Yong He School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is concerned with the stability analysis of discrete-time neural networks with a time-varying ***,an improved augmented Lyapunov-Krasovskii functional(LKF) is established by adding single/double-summation ***,by utilizing summation inequalities,the forward difference of the constructed functional is estimated as a cubic function with respect to the *** applying the cubic function negative-determination lemma,a less conservative stability criterion is obtained,whose advantages are demonstrated via a numerical example.

关键词： Discrete-time neural networks time-varying delay cubic function negative-determination lemma stability analysis

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Distributed control Algorithm for Workload Partition of Multi-agent systems with Time Delay 41

Distributed Control Algorithm for Workload Partition of Mult...

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第41届中国控制会议

作者： Pengyang Fan Chao Zhai School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the problem of multi-agent coverage,a group of agents are required to cover a given region or clean the workload as soon as *** workload partition can improve the work efficiency of multi-agent *** addition,the communication delays play a key role in the stability of multi-agent ***,a distributed control algorithm of workload partition with time delay is proposed in this ***,an approach based on nonlinear matrix inequality is presented to find the maximum delay of multi-agent ***,experiments are carried out to investigate the effect of delay on system stability on the ZigBee platform.

关键词： Multi-agents systems Time delay Nonlinear matrix inequality Distributed algorithm Workload partition

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An Inverse Kinematic Optimization Method for the S-R-S Redundant Manipulator Considering Joint Limit and Singular Position Avoidance 41

An Inverse Kinematic Optimization Method for the S-R-S Redun...

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第41届中国控制会议

作者： Yisheng Mei Xin Chen School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problem of how to avoid the joint limit and singular position in continuous trajectory planning of the S-R-S redundant manipulator,a new inverse kinematics optimization algorithm is proposed in this ***,according to the special geometry of S-R-S manipulator,we take the arm angle as the redundant parameter to obtain the joint angle expressions under the given tip pose and arm *** we discuss the feasible arm angles under joint limit in nonsingular and singular cases,and give a complete method to obtain the effective arm ***,we introduce the concept of virtual force to represent the degree that the joint is far from the limit,and define the optimization objective function with the virtual force as the weight to avoid joint limit,the complex relationship between the arm angle and joint angles is linearized by the difference method to simplify the objective function to quadratic function,combine with the feasible arm angle range,we realize singularity avoidance and joint limit avoidance at the same *** simulation result shows that compared with the traditional algorithm,the algorithm proposed in this paper has better joint limit avoidance ability on the premise of avoiding singularity which reflects the superiority of the algorithm and can be used for the motion planning of the manipulator in practical engineering.

关键词： Arm angle Singular position avoidance Joint limit avoidance Inverse kinematic optimization

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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

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control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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Adaptive Leader-Following Consensus for a Class of Time Delay Multi-Agent systems 41

Adaptive Leader-Following Consensus for a Class of Time Dela...

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第41届中国控制会议

作者： Jiachun Sun Shiqi Zheng Liangguang Li Tao Song Qing Chang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we study the leader-following consensus for multi-agent systems with long input time delay under jointly connected directed switching *** adopt an adaptive distributed observer that can make every agent estimate the information of the *** we propose a new controller utilizing the predictor feedback technique,and then map MAS s into ODE-PDE(Ordinary differntial equations-Partial differntial equations) target systems so that we can utilize Lyapunov-Krasovskii function to analyze the stability of the *** are used to vertify the results in the end.

关键词： Multi-agent system distributed observer long input delay directed switching network

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Robust Delay-Dependent Stability for Uncertain Linear systems with Time-Varying Delay 49

Robust Delay-Dependent Stability for Uncertain Linear System...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Chen, Dong-Shuai He, Yong Shangguan, Xing-Chen School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

ISBN: (纸本)9798350331820

This paper investigates the problem of stability analysis for the uncertain linear systems with time-varying delay. Firstly, an uncertain linear system model considering time-varying delay is established. Then based on the Lyapunov-Krasovskii functional (LKF) method, a novel robust delay-dependent stability criterion is proposed, which is benefited by a new augmented LKF with more effective time-delay information and the use of a tighter integral inequality to estimate functional derivative. The stability criterion obtained is less conservative. At last, a numerical example shows the superiority and effectiveness that the method used in this paper. © 2023 IEEE.

关键词： Time delay

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Optimal Allocation of Energy Storage in Smart Park Distribution Network for Power Fluctuation Regulation of Tie Line Oriented to Source-load Uncertainty 41

Optimal Allocation of Energy Storage in Smart Park Distribut...

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第41届中国控制会议

作者： Wenhe Peng Zhijian Fang Jie Cai School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The randomness of photovoltaic power generation and the disorder of electric vehicle charging have a significant impact on the transmission capacity of the smart park tie *** storage can help to stabilize the power fluctuation of the tie line and improve distribution network operation *** this paper,the park's source and load uncertainty models are established to determine the original transmission power of the distribution network tie line,and then the tie line's power control model is established to ensure that the power fluctuation rate of the distribution network tie line varies within a certain *** power required for hybrid energy storage stabilization is calculated,and the high-pass filtering algorithm is used to allocate *** amount of power required to stabilize the supercapacitor and lithium battery is *** hybrid energy storage capacity configuration model is built on top of *** hybrid energy storage constraints are constructed using the maximum annual income of the hybrid energy storage as the objective function,and the adaptive particle swarm optimization(APSO) is used to solve the problem,resulting in the hybrid energy storage's optimal capacity ***,an example is used to simulate the *** simulation results show that this method can keep the tie line's power fluctuation rate within a narrow range as much as possible,which can be used as a reference for a smart park's energy storage configuration.

关键词： photovoltaic power generation electric vehicles hybrid energy storage tie-line power fluctuation adaptive particle swarm optimization

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An Improved Exponential Stability Criterion of Generalized Neural Networks With Intermittent Large-Delay Periods 41

An Improved Exponential Stability Criterion of Generalized N...

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第41届中国控制会议

作者： Jin-Meng Xu Yong He Wen-Hu Chen Zhe-Li Yuan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper focuses on the exponential stability analysis of generalized neural networks(GNNs) with time-varying delays,where the time delays include several intermittent large-delay periods(LDPs).First,the improved piecewise augmented Lyapunov-Krasovskii functional(LKF) candidate is constructed based on the delay-dependent state ***,some advanced inequalities are adopted to estimate the derivative of LKF *** with switching techniques,an exponential stability criterion with less conservativeness is *** last,a numerical example is used to verify the advantage of the proposed criterion.

关键词： Time-varying delay Switched delay system Large-delay period Exponential stability

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Forward and inverse calculation method for shape and depth of seepage channel of embankment 41

Forward and inverse calculation method for shape and depth o...

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第41届中国控制会议

作者： Yue-Cheng Zhai Jun-Lei Song Kai-Feng Dong Fang jin Wen-qin Mo Ya-juan Hui School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Seepage diseases in embankments are very common,and if they cannot be treated in time,they will bring serious safety hazards and even cause embankment break *** the location and depth of a seepage channel is the prerequisite and basis for the treatment of seepage *** present,there are several methods are used to detect seepage in embankments,but none of them can accurately calculate or explain the depth of seepage *** magnetic gradient tensor method,which is widely used in the depth calculation of magnetic sources,is only suitable for the magnetic dipole model,and not suitable for the tubular model similar to the seepage *** view of this,this paper draws on the idea of magnetic exploration,and proposes a forward and inverse calculation method for the depth of the seepage *** method first builds a variety of basic seepage channel models based on certain constraints,and calculates the magnetic field value of each model at each measuring point on the ground *** compare the actual measured magnetic field value with the model magnetic field value to find the closest seepage channel ***,by continuously optimizing the closest model,the real seepage channel is gradually *** model calculated by this method can better reflect the depth information of the real seepage channel,and the depth error is less than lm.

关键词： seepage depth magnetic gradient tensor forward and inversion calculation

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