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Flatness-based nonlinear control of a three-dimensional gantry crane

IFAC-PapersOnLine 2018年第22期51卷 331-336页

作者： Lobe, A. Ettl, A. Steinboeck, A. Kugi, A. Austrian Institute of Technology Wien Austria Christian Doppler Laboratory for Model-Based Process Control in the Steel Industry Automation and Control Institute TU Wien Austria Automation and Control Institute TU Wien Austria

The paper deals with a flatness-based control concept for a three-dimensional gantry crane. It is well known from literature that the payload position serves as a flat output if the payload is assumed to be a point mass. The validity of this assumption is investigated in more detail for the laboratory gantry crane under consideration. The overall control concept consists of a flatness-based feedforward controller with friction compensation and a trajectory error controller. In contrast to similar works in the literature the trajectory error controller has a special cascaded structure with subordinate velocity controllers and an outer linear quadratic regulator (LQR). The motivation of this structure is that it simplifies the model for the LQR design and makes it more intuitive to tune the controller parameters. Measurement results of the laboratory crane demonstrate the good performance of the proposed control concept. © 2018

关键词： controllers Cascade control systems Error compensation Feedforward control Gantry cranes Stiction Trajectories 3d gantry cranes controller parameter Feed forward controllers Flatness based feedforward controls Flatness based control Friction compensation Linear quadratic regulator Trajectory tracking control

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RVFLN-based online adaptive semi-supervised learning algorithm with application to product quality estimation of industrial processes

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Journal of Central South University 2019年第12期26卷 3338-3350页

作者： DAI Wei HU Jin-cheng CHENG Yu-hu WANG Xue-song CHAI Tian-you School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China

Direct online measurement on product quality of industrial processes is difficult to be realized,which leads to a large number of unlabeled samples in modeling ***,it needs to employ semi-supervised learning(SSL)method to establish the soft sensor model of product *** the slow time-varying characteristic of industrial processes,the model parameters should be updated *** to this characteristic,this paper proposes an online adaptive semi-supervised learning algorithm based on random vector functional link network(RVFLN),denoted as *** introducing a L2-fusion term that can be seen a weight deviation constraint,the proposed algorithm unifies the offline and online learning,and achieves smoothness of model parameter *** evaluations both on benchmark testing functions and datasets reveal that the proposed OAS-RVFLN can outperform the conventional methods in learning speed and ***,the OAS-RVFLN is applied to the coal dense medium separation process in coal industry to estimate the ash content of coal product,which further verifies its effectiveness and potential of industrial application.

关键词： semi-supervised learning(SSL) L2-fusion term online adaptation random vector functional link network(RVFLN)

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Internal short circuit fault diagnosis for automotive lithium-ion batteries using an adaptive parameter identification model

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Measurement: Journal of the International Measurement Confederation 2025年 253卷

作者： Tao, Qian Wang, Yiming Tian, Engang Tao, Hongfeng Chen, Hongtian Chen, Yiyang School of Mechanical and Electrical Engineering Soochow University Suzhou215137 China School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai200093 China Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Jiangnan University Wuxi Jiangsu214122 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China

This paper develops a model-based diagnostic method for internal short circuit (ISC) faults in lithium-ion batteries. This method utilizes a second-order equivalent circuit model (ECM) combined with a recursive least squares method with an adaptive forgetting factor for online parameter identification, with initial parameters optimized by a particle swarm optimization (PSO) algorithm. An extended Kalman filter (EKF) is then employed for state estimation to generate residuals, which are analyzed using the refined cumulative sum (CUSUM) statistical method to detect and diagnose ISC faults. Experimental results show that this method effectively identifies ISC faults in automotive power batteries under various initial state of charge (SOC) levels and fault-free conditions. At 100% initial SOC, fault detection times are 104 seconds for a 15Ω fault, 77 seconds for a 10Ω fault, and 27 seconds for a 1Ω fault;at 90% initial SOC, detection for a 10Ω fault takes 97 seconds, demonstrating high accuracy and robustness. © 2025 Elsevier Ltd

关键词： Lithium-ion batteries

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Defect detection of yarn-dyed shirts based on denoising convolutional self-encoder 8

Defect detection of yarn-dyed shirts based on denoising conv...

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8th IEEE Data Driven control and Learning Systems Conference, DDCLS 2019

作者： Zhang, Hongwei Tang, Wenbo Zhang, Lingjie Li, Pengfei Gu, De Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou Zhejiang Province310027 China Xi'An Polytechnic University Xi'an ShanXi710048 China Key Laboratory of Advanced Process Control for Light Industry Institute of Automation Jiangnan University Ministry of Education Wuxi214122 China

ISBN: (纸本)9781728114545

A defect detection algorithm for dyed shirts with supervised framework relies on a large number of labeling samples and high modeling cost. This paper proposes an automatic detection and location method for color fabric defects based on unsupervised denoising convolution self-encoder. Firstly, a shirt image data set containing 66 kinds of yarn-dyed patterns and a total of 11900 pieces was constructed. Then, Gaussian noise was added to the defect-free samples, and a depth-deconvolution convolution self-encoder was used to construct the image of the yarn-dyed shirt piece. The denoising reconstruction model performs reconstructive repair on the noise interference;Then, the residual of the image is tested and the reconstructed image is calculated, and the slice defect region is detected and located using a mathematical morphology algorithm. The experimental results show that the image reconstruction model and residual image analysis algorithm based on denoising convolution self-encoder can effectively detect and locate the defective area of the dyed shirt piece without relying on the label sample. © 2019 IEEE.

关键词： Yarn

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Graphical Minimax Game and On-Policy Reinforcement Learning for Consensus of Leaderless Multi-Agent Systems *

Graphical Minimax Game and On-Policy Reinforcement Learning ...

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International Conference on control and automation (ICCA)

作者： Wei Dong Chunyan Wang Jinna Li Jianan Wang Key Laboratory of Dynamics and Control of Flight Vehicle within Ministry of Education School of Aerospace Engineering Beijing Institute of Technology Beijing China School of Information and Control Engineering Liaoning Shihua University Fushun China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

In this paper, we study the adaptive optimal consensus control of leaderless multi-agent systems (MASs) with heterogeneous dynamics. First, the consensus control problem is converted into a graphical minimax game problem and the corresponding algebraic Riccati equation (ARE) for each agent is obtained. Then, an on-policy reinforcement learning algorithm is proposed to online learn the optimal control policy without requiring the system dynamics. A certain rank condition is established to guarantee the convergence of the proposed online learning algorithm to the unique solution of the ARE. Finally, the effectiveness of the proposed algorithm is demonstrated through a numerical simulation.

关键词： Games Heuristic algorithms Reinforcement learning Mathematical model Vehicle dynamics Performance analysis Optimal control

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Signal Analysis of Mill Shell Vibration Based on Variational Modal Decomposition

Signal Analysis of Mill Shell Vibration Based on Variational...

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Chinese control Conference (CCC)

作者： Zhuo Liu Tianyou Chai Jian Tang Wen Yu State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Faculty of Information Technology Beijing University of Technology Beijing China Departamento de Control Automatico CINVESTAV-IPN México

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Ball mill is a key heavy energy consuming equipment in the grinding process. It is based on the closed rotation operation mode and the tens of thousands of steel balls loaded inside it to realize the crushing effect on ore. The vibration signals generated by the impact of steel balls with different size distributions on the mill shell with different amplitudes and frequencies contain rich information related to the mill load parameters. The inherent non-stationary and non-linear characteristics of shell vibration signals make it difficult to extract valuable features, and the physical meaning of different characteristic frequency bands is even more difficult to explain. Although the empirical mode decomposition (EMD) algorithm and its improved version can adaptively decompose the vibration signals of the mill shell, there are problems such as mode aliasing. This paper presents a method for analyzing vibration signals of mill shell based on variational mode decomposition (VMD). Firstly, the number of layers K of VMD is determined according to the existing research results. Then, time and frequency domain analysis are performed on the decomposed IMFs. Finally, the contribution of different IMFs is analyzed based on the predictive performance of simple linear models. The effectiveness is shown by the vibration signal of the experimental mill.

关键词： Vibrations Feature extraction Signal analysis Predictive models Steel Frequency-domain analysis Time-domain analysis

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Bipartite Consensus Problem of Harmonic Oscillators Based on Sampled-data

Bipartite Consensus Problem of Harmonic Oscillators Based on...

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Chinese control and Decision Conference, CCDC

作者： Hang Tian Cheng-Lin Liu Guang-Ye Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi China Shanghai Keliang Information Tech. & Eng. Co. Ltd Shanghai China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

This paper is concerned with the bipartite consensus problem of sampled-data coupled harmonic oscillators by predictor factor under the fixed topology. Compared with the existing distributed protocol for synchronization in networks of coupled harmonic oscillators based on the sampled-data measurement, we propose a distributed bipartite consensus control protocol in which positive and negative interaction weights coexist. For structurally balanced networks, we improve the convergence rate of the network via predictor factor. Necessary and sufficient conditions are obtained for the well designed protocol to achieve bipartite consensus by using frequency-domain analysis and matrix theory. Finally, examples are shown to validate the convergence conditions.

关键词： Oscillators Protocols Harmonic analysis Synchronization Multi-agent systems Topology Convergence

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Output Feedback Based Iterative Learning control with Finite Frequency Range Specifications via a Heuristic Approach for Batch processes with Polytopic Uncertainties ⁎

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IFAC-PapersOnLine 2020年第2期53卷 1397-1402页

作者： Shoulin Hao Tao Liu Wojciech Paszke Hongfeng Tao Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian 116024 China School of Control Science and Engineering Dalian University of Technology Dalian 116024 China Institute of Automation Electronic and Electrical Engineering University of Zielona Góra ul. Szafrana 2 65-516 Zielona Góra Poland Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Jiangnan University Wuxi 214122 China

For robust control and iterative optimization of industrial batch processes with polytopic uncertainties, this paper proposes a robust output feedback based iterative learning control (ILC) design in terms of finite frequency range stability specifications. Robust stability conditions for the closed-loop ILC system along both time and batch directions are first established based on the generalized Kalman-Yakubovich-Popov lemma and linear repetitive system theory. To facilitate the ILC controller design with respect to process uncertainties described in a polytopic form, extended sufficient conditions for the system stability are then derived in terms of matrix inequalities. Correspondingly, a two-stage heuristic approach is developed to iteratively compute feasible ILC controller gains for implementation. An illustrative example is given to demonstrate the effectiveness of the proposed control design.

关键词： Batch processes polytopic uncertainties output feedback iterative learning control finite frequency range design

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Average-consensus Tracking for First-order Multi-agent Systems Based on Sampled Data

Average-consensus Tracking for First-order Multi-agent Syste...

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第三十八届中国控制会议

作者： Xiao-Yu Gu Cheng-Lin Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University

Average-consensus tracking problem of first-order multi-agent systems is investigated in this paper, and a consensus algorithm under sampled data is proposed for two cases, one of which is that all the agents access constant reference inputs and the other is that some agents have the constant reference inputs but the left has no reference inputs. Based on matrix theory and frequency-domain analysis, consensus conditions are obtained for the agents under two cases converging to the average consensus asymptotically with the strongly connected and balanced topology and the symmetric and connected topology. Finally, numerical simulation examples are given to illustrate the effectiveness of the proposed sampled-data control strategy.

关键词： Average-consensus tracking sampled data constant reference inputs first-order multi-agent systems

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When Distributed Formation control Is Feasible under Hard Constraints on Energy and Time? 200

arXiv

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arXiv 2020年

作者： Jia, Chunxiang Chen, Fei Xiang, Linying Lan, Weiyao Feng, Gang State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao066004 China Department of Automation Xiamen University Xiamen361005 China Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong

This paper studies distributed optimal formation control with hard constraints on energy levels and termination time, in which the formation error is to be minimized jointly with the energy cost. The main contributions include a globally optimal distributed formation control law and a comprehensive analysis of the resulting closed-loop system under those hard constraints. It is revealed that the energy levels, the task termination time, the steady-state error tolerance, as well as the network topology impose inherent limitations in achieving the formation control mission. Most notably, the lower bounds on the achievable termination time and the required minimum energy levels are derived, which are given in terms of the initial formation error, the steady-state error tolerance, and the largest eigenvalue of the Laplacian matrix. These lower bounds can be employed to assert whether an energy and time constrained formation task is achievable and how to accomplish such a task. Furthermore, the monotonicity of those lower bounds in relation to the control parameters is revealed. A simulation example is finally given to illustrate the obtained results. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

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