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检索条件"机构=MOE Key Laboratory of Measurement and Control of Complex Systems of Engineering"

共 673 条记录，以下是61-70 订阅

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Multi-task Learning Based Single Temporal Remote Sensing Image Change Detection 23

Multi-task Learning Based Single Temporal Remote Sensing Ima...

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Proceedings of the 2023 12th International Conference on Computing and Pattern Recognition

作者： Peixuan Yang Yichao Cao Xiaobo Lu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University China

ISBN: (纸本)9798400707988

Change Detection is a classic and fundamental task in remote sensing(RS), and has accomplish remarkable achievement on bitemporal image based methods. However, bitemporal images are very expensive and needs professional researchers to align and label the paired images. Furthermore, most bitemporal image based methods are only semantic-aware not instance-aware, which indicates these methods only use paired images’ semantic information. Thus, we propose a method that only needs unpaired RS images with semantic labels. In this paper, we introduce multi-task learning into change detection progress, which comprises four major parts: Boundary-Aware Module, Contextual-Aware Module, Segmentation Module, Change Detection Module. At first, we construct Boundary-Aware Module and Contextual-Aware Module to extract sharp boundary and dense contextual features. Then we feed the feature maps to Change Detection Module and Segmentation Module to accomplish the subtasks. The comprehensive experiments on a single temporal image dataset demonstrate the efficiency of our approach over other bitemporal image based methods, and the experimental results shows our approach is competitive with other methods while all methods was trained on bitemporal image dataset.

关键词： Change Detection Multi-task Learning Single Temporal Image

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A nested constraints based anti-disturbance collision-free formation control scheme for multi-mobile robot systems

A nested constraints based anti-disturbance collision-free f...

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2022 Chinese Automation Congress, CAC 2022

作者： Wang, Guodong Wang, Xiangyu Li, Shihua Niu, Dan Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China

ISBN: (纸本)9781665465335

This paper investigates distributed formation control of multi-mobile robot systems with collision avoidance. A novel nested constraints based anti-disturbance formation control scheme is established, which contains two parts. In the first part, a formation signal generator is constructed on the communication network by using proper distributed cooperative control approaches and artificial potential field-based methods, such that it "completes"the desired formation control task in its outputs. In the second part, by combining proper disturbance estimations, some nonlinear tracking controllers are designed for the robots to track the corresponding outputs of the generator asymptotically. A "nested constraint mechanism"is put forward accordingly and applied to limit the generator's outputs and the robots' tracking errors. In this way, the studied multi-mobile robot systems realize the formation control goal with collision avoidance. Compared with existing results, the proposed method has a better plug-and-play feature to deal with the tight encapsulations of the practical robot products, and has better convergence performances with the existence of disturbances. Some experiments are given to validate the effects of the proposed methods. © 2022 IEEE.

关键词： Collision avoidance

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Transformer Based Multi-modal Fusion For Place Recognition with Self-attention Mechanism

Transformer Based Multi-modal Fusion For Place Recognition w...

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2022 Chinese Automation Congress, CAC 2022

作者： Pan, Yan Yu, Xiang Chang, Zeqing Fang, Fang Zhou, Bo School of Automation Southeast University Ministry of Education The Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9781665465335

Autonomous driving still leaves a challenging task that how to apply the complementary information captured from different sensors, i.e. cameras and LiDAR, to handle place recognition task. In this paper, a brand new pipeline was designed to tackle the retrieval problem with a multi-modal late fusion. The light-weighted convolutional blocks is applied to encode features from images, followed by converting them into pseudo point clouds. Inspired by the progress of the Transformer, the network employs a residual point transformer module to extract feature vectors for 3D points and pseudo point clouds respectively. Finally, the two corresponding local descriptors are fused to get a robust fused global descriptor, which is capable of place recognition task after end-to-end training. Experimental results collected from sequence 00, 02, 05, 06 of KITTI dataset validate that fusing information from two modalities is able to enhance performance. © 2022 IEEE.

关键词： Autonomous vehicles

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Robust Velocity-Regulation control of Gimbal Servo systems Using a Predictive Comprehensive Disturbance Observer

Robust Velocity-Regulation Control of Gimbal Servo Systems U...

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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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Optimal Trajectory Planning and Safety-Critical control for Underactuated Overhead Cranes

Optimal Trajectory Planning and Safety-Critical Control for ...

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第43届中国控制会议

作者： Weihong Chen Zheng Tian Jun Yang 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

As a kind of heavy cargo lifting equipment,it is very important to improve transportation efficiency,save energy and strictly ensure safety for overhead ***,many traditional control strategies can not meet these needs *** this end,a composite control framework made up of optimal trajectory planning and Safety-Critical tracking controller is studied in this ***,optimal trajectories are obtained by the optimal control *** analysis is used to obtain a tractable optimal solution for overhead crane ***,control Lyapunov functions(CLFs) and high-order control barrier functions(HOCBFs) are used to track the optimal states and account for constraints with arbitrary relative degrees,*** CBF method is computationally efficient while providing safety *** results show that the proposed method is effective.

关键词： Safety-Critical control Optimal control control Barrier Functions Overhead Cranes

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Modified Deep Deterministic Policy Gradient Based Optimal Speed Tracking Strategy for PMSMs 13

Modified Deep Deterministic Policy Gradient Based Optimal Sp...

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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Fan, Zhong-Xin Tang, Lintao Li, Shihua Liu, Rongjie School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Florida State University Department of Statistics TallahasseeFL32304 United States

ISBN: (纸本)9798350361674

Achieving optimal speed regulation for permanent magnet synchronous motors (PMSMs) remains a challenging task, particularly in selecting the most suitable controller to meet desired objectives. This paper considers the optimal speed tracking problem of PMSMs. We employ a reinforcement learning algorithm to obtain optimal controller with a linear form. The reinforcement learning approach incorporates a critic-actor network structure, which approximates the value function and optimal control, respectively. Specifically, a weight updating method for the critic network is introduced, where the update of the actor network is guided by the critic network. Through data collection and neural network training, dynamic acquisition of the optimal controller gain is achieved. In addition, a novel activation function is implemented in the network, leading to improved control performance concerning dataset size and reduced training time. At final, a real-world PMSM application is presented along with comparisons to demonstrate effectiveness. The desire idea of resulting optimal controllers is not only applicable to linear systems but also capable of approximating arbitrary nonlinear optimal controllers, thus offering practical engineering versatility. © 2024 IEEE.

关键词： Reinforcement learning

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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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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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Smooth and Time-optimal Improved-Bezier Trajectory Planning Based on Dynamics for Industrial Robots

Smooth and Time-optimal Improved-Bezier Trajectory Planning ...

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第43届中国控制会议

作者： Wei Cai 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

This paper presents a smooth and time-optimal improved-Bezier trajectory planning algorithm that addresses the avoidance of solving switching points and solves the problem of discontinuous torque on the basis of the time-optimal path parameterization(TOPP) algorithm. The proposed approach employs the TOPP-RA algorithm with a friction model, to construct the optimal velocity trajectory under the constraints of the geometric paths and joint torques. Moreover, the proposed algorithm utilizes an enhanced Bezier curve instead of the jerk constraint in the trajectory optimization model to achieve a smooth trajectory. The modified Bezier curve optimizes the peaks of the pseudo-velocity curve in the phase plane to change the discontinuity of joint torque. The proposed algorithm ensures absolute time optimality and achieve a s mooth tr ajectory. The results of the MATLAB simulation experiment on a two-link motion system indicate the validity of the proposed algorithm.

关键词： time-optimal smooth trajectory planning improved-Bezier trajectory

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Sensorless control of SPMSM Based on Generalized Super-Twisting Observer and Non-Smooth controller 42

Sensorless Control of SPMSM Based on Generalized Super-Twist...

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42nd Chinese control Conference, CCC 2023

作者： Chen, Dejin Yu, Ke Ding, Shihong Wang, Xiangyu 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 School of Electrical and Information Engineering Zhenjiang212013 China

ISBN: (纸本)9789887581543

To enhance the estimation accuracy and dynamic performance of sensorless surface-mounted permanent magnet synchronous motor (SPMSM) drives, a sensorless control scheme based on generalized super-twisting observer (GSTO) and non-smooth controller is proposed. Firstly, a GSTO for back electromotive force (back-EMF) estimation is proposed. Compared with the conventional super-twisting observer, the GSTO has a faster convergence rate and stronger robustness due to the additional terms. Then a linear extended state observer (LESO) is adopted to estimate the position, speed, and lumped disturbance at the same time. Moreover, a non-smooth composite speed controller is designed by combining the disturbance feed-forward compensation. Compared with the conventional PI speed controller, the non-smooth controller has a shorter settling time and a better disturbance rejection ability. Finally, the effectiveness of the proposed method is verified by simulation results. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： controllers

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