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第30届中国过程控制会议（CPCC 2019）

作者： Zhenlong Wu Jie Yuan Yuquan Chen Donghai Li YangQuan Chen State Key Lab of Power Systems Department of Energy and Power Engineering Tsinghua University School of Automation Southeast University Department of Automation University of Science and Technology of China Mechatronics Embedded Systems and Automation(MESA)Lab School of Engineering University of California

To handle the control difficulties caused by high-order dynamics, a control structure based on fractional order [proportional integral]（PI） controller and fractional order Smith-like predictor for a class of high order systems in the type of K/（Ts+1）~n is proposed in this *** tracking performance and disturbance rejection ability are analyzed based on the terminal value *** shows that the system output can converge to the set point without static error when set point changes and input disturbance *** on the multi-objective genetic algorithm（MO-GA）, simulations under different χ are carried out to analyze the influence on control performance and control *** results show that the control performance can be improved and the energy of the control signal can be reduced simultaneously when the order χ is chosen no more than *** can verify that the fractional order Smith-like predictor with χ<1 has an advantage over the integral order Smith-like predictor with χ=1.

关键词： Fractional order [PI] Controller fractional order Smith-like predictor high order systems multi-objective genetic algorithm

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SOME FUNDAMENTAL PROPERTIES ON THE SAMPLING FREE NABLA LAPLACE TRANSFORM

arXiv

引用

arXiv 2019年

作者： Chen, YangQuan Wei, Yiheng Chen, Yuquan Wang, Yong Lab of Mechatronics Embedded Systems and Automation School of Engineering University of California Merced 5200 North Lake Road MercedCA95343 United States Lab of Vibration Control and Vehicle Control Department of Automation University of Science and Technology of China Anhui Hefei230026 China

Discrete fractional order systems have attracted more and more attention in recent years. Nabla Laplace transform is an important tool to deal with the problem of nabla discrete fractional order systems, but there is still much room for its development. In this paper, 14 lemmas are listed to conclude the existing properties and 14 theorems are developed to describe the innovative features. On one hand, these properties make the N-transform more effective and efficient. On the other hand, they enrich the discrete fractional order system theory. Copyright © 2019, The Authors. All rights reserved.

关键词： Laplace transforms

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Low Cost Autonomous Battery Replacement System for Quadrotor Small Unmanned Aerial systems (sUAS) using 3D Printing Components

Low Cost Autonomous Battery Replacement System for Quadrotor...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Tiebiao Zhao Chris Currier Alexis Bonnin Gregory Mellos Noe Martinez YangQuan Chen Mechatronics Embedded Systems and Automation Lab University of California Merced Merced California

Quadrotor sUAS have a limited battery life, which limits the flight time of missions. Many other researchers have proposed battery replacement as a method of extending the flight time of an sUAS. However, the battery swapping methods in these previous designs were very complex. In this paper, a simpler method for battery swapping is proposed, which makes it easier to both attach and remove the battery from the quadrotor. In addition, all these designs can be implemented with 3D printers, reducing the cost for production. The battery swapping station consists of 4 components: main replacement portion, male and female funnel, modified battery sleeve, and rotating battery chassis. Experimentation showed that the system was able to replace a battery autonomously, using only sensor inputs. Tests on the battery case proved that the electric contact was reliable and the quadrotor sUAS could be armed and operated using the modified battery. However further experimentation is needed to successfully integrate the male funnel with an sUAS for field operations.

关键词： Batteries Loading Containers mechatronics embedded systems automation Electronic mail

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PID2018 Benchmark Challenge: Model-based Feedforward Compensator with A Conditional Integrator

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IFAC-PapersOnLine 2018年第4期51卷 888-893页

作者： Yuan, Jie Ates, Abdullah Dehghan, Sina Zhao, Yang Fei, Shumin Chen, YangQuan School of Automation Southeast University Nanjing210096 China Engineering Faculty Computer Engineering Department Inonu University Malatya44280 Turkey Mechatronics Embedded Systems and Automation Lab University of California MercedCA95340 United States School of Science and Engineering Shandong University Jinan250061 China Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China

Since proportional-integral-derivative (PID) controllers absolutely dominate the control engineering, numbers of different control structures and theories have been developed to enhance the efficiency of PID controllers. Thus, it is essential and inspiring to operate different PID control strategies to the PID2018 Benchmark Challenge. In this paper, a novel control strategy is designed for this refrigeration system, where a feedforward compensator and a conditional integrator are utilized to compensate the disturbances and remove the steady-state error in the benchmark problem, respectively. The simulation results given in the benchmark problem show the straightforward effectiveness of the proposed control structure compared with the existing control methods. © 2018

关键词： Controllers Benchmarking Disturbance rejection Electric control equipment Proportional control systems Refrigeration Three term control systems Two term control systems Conditional integrators Feed forward compensation Model based method PID controllers Refrigeration system

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On optimal tempered Lévy flight foraging

arXiv

引用

arXiv 2018年

作者： Chen, Yuquan Hollenbeck, Derek Wang, Yong Chen, YangQuan Department of Automation University of Science and Technology of China Hefei230026 China Mechatronics Embedded Systems and Automation Lab University of California MercedCA95343 United States

Optimal random foraging strategy has gained increasing concentrations. It is shown that Lévy flight is more efficient compared with the Brownian motion when the targets are sparse. However, standard Lévy flight generally cannot be followed in practice. In this paper, we assume that each flight of the forager is possibly interrupted by some uncertain factors, such as obstacles on the flight direction, natural enemies in the vision distance, and restrictions in the energy storage for each flight, and introduce the tempered Lévy distribution p(l) ∼ e−ρll−µ. It is validated by both theoretical analyses and simulation results that a higher searching efficiency can be derived when a smaller ρ or µ is chosen. Moreover, by taking the flight time as the waiting time, the master equation of the random searching procedure can be obtained. Interestingly, we build two different types of master equations: one is the standard diffusion equation and the other one is the tempered fractional diffusion equation. Copyright © 2018, The Authors. All rights reserved.

关键词： Brownian movement

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Fractional Decision Making Model for Crowds of Pedestrians in Two-Alternative Choice Evacuation

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IFAC-PapersOnLine 2017年第1期50卷 11764-11769页

作者： Cao, Ke-cai Zeng, CaiBin Chen, YangQuan Yue, Dong College of Automation Nanjing University of Posts and Telecommunications Nanjing210023 China School of Sciences South China University of Technology Guangzhou510640 China Mechatronics Embedded Systems and Automation Lab School of Engineering University of California MercedCA95343 United States

Modeling of the two-alternative decision making process for evacuation of crowds of pedestrians from bounded room has been considered in this paper under the framework of Calculus of Fractional Order. Dynamic decision making models of fractional order have been presented under symmetric interactions and asymmetric interactions, respectively. Stability analysis under asymmetric interactions has been studied using linear approximation. Final value of the collective opinion under asymmetric interactions is dependent on the initial distribution of crowd's opinions while it is not the case for symmetric interactions. Future work based on the results of this paper are also discussed at the end of this paper. © 2017

关键词： Decision making Beam plasma interactions Calculations Asymmetric interaction Decision making models Decision making process Dynamic decision making Evacuation of Crowds Fractional order Linear approximations Two Alternative Choice

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Optimal 3D Reconstruction of Caves Using Small Unmanned Aerial systems and RGB-D Cameras

Optimal 3D Reconstruction of Caves Using Small Unmanned Aeri...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Guoxiang Zhang YangQuan Chen Holley Moyes MechatronicsEmbedded Systems and Automation LabSchool of Engineering University of California Merced Merced CA USA Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Merced Merced CA USA School of Social Sciences Humanities and Arts University of California Merced Merced CA USA

This paper discusses our work on building a SmartCaveDrone system [1] to function as “Co-Archaeologists” that can map large caves and enter dangerous or hard-to-reach spaces. We present an optimal 3D reconstruction framework that combines both sparse feature matching and dense surface alignment. Sparse feature matching is used for visual odometry and global camera pose optimization after loops are detected, while dense surface alignment is the way of closing large loops and solving surface mismatching problem. We collected data inside Maya caves in Belize, and evaluated different methods applied on this dataset. Our experiments demonstrate that sparse feature-based tracking is robust for steady tracking, while it is effective and critical to close surface loops. After our experiments, we discussed new emerging research problems that can be explored.

关键词： Cameras Three-dimensional displays Solid modeling Feature extraction Optimization Surface reconstruction Tracking loops

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PID2018 benchmark challenge: Model-based feedforward compensator with a conditional integrator ??

arXiv

引用

arXiv 2018年

Since proportional-integral-derivative (PID) controllers absolutely dominate the control engineering, numbers of different control structures and theories have been developed to enhance the effciency of PID controllers. Thus, it is essential and inspiring to operate different PID control strategies to the PID2018 Benchmark Challenge. In this paper, a novel control strategy is designed for this refrigeration system, where a feedforward compensator and a conditional integrator are utilized to compensate the disturbances and remove the steady-state error in the benchmark problem, respectively. The simulation results given in the benchmark problem show the straightforward effectiveness of the proposed control structure compared with the existing control methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Disturbance rejection

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Regional detection of unknown sources for the sub-diffusion process

Regional detection of unknown sources for the sub-diffusion ...

引用

American Control Conference

作者： Fudong Ge Yang Quan Chen Chunhai Kou School of Computer Science China University of Geosciences Mechatronics Embedded Systems and Automation Lab University of California Merced Department of Applied Mathematics Donghua University

ISBN: (纸本)9781509045839

In this paper, we shall discuss the problem of regional detection of unknown source in a sub-diffusion process. The notions of sources, detection and regional strategic/spy sensors are introduced and the relationships between regional spy sensors and regional strategic sensors in a sub-diffusion process are explored. Moreover, we show, using an extension of the Hilbert Uniqueness Methods approach, how to reconstruct a regionally detectable source for the time fractional diffusion system based on the output functions. An example is given in the end to confirm our results.

关键词： Regional detection Sources Sensors Sub-diffusion process Time fractional diffusion systems Sensors Diffusion processes Regional Unknown

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A Fractional Micro-Macro Model for Crowds of Pedestrians Based on Fractional Mean Field Games

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IEEE/CAA Journal of Automatica Sinica 2016年第3期3卷 261-270页

作者： Kecai Cao Yang Quan Chen Daniel Stuart College of Automation Nanjing University of Posts and Telecommunications IEEE Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Department of Electrical and Computer Engineering Utah State University

Modeling a crowd of pedestrians has been considered in this paper from different aspects. Based on fractional microscopic model that may be much more close to reality, a fractional macroscopic model has been proposed using conservation law of mass. Then in order to characterize the competitive and cooperative interactions among pedestrians, fractional mean field games are utilized in the modeling problem when the number of pedestrians goes to infinity and fractional dynamic model composed of fractional backward and fractional forward equations are constructed in macro scale. Fractional micromacro model for crowds of pedestrians are obtained in the end. Simulation results are also included to illustrate the proposed fractional microscopic model and fractional macroscopic model, respectively. © 2014 Chinese Association of automation.

关键词： Control systems Electrical engineering

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