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第35届中国控制与决策会议

作者： Jinxi Zhang Tianyou Chai Yangquan Chen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Mechatronics Embedded Systems and Automation Lab University of CaliforniaMerced

This paper is dealt with the problem of decentralized prescribed performance control(PPC) for the interconnected systems composed of feedback linearizable *** the restrictive conditions in the related studies,the interconnections need merely to be continuous in this ***,this study is focused on the model-free control design,i.e.,no prior knowledge of the system model is used for the controller,except for the most fundamentally structural *** solve the problem,a novel decentralized model-free PPC approach is *** skilful combination of the orientation function and the barrier function yields a model-free PPC,without approximation,identification,adaptation,*** adopting the dialectic by contradiction to establish the control performance,instead of the Lyapunov stability theory,it is revealed that the proposed control is inherently robust against the *** simulation results on the inverted double pendulums demonstrate the effectiveness of our approach.

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Air-ground cooperative exploration of 3D complex environment with maximized visibility and obstacles avoidance

Air-ground cooperative exploration of 3D complex environment...

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2021 International Conference on Unmanned Aircraft systems, ICUAS 2021

作者： Wu, YuXuan Wang, Jing Zhou, Meng Dong, Zhe Chen, YangQuan College of Information Science and Technology Beijing University of Chemical Technology Beijing China School of Electrical and Control Engineering North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California MercedCA95343 United States

ISBN: (纸本)9780738131153

Unmanned aerial vehicles (UAVs) can provide vision at high altitude. In this paper, multi-UAVs and ground vehicle are utilized to explore a complex environment with obstacles. The desired UAV formation is proposed around ground vehicle to provide wider vision. The Interfered Fluid Dynamical System (IFDS) method is utilized to guide UAVs avoid obstacles, while the desired formation need be maintained. Then formation control scheme of multi-UAVs is updated to combine with IFDS method according to original formation and obstacles avoidance. Simulation results shows that multi-UAVs can avoid obstacles and maintain the desired formation around ground vehicle during exploration. © 2021 IEEE.

关键词： Ground vehicles

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Self-optimizing loop sifting and majorization for 3d reconstruction

arXiv

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arXiv 2021年

作者： Zhang, Guoxiang Chen, Yangquan Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Merced MercedCA95348 United States

Visual simultaneous localization and mapping (vSLAM) and 3D reconstruction methods have gone through impressive progress. These methods are very promising for autonomous vehicle and consumer robot applications because they can map large-scale environments such as cities and indoor environments without the need for much human effort. However, when it comes to loop detection and optimization, there is still room for improvement. vSLAM systems tend to add the loops very conservatively to reduce the severe influence of the false loops. These conservative checks usually lead to correct loops rejected, thus decrease performance. In this paper, an algorithm that can sift and majorize loop detections is proposed. Our proposed algorithm can compare the usefulness and effectiveness of different loops with the dense map posterior (DMP) metric. The algorithm tests and decides the acceptance of each loop without a single userdefined threshold. Thus it is adaptive to different data conditions. The proposed method is general and agnostic to sensor type (as long as depth or LiDAR reading presents), loop detection, and optimization methods. Neither does it require a specific type of SLAM system. Thus it has great potential to be applied to various application scenarios. Experiments are conducted on public datasets. Results show that the proposed method outperforms state-of-the-art methods. Copyright © 2021, The Authors. All rights reserved.

关键词： Robot applications

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A Dynamic-Order Fractional Dynamic System

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Chinese Physics Letters 2013年第4期30卷 154-157页

作者： SUN Hong-Guang SHENG Hu CHEN Yang-Quan CHEN Wen YU Zhong-Bo State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering College of Mechanics and MaterialsHohai UniversityNanjing 210098 School of Electronic and Information Engineering Dalian Jiaotong UniversityDalian 116028 Mechatronics Embedded Systems and Automation(MESA LabSchool of EngineeringUniversity of CaliforniaMerced5200 North Lake RoadMercedCA 95343USA State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering Hohai UniversityNanjing 210098

Motivated by the experimental result of an electronic circuit element"fractor",we introduce the concept of a dynamic-order fractional dynamic system,in which the differential-order of a fractional dynamic system is determined by the output signal of another dynamic *** concept offers an explanation for the physical mechanism of variable-order fractional dynamic systems and multi-system *** properties and potential applications of dynamic-order fractional dynamic systems are further explored by analyzing anomalous relaxation and diffusion processes.

关键词： interaction. processes. fractional

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PROCEDURES FOR PROCESSING THERMAL IMAGES USING LOW-COST MICROBOLOMETER CAMERAS FOR SMALL UNMANNED AERIAL systems

PROCEDURES FOR PROCESSING THERMAL IMAGES USING LOW-COST MICR...

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IEEE International Geoscience and Remote Sensing Symposium

作者： Austin M. Jensen Mac McKee YangQuan Chen Utah Water Research Laboratory Utah State University Mechatronics Embedded Systems and Automation (MESA) Lab University of California Merced

Remote sensing data using thermal-infrared (TIR) cameras can be very helpful for many applications including agriculture and thermal refugia for fish habitat. Small unmanned aerial vehicles (UAS) can be efficient platforms for providing high-resolution thermal imagery at a low-cost;however most thermal cameras used for remote sensing are cooled systems and can be very large, expensive, and consume large amounts of power. Because of these constraints they are not easily integrated with small UAS. For surveillance and military applications, microbolometer thermal cameras are widely used on UAS because they are smaller, less expensive and consume less power than cooled thermal cameras. However, microbolometer thermal cameras are not as sensitive and accurate as cooled systems. Also, many are not calibrated and only measure relative temperature. This presents a challenge when microbolometer thermal cameras are used for scientific and ecological applications: absolute surface temperature is necessary for these applications. This paper presents procedures that can be followed to convert the raw images from a microbolometer camera to accurately represent surface temperature (without compensating for emissivity). The steps needed for this include preparing the images for orthoretification, geometric calibration, orthorectification, and correction for external disturbances.

关键词： Cameras Temperature sensors Remote sensing Calibration Surveillance Temperature measurement Land surface temperature

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Calibrating thermal imagery from an unmanned aerial system - AggieAir

Calibrating thermal imagery from an unmanned aerial system -...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Austin M. Jensen Mac McKee YangQuan Chen Utah Water Research Laboratory Utah State University Mechatronics Embedded Systems and Automation (MESA) Lab University of California Merced

ISBN: (纸本)9781479911127

Small unmanned aerial systems (UAS) can be very useful for acquiring high resolution thermal imagery for many ecological applications. With these systems, routine ground sampling is important in order to calibrate the imagery and to understand unique environmental disturbances. Simple, accurate methods to sample surface temperature is needed. This paper introduces two methods for sampling ground surface temperatures. One method uses a ground-based thermal camera to capture a high-resolution sample of a small area. The other method uses temperature controlled pools, which can be seen from the aerial thermal image. These samples are used to calibrate a thermal mosaic captured by the UAS AggieAir. Accuracy and simplicity are evaluated for each method.

关键词： Temperature measurement Cameras Land surface temperature Radiometers Aircraft Temperature distribution Probes

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System identification of time-delay with single fractional pole heating process considering rate limit effect

System identification of time-delay with single fractional p...

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第三十八届中国控制会议

作者： Jie Yuan YangQuan Chen Shumin Fei School of Automation Southeast University Mechatronics Embedded Systems and Automation Lab University of California Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University

The heat transfer dynamic is extremely common in industry process. The time-delay with single fractional pole(TDSFP) model gives higher accuracy than first-order plus time-delay(FOPTD) model for the ideal heat transfer process. Actuator rate limit is a common and important phenomenon in heating process control and is becoming a stumbling block in precision process control. The actuator will get saturated for a certain duration when the identification test signal is a step function. The time duration when actuator rate is saturated can be misidentified as the delay of the process model, which misleads the controller design and generates unsatisfactory performance. This paper proposes a new model structure in identifying a TDSFP process under the step test signal and this model structure considers actuator rate limit. Parameters sensitivity is analyzed to access the effect of identification accuracy resulting from parameters estimation mismatch. An illustrative example is given to show the effectiveness of the proposed identification method and the sensitivity of system parameters.

关键词： Process control fractional-order heat transfer actuator rate limit parameter estimation parameter sensitivity

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On optimal tempered Lévy flight foraging

arXiv

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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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Decentralized Model-Free Prescribed Performance Control for Interconnected systems

Decentralized Model-Free Prescribed Performance Control for ...

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Chinese Control and Decision Conference, CCDC

作者： Jinxi Zhang Tianyou Chai Yangquan Chen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Mechatronics Embedded Systems and Automation Lab University of California Merced Merced USA

This paper is dealt with the problem of decentralized prescribed performance control (PPC) for the interconnected systems composed of feedback linearizable systems. Without the restrictive conditions in the related studies, the interconnections need merely to be continuous in this paper. Moreover, this study is focused on the model-free control design, i.e., no prior knowledge of the system model is used for the controller, except for the most fundamentally structural information. To solve the problem, a novel decentralized model-free PPC approach is developed. The skilful combination of the orientation function and the barrier function yields a model-free PPC, without approximation, identification, adaptation, etc. By adopting the dialectic by contradiction to establish the control performance, instead of the Lyapunov stability theory, it is revealed that the proposed control is inherently robust against the interconnections. The simulation results on the inverted double pendulums demonstrate the effectiveness of our approach.

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Global Extremum Seeking Control with Sliding Modes for Output-Feedback Global Tracking of Nonlinear systems

Global Extremum Seeking Control with Sliding Modes for Outpu...

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IEEE Annual Conference on Decision and Control

作者： Chun Yin Brandon Stark Shou-ming Zhong YangQuan Chen School of Mathematics Science University of Electronic Science and Technology of China Mechatronics Embedded Systems and Automation (MESA) Lab School of Engineering University of California

ISBN: (纸本)9781467320658

In this paper, a novel design of an Extremum-Seeking Controller (ESC) based on Sliding Mode Control (SMC) for a class of Single-Input-Single-Output (SISO) uncertain or unknown nonlinear systems is proposed. The corrective term of the proposed observer is used to estimate the uncertain system. Global exact tracking using only output-feedback is proven with a tanh periodic switching function. The tanh periodic switching function is shown to provide a smaller vicinity of the desired extremum point compared to the traditional sgn periodic switching function. Numerical simulation results are presented to demonstrate the advantages and effectiveness of the proposed control strategy.

关键词： Nonlinear systems transformation function control strategy extremum values hyperbolic tangent Simulation results Feedback Periodic

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