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第43届中国控制会议

作者： Xiaomin Mao Chenglin Liu Liang Shan Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Institute of AutomationJiangnan University School of Automation Nanjing University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

To enhance the robustness of the permanent magnet synchronous motor(PMSM) speed control system, and reduce the response time of the control system, a composite terminal sliding mode control strategy is proposed. Firstly, a integral terminal sliding surface and a fast reaching law are designed based on the mathematical model of the PMSM to avoid singularity issues,enhance quickness, and reduce chattering. Then, the stability and finite-time convergence of the control system are proved by constructing a Lyapunov function. Considering the system's susceptibility to disturbances, the lumped disturbance is considered in the mathematical model. An extended state observer(ESO) is designed to observe the lumped disturbance and compensate for the lumped disturbance to the controller. Finally, through simulation and experimentation, it is demonstrated that the designed controller exhibits advantages such as fast response, no overshoot, and strong robustness.

关键词： Permanent Magnet Synchronous Motor Speed control System Terminal Sliding-mode control Extended State Observer

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Hierarchy-based extended CBBA for multi-robot task assignment

Hierarchy-based extended CBBA for multi-robot task assignmen...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Jiajun Xia, Weiguo Li, Fuqiang Wang, Peng China National Aeronautical Radio Electronic Research Institute National Key Laboratory of Science and Technology on Avionics System Integration China Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9781665465335

This paper studies the task assignment problem of a multi-robot system with complex constraints including the robot speed limit, the task execution time window constraints, the arrival time, the trip cost, and different priorities of the tasks. A new bidding function is then designed for each robot. Based on the k-means algorithm, a hierarchy-based extended consensus-based bundle algorithm (CBBA) is proposed to find the optimal solution for the task allocation problem. Finally, simulation examples are presented to show the feasibility of the proposed algorithm and comparisons with existing algorithms show that the proposed algorithm can reduce the task assignment time with guaranteed reward values. © 2022 IEEE.

关键词： Multipurpose robots

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A Review of Aircraft Ground Taxi control Techniques

A Review of Aircraft Ground Taxi Control Techniques

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Li, Bingyu Liu, Xiaochao School of Automation Science and Electrical Engineering Beihang University Beijing100191 China National Key Laboratory of Aircraft Integrated Flight Control Beihang University Beijing100191 China Key Laboratory of Advanced Aircraft Systems Beihang University Ministry of Industry and Information Technology Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China Tianmushan Laboratory Hangzhou310023 China

The extensive utilization of aircraft as a mode of transportation and the accelerated expansion of the aviation market have imposed heightened expectations on airport scheduling capabilities. To enhance the efficacy of aircraft ground operations and diminish the duration of runway occupation, the analysis of aircraft motion characteristics and the management of their ground taxiing trajectories assume greater significance. This paper provides an overview of aircraft ground taxiing control technology. This paper provides a brief overview of the key parameters and trajectory prediction methods involved in the aircraft landing process. The nonlinear analysis theory is employed to introduce the aircraft brake system stability and heading stability. Subsequently, the results of significant research on ground skidding control laws are presented. The fourth section presents a summary of the issues and technological developments in aircraft ground skid run control and outlines future research priorities in anti-skid brake control. © The Institution of Engineering & technology 2024.

关键词： AIRCRAFT GROUND TAXI NONLINEAR control STABILITY ANALYSIS TRAJECTORY PREDICTION

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Multi-Agent Q-Value Mixing Network with Covariance Matrix Adaptation Strategy for the Voltage Regulation Problem 42

Multi-Agent Q-Value Mixing Network with Covariance Matrix Ad...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Yiwen Zhang, Senlin Liu, Meiqin Dong, Shanling Zheng, Ronghao College of Electrical Engineering Zhejiang University Hangzhou310027 China Zhejiang University National Key Laboratory of Industrial Control Technology Hangzhou310027 China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China

ISBN: (纸本)9789887581543

control and optimization of power systems typically involves schemes that utilize optimal power flow techniques and comprehensive modeling of various electrical components. However, the extensive integration of renewable energy sources and distributed energy resources makes it difficult to obtain accurate models, making the traditional model-based approaches more challenging. In this paper, we propose a Covariance Matrix Adaptation Q-value network mixing method (CMAQMIX), which is a novel model-free multi-agent reinforcement learning method that combines the advantages of Covariance Matrix Adaptation Evolution Strategy and the Q-value network mixing method to solve the problem of continuous action space. We establish a new multi-agent voltage regulation environment based on CityLearn framework to test the CMAQMIX method. The results show that our proposed method outperforms the Independent Proximal Policy Optimization method and can give immediate action response without the complete domain knowledge of the power system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Optimization

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UWIA-AODV: Improved Ad-Hoc On-Demand Distance Vector Routing Protocol for Underwater Acoustic Sensor Networks 42

UWIA-AODV: Improved Ad-Hoc On-Demand Distance Vector Routing...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Xueyi Liu, Meiqin Zhang, Senlin Dong, Shanling Zhejiang University National Key Laboratory of Industrial Control Technology Hangzhou310027 China College of Electrical Engineering Zhejiang University Hangzhou310027 China Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an710049 China

ISBN: (纸本)9789887581543

In the past a few years, underwater acoustic networks have developed as a powerful technique used for variety of applications. Ad-Hoc On-Demand Distance Vector (AODV) is a popular and effective routing protocol, while it is not suitable for underwater usage due to the features of underwater acoustic channel such as low data rate, long delay, limited bandwidth and energy. In this paper, we propose an improved AODV based on implicit acknowledgement which employs broadcast features of nodes to overhear packets and retransmit those that fail to be transmitted. In addition, residual energy is considerded for energy balancing. Finally, the in-field experiment results shows that our proposed protocol can select the route with more residual energy for energy balancing. And our proposed protocol also outperforms AODV in terms of throughput and packet discovery ratio. So it is more suitable for underwater scenarios that require high transmission reliability. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Routing protocols

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Path Preview Tracking for Autonomous Vehicles Based on Model Predictive control

Path Preview Tracking for Autonomous Vehicles Based on Model...

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2022 IEEE International Conference on Unmanned Systems, ICUS 2022

作者： Lu, Yanrong Zhu, Jia Wang, Zhiwen Du, Nan Zhang, Jindou College of Electrical and Information Engineering Lanzhou University of Technology Lanzhou China Lanzhou University of Technology Key Laboratory of Gansu Advanced Control for Industrial Processes Lanzhou China Lanzhou University of Technology National Demonstration Center for Experimental Electrical and Control Engineering Education Lanzhou China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

For the autonomous vehicles path tracking problem, a preview tracking strategy is proposed based on model predictive control (MPC) in this paper. First, under the scenario that the road ahead information is available, an augmented error system is constructed based on the prediction tracking error, state difference and preview information. By introducing an appropriate objective function, the original path preview tracking problem is transformed into an optimization problem of the unconstrained predictive control. Second, the optimal prediction control sequence is obtained according to the minimum value principle, and its first component, which contains the non-causal tracking error, state feedback and preview feedforward, is utilized to perform the receding-horizon control. Furthermore, the optimization problem of the constrained predictive control is also considered. Finally, the platform of CarSim and Simulink is adopted to verify the effectiveness of the path preview tracking. © 2022 IEEE.

关键词： Model predictive control

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Extraction of main factors affecting muscle fatigue in lower-limb rehabilitation 41

Extraction of main factors affecting muscle fatigue in lower...

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第41届中国控制会议

作者： Tiecheng Liu Rennong Wang Jinhua She Juan Zhao Hiroshi Hashimoto Daisuke Chugo Graduate School of Engineering Tokyo University of Technology 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 School of Industrial Technology Advanced Institute of Industrial Technology Graduate School of Science and Technology Kwansei Gakuin University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This study extracted the main factors from a questionnaire,measurement results,and the analysis of sEMG signals to establish a method of evaluating muscle *** measured factors(rating of perceived exertion,heart rate,mileage) and five factors obtained from the analysis of sEMG signals(root mean square,mean absolute value,variance,times of zero crossing,median frequency) were *** the F-test,the correlation analysis,and the principal component analysis,we finally extracted six factors as the main factors that have a big influence on muscle fatigue.

关键词： correlation analysis F-test lower-limb rehabilitation muscle fatigue principal component analysis rehabilitation statistical analysis surface electromyography(sEMG)

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Establishment of soil moisture model based on hyperspectral data and growth parameters of winter wheat

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International Journal of Agricultural and Biological Engineering 2023年第3期16卷 160-168页

作者： Xizhi Lyu Weimin Xing Yuguo Han Zhigong Peng Baozhong Zhang Muhammad Roman Key Laboratory of State Forestry Administration on Soil and Water Conservation College of Soil and Water ConservationBeijing Forestry UniversityBeijing 100083China Yellow River Institute of Hydraulic Research Key Laboratory of the Loess Plateau Soil Erosion and Water Loss Process and Control of Ministry of Water ResourcesZhengzhou 450003China College of Hydraulic Science and Engineering Yangzhou UniversityYangzhou 225009China Forest Ecosystem Studies National Observation and Research StationJixianShanxi 042200China Key Laboratory of Non-point Source Pollution Control Ministry of Agriculture and Rural AffairsBeijing 100081China State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin China Institute of Water Resources and Hydropower ResearchBeijing 100038China National Center of Efficient Irrigation Engineering and Technology Research-Beijing Beijing 100048China

Large area of soil moisture status diagnosis based on plant canopy spectral data remains one of the hot spots of agricultural ***,the existing soil water prediction model constructed by the spectral parameters without considering the plant growth process will inevitably increase the prediction *** study carried out research on the correlations among spectral parameters of the canopy of winter wheat,crop growth process,and soil water content,and finally constructed the soil water content prediction model with the growth days *** results showed that the plant water content of winter wheat tended to decrease during the whole growth *** plant water content had the best correlations with the soil water content of the 0-50 cm soil *** different growth stages,even if the soil water content was the same,the plant water content and characteristic spectral reflectance were also ***,the crop growing days parameter was added to the model established by the relationships between characteristic spectral parameters and soil water content to increase the prediction *** is found that the determination coefficient(R^(2))of the models built during the whole growth period was greatly increased,ranging from 0.54 to ***,the model built by OSAVI(Optimized Soil Adjusted Vegetation Index)and Rg/Rr,two of the highest precision characteristic spectral parameters,were selected for model *** correlation between OSAVI and soil water content,Rg/Rr,and soil water content were still significant(p<0.05).The R^(2),MAE,and RMSE validation models were 0.53 and 0.58,3.19 and 2.97,4.76 and 4.41,respectively,which was accurate enough to be applied in a large-area ***,the upper and lower irrigation limit of OSAVI and Rg/Rr were put *** research results could guide the agricultural production of winter wheat in northern China.

关键词： winter wheat canopy spectra growth process soil water content irrigation threshold soil moisture model prediction

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Microwave heating as a universal method to transform confined molecules into armchair graphene nanoribbons

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Nano Research 2023年第7期16卷 10644-10651页

作者： Haoyuan Zhang Yingzhi Chen Kunpeng Tang Ziheng Lin Xuan Li Hongwei Zhang Yifan Zhang Chi Ho Wong Chi Wah Leung Chee Leung Mak Yuan Hu Weili Cui Kecheng Cao Lei Shi State Key Laboratory of Optoelectronic Materials and Technologies Nanotechnology Research CenterGuangdong Province Key Lab of Display Material and TechnologySchool of Materials Science and EngineeringSun Yat-sen UniversityGuangzhou 510275China Huzhou Key Laboratory of Environmental Functional Materials and Pollution Control School of EngineeringHuzhou UniversityHuzhou 313000China Department of Industrial and Systems Engineering Research Institute for Advanced ManufacturingThe Hong Kong Polytechnic UniversityHong Kong 999077China Department of Applied Physics The Hong Kong Polytechnic UniversityHong Kong 999077China Shanghai Key Laboratory of High-resolution Electron Microscopy ShanghaiTech UniversityShanghai 201210China

Armchair graphene nanoribbons(AGNRs)with sub-nanometer width are potential materials for the fabrication of novel nanodevices thanks to their moderate direct band *** are usually synthesized by polymerizing precursor molecules on substrate ***,it is time-consuming and not suitable for large-scale *** can also be grown by transforming precursor molecules inside single-walled carbon nanotubes(SWCNTs)via furnace annealing,but the obtained AGNRs are normally *** this work,microwave heating is applied for transforming precursor molecules into *** fast heating process allows synthesizing the AGNRs in *** different molecules were successfully transformed into AGNRs,suggesting that it is a universal *** importantly,as demonstrated by Raman spectroscopy,aberrationcorrected high-resolution transmission electron microscopy and theoretical calculations,less twisted AGNRs are synthesized by the microwave heating than the furnace *** results reveal a route for rapid production of AGNRs in large scale,which would benefit future applications in novel AGNRs-based semiconductor devices.

关键词： armchair graphene nanoribbons(AGNRs) microwave heating single-walled carbon nanotubes(SWCNTs) Raman spectroscopy

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Soil micro-food web composition determines soil fertility and crop growth

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Soil Ecology Letters 2025年第1期7卷 145-157页

作者： Yaping Lin Qing Yi Dandan Gao Jiangnan Li Wei Zhang Kelin Wang Dan Xiao Peilei Hu Jie Zhao College of Life and Environmental Science National Engineering Laboratory for Applied Technology in Forestry&Ecology in South ChinaCentral South University of Forestry and TechnologyChangsha 410004China Key Laboratory of Agro-ecological Processes in Subtropical Region Institute of Subtropical AgricultureChinese Academy of SciencesChangsha 410125China Guangxi Industrial Technology Research Institute for Karst Rocky Desertification Control Nanning 530012China Huanjiang Agriculture Ecosystem Observation and Research Station of Guangxi Guangxi Key Laboratory of Karst Ecological Processes and ServicesHuanjiang Observation and Research Station for Karst EcosystemsChinese Academy of SciencesHuanjiang 547100China

Soil fertility is one of the key determinants of agricultural *** food webs play an important role in driving soil nutrient cycling and plant ***,it is poorly known how the soil food web composition and complexity affect plant growth and soil *** this study,soil microorganisms and nematodes isolated from two soil types(i.e.,calcareous soil and red soil)and two land use types(i.e.,corn-soybean cultivation and natural grass-shrubland)were used to sequentially establish four soil microfood webs(FW1,FW2,FW3,and FW4)with increasing levels of community complexity based on food web *** four micro-food webs were inoculated to sterilized soils which were then planted with soybeans for three months in a pot experiment under ambient *** sterilized soil without food web inoculation was employed as control(C)and unsterilized soil with its original food web was also regarded as a treatment(US)in the *** effects of soil micro-food web complexity on soil nutrient and soybean growth were *** results showed that soil total nitrogen(TN)and phosphorus(TP),soil microbial biomasses,and plant nitrogen and phosphorus were generally higher in the four food web inoculation treatments than in the control or unsterilized ***,the original soil food web treatment(i.e.,unsterilized soil)had lower soil or soybean nutrient than the no food web treatment(i.e.,sterilized soil).In addition,the complexity of inoculated food webs was positively correlated with soil TN,TP,and total potassium(TK).These results suggest that soil micro-food web complexity is an important driver of soil fertility and affects crop ***,complex soil micro-food web maintains higher soil fertility and crop *** study provides solid evidence of the roles of soil food web in controlling ecosystem services;and the findings could provide a better understanding of the soil food web structure and soil fertility relationship

关键词： network complexity microbes and nematodes soil fertility soil community inoculation structure and function relationship

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