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Characteristic model-based control of aerial manipulator for improved interaction stability

Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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An intelligent matching method for the equivalent circuit of electrochemical impedance spectroscopy based on Random Forest

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材料科学技术（英文版） 2025年第6期209卷 300-310页

作者： Wenbo Chen Bingjun Yan Aidong Xu Xin Mu Xiufang Zhou Maowei Jiang Changgang Wang Rui Li Jie Huang Junhua Dong Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China General Research Institute China Oil & Gas Pipeline Network CorporationLangfang 065000China

One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.

关键词： Electrochemical impedance spectroscopy Random forest Corrosion Equivalent circuit model

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Voltage and power control for distributed generation units in islanded microgrids 6th

Voltage and power control for distributed generation units i...

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6th International Conference on Renewable Energies Offshore, RENEW 2024

作者： Rouch, T. Bagheri M’zoughi, F. Aboutalebi, P. Ahmad, I. Garrido, A.J. Garrido, I. Institute of Research and Development of Processes—IIDP Department of Automatic Control and Systems Engineering Faculty of Engineering of Bilbao University of the Basque Country Bilbao Spain

ISBN: (纸本)9781032905570

This article presents an optimized control strategy tailored for DC islanded microgrids, featuring a voltage controller based on mixed H2/H∞ state feedback using linear matrix inequalities (LMIs) and a power controller guided by droop characteristics. A polytopic modeling approach addresses system uncertainties and nonlinearities. The controller aims to stabilize the system, reject disturbances, equitably distribute power among distributed generation units (DGUs), and minimize energy consumption. Regional pole placement ensures welldamped transient responses. Simulation results demonstrate effective management of load perturbations and DGU disconnections, with a comparative analysis against an H∞ controller offering additional insights into performance. © 2025 The Author(s).

关键词： Microgrids

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Adaptive MPC for Autonomous Driving - Evaluation on Fleet of Heavy-Duty Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-18页

作者： Pereira, Goncalo Collares Wahlberg, Bo Pettersson, Henrik Martensson, Jonas Research and Development Scania CV AB Industrivägen 21 Södertälje Sweden Division of Decision and Control Systems EECS KTH Royal Institute of Technology Malvinas väg 10 Stockholm Sweden

This work conducts a systematic experimental evaluation of the state-of-the-art Reference Aware Model Predictive controller (RA-MPC) for autonomous vehicles. The RA-MPC is a path-tracking controller, that maximizes tracking accuracy and comfort. The controller uses a kinematic vehicle model with a nonlinear curvature response table that adapts the steering response online to the vehicle and operating conditions. The adaptiveness and robustness of the controller are analyzed by evaluating the performance on a highway truck, loaded and empty mining trucks, and a city bus. Moreover, highway-like and city-like scenarios are performed using the exact same implementation and parameter settings for all vehicles. The controller and model adaption achieved a very good path tracking performance in all experiments, deviating at most 25 cm from the reference path. Authors

关键词： Model predictive control

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DNN Based Geoid Undulation Prediction Accuracy Evaluation Using EGM08 Gravity Model

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Transactions of the Korean institute of Electrical Engineers 2022年第8期71卷 1153-1163页

作者： Kim, Hyun-Seok Park, Chan-Sik Dept. of Intelligent Systems & Robotics Research Institute for Computer and Information Communication Chungbuk National University Korea Republic of Agency for Defense Development Korea Republic of

The difference between mean sea level and ellipsoid height is defined as geoid relief, which is essential information when building barometric altimeter/GPS combined systems or terrain matching systems. Therefore, an accurate calculation of the geoid undulation is required. In this paper, we propose a deep neural network method for calculating geoid undulations in real time in an embedded system. Then, using the EGM08 geoid model of order 2160, training data at intervals of 0.001 degrees were generated, and the prediction model accuracy was evaluated for 4 cases according to the number of hidden layers. As the number of hidden layers increased, the prediction accuracy increased, and it was confirmed that the calculation time also increased proportionally. © 2022 Korean institute of Electrical Engineers. All rights reserved.

关键词： Forecasting

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Camera-LiDAR Jaywalking Detection in Traffic Surveillance System

Camera-LiDAR Jaywalking Detection in Traffic Surveillance Sy...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Kim, Taek-Lim Jang, Byung Jin Yeon, Joo Yeon Kim, Tae-Hyeong Park, Tae-Hyoung Chungbuk National University Dept. of Robot Control Eng Cheongju Korea Republic of Chungbuk National University Dept. of Intelligent Systems and Robotics Cheongju Korea Republic of Dept. of Research & Development Daegu Korea Republic of

ISBN: (纸本)9798331531614

Roadside sensors like cameras and LiDAR enhance pedestrian safety by providing comprehensive traffic data. While traditional traffic surveillance systems primarily focus on vehicle-related violations, such as signal violations and speeding, pedestrian jaywalking remains a significant cause of accidents. This paper presents a jaywalking detection method that fuses camera-based image segmentation with LiDAR ground segmentation to handle various conditions, including day and night. Our system addresses challenges such as poor lighting and vehicle occlusion by leveraging LiDAR's robustness in unlearned environments. Road segmentation is enhanced by combining camera outputs with LiDAR ground data, refining road boundary detection for more accurate road area analysis. By integrating road segmentation and object tracking, the system reduces false negatives and improves jaywalking detection. Experimental results from real-road data validate its effectiveness, showing significant potential to enhance traffic surveillance. © 2025 IEEE.

关键词： Image segmentation

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Dual-mode Switching Fault Ride-through control Strategy for Self-synchronous Wind Turbines

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Journal of Modern Power systems and Clean Energy 2023年第2期11卷 579-588页

作者： Xinshou Tian Yongning Chi Peng Cheng Wei He Yunpeng Zhou Jianzhu Hu China Institute of Energy and Transportation Integrated Development North China Electric Power UniversityBeijing 102206China State Key Laboratory of Operation and Control of Renewable Energy&Storage Systems China Electric Power Research InstituteBeijing 100192China State Grid Zhejiang Electric Power Co. Economic and Technological Research InstituteHangzhouChina

The installed capacity of renewable energy generation has continued to grow rapidly in recent years along with the global energy transition towards a 100%renewable-based power *** the same time,the grid-connected large-scale renewable energy brings significant challenges to the safe and stable operation of the power system due to the loss of synchronous ***,self-synchronous wind turbines have attracted wide attention from both academia and ***,the understanding of the physical operation mechanisms of self-synchronous wind turbines is not *** particular,the transient characteristics and dynamic processes of wind turbines are fuzzy in the presence of grid ***,it is difficult to design an adaptive fault ride-through(FRT)control ***,a dual-mode switching FRT control strategy for self-synchronous wind turbines is *** FRT control strategies are *** one strategy,the amplitude and phase of the internal potential are directly calculated according to the voltage drop when a minor grid fault *** other dual-mode switching control strategy in the presence of a deep grid fault includes three parts:vector control during the grid fault,fault recovery vector control,and self-synchronous *** proposed control strategy can significantly mitigate transient overvoltage,overcurrent,and multifrequency oscillation,thereby resulting in enhanced transient ***,simulation results are provided to validate the proposed control strategy.

关键词： Dual-mode switching self-synchronous wind turbine transient stability fault ride-through(FRT)control

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Principled Preferential Bayesian Optimization 41

Principled Preferential Bayesian Optimization

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41st International Conference on Machine Learning, ICML 2024

作者： Xu, Wenjie Wang, Wenbin Jiang, Yuning Svetozarevic, Bratislav Jones, Colin N. Automatic Control Laboratory EPFL Lausanne Switzerland Urban Energy Systems Laboratory Empa Zurich Switzerland The Institute for Artificial Intelligence Research and Development of Serbia Serbia

We study the problem of preferential Bayesian optimization (BO), where we aim to optimize a black-box function with only preference feedback over a pair of candidate solutions. Inspired by the likelihood ratio idea, we construct a confidence set of the black-box function using only the preference feedback. An optimistic algorithm with an efficient computational method is then developed to solve the problem, which enjoys an information-theoretic bound on the total cumulative regret, a first-of-its-kind for preferential BO. This bound further allows us to design a scheme to report an estimated best solution, with a guaranteed convergence rate. Experimental results on sampled instances from Gaussian processes, standard test functions, and a thermal comfort optimization problem all show that our method stably achieves better or competitive performance as compared to the existing state-of-the-art heuristics, which, however, do not have theoretical guarantees on regret bounds or convergence. Copyright 2024 by the author(s)

关键词： Optimization algorithms

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Complex dynamics of a magnetic microrobot driven by single deformation soft tail in random environment

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Theoretical & Applied Mechanics Letters 2024年第5期14卷 402-408页

作者： Xinpeng Shi Yongge Li Yong Xu Qi Liu School of Mathematics and Statistics Northwestern Polytechnical UniversityXi’an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063China MOE Key Laboratory for Complexity Science in Aerospace Northwestern Polytechnical UniversityXi’an 710072China Department of Systems and Control Engineering Tokyo Institute of TechnologyTokyo 152-8552Japan

This study focuses on exploring the complex dynamical behaviors of a magnetic microrobot in a random *** purpose is to reveal the mechanism of influence of random disturbance on microrobot *** paper establishes stochastic dynamic models for the microrobot before and after deformation,considering the influence of Gaussian white *** system responses are analyzed via steady-state probability density functions and first deformation *** effects of different magnetic field strengths and fluid viscosities on the movement speed and angular velocity of the microrobot are *** results indicate that random disturbances can cause deformation of microrobots in advance compared to the deterministic *** work contributes to the design and motion control of microrobots and enhances the theoretical foundation of microrobots.

关键词： Magnetic microrobot Stochastic dynamic models Random disturbances

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Logarithmic Sliding-Mode control for High-Precision Rigid-Body Attitude Tracking 49

Logarithmic Sliding-Mode Control for High-Precision Rigid-Bo...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Dong, Hanlin Yang, Xuebo Chen, Zhongbo Liu, Xiyao School of Automation Northwestern Polytechnical University Xi'an China Research Institute of Intelligent Control Systems Harbin Institute of Technology Harbin China College of Control Science and Engineering Bohai University Jinzhou China Northwestern Polytechnical University Research Center for Intelligent Robotics Xi'an China

ISBN: (纸本)9798350331820

The problem of high-precision attitude tracking is studied in this paper under model uncertainty and external disturbance risk. First of all, the kinematics and dynamics model of rigid body is derived based on the quaternion theory. Then, a standard logarithmic sliding-mode function is constructed using the attitude quaternion and its derivatives of the rigid spacecraft, and the corresponding logarithmic sliding-mode controller is also derived. Finally, the stability of the controlled closed-loop system is demonstrated. Consistenting with theoretical proof, the numerical simulation results showed that the controlled rigid body can quickly track its desired attitude command, even if there are model uncertainty and external disturbance risks. © 2023 IEEE.

关键词： Disturbance rejection

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