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Adaptive optimal control system design for semi-active suspension system by supposing variable parameters under exogenous road disturbance

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Control Theory and Technology 2025年第1期23卷 64-73页

作者： Viet Nguyen Hoang Feiqi Deng Chi Nguyen Van School of Automation Science and Engineering South China University of TechnologyGuangzhou510640GuangdongChina Thai Nguyen University of Technology Thai Nguyen CityVietnam

This article presents an adaptive optimal control method for a semi-active suspension *** model of the suspension system is built,in which the components of uncertain parameters and exogenous disturbance are *** adaptive optimal control law consists of the sum of the optimal control component and the adaptive control ***,the optimal control law is designed for the model of the suspension system after ignoring the components of uncertain parameters and exogenous disturbance caused by the road *** optimal control law expresses the desired dynamic characteristics of the suspension ***,the adaptive component is designed with the purpose of compensating for the effects caused by uncertain parameters and exogenous disturbance caused by the road surface;the adaptive component has adaptive parameter rules to estimate uncertain parameters and exogenous *** exogenous disturbances are eliminated,the system responds with an optimal controller *** separating theoretically the dynamic of a semi-active suspension system,this solution allows the design of two separate controllers easily and has reduced the computational burden and the use of too many tools,thus allowing for more convenient hardware *** simulation results also show the effectiveness of damping oscillations of the proposed solution in this article.

关键词： Quarter car suspension system Semi-active suspension Adaptive control Optimal control Linear-quadratic regulator Exogenous disturbance

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Grid-Voltage Sensorless Predictive Current Control of Three-Phase PWM Rectifier with Fast Dynamic Response and High Accuracy

CPSS Transactions on Power Electronics and Applications

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CPSS Transactions on Power Electronics and Applications 2023年第3期8卷 269-277页

作者： Li, Chunjie Hu, Jianing Zhao, Mingwei Jiangsu Normal University Electrical Engineering Department Xuzhou221116 China School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

To improve pure integral calculations with integral drift and dc bias, and poor dynamic response under conventional direct power control, a grid-voltage sensorless predictive current control strategy of three-phase PWM rectifier is proposed. In the voltage sensorless control algorithm, an improved virtual flux observer is constructed by introducing bandstop filter feedback to solve the dc bias. Moreover, to address the inaccurate voltage-vector selection algorithm in the two-step prediction, Lagrange interpolation is introduced to make the predictive current more accurate. Experimental results verify that the three-phase PWM rectifier with the proposed strategy can achieve high power factor, high prediction accuracy and improve dynamic performance of the system. © 2017 CPSS.

关键词： Pulse width modulation

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A New Robust Stabilization/Tracking Control Algorithm for Stochastic Nonlinear Systems

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Journal of Systems Science & Complexity 2025年

作者： LIU Zhenguo LIU Enxin XUE Lingrong SUN Zongyao School of Automation and Software Engineering Shanxi University School of Information Shanxi University of Finance and Economics Institute of Automation Qufu Normal University

Numerous complex nonlinear systems in the real-world constantly suffer from random noises, which contribute to the enormous challenge of system control. Additionally, unknown powers in nonlinear systems always lead to the inapplicability of many reported control methods. This article investigates the control issue of stochastic systems which contain complicated nonlinearities and unknown system powers. With the newly constructed Lyapunov function, as well as the control algorithm presented in this work, the authors successfully obtain a controller so that the closed-loop system is semiglobally finite-time stable in probability(SGFSP). Besides, the system output can trackthe reference signal fast. The presented method significantly enlarges the range of application for nonlinear systems. The presented strategy is successfully applied to the liquid-level system.

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Fixed-time-synchronized control: a system-dimension-categorized approach

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Science China(Information Sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg-arm integration

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Frontiers of Mechanical engineering 2022年第1期17卷 50-69页

作者： Yi ZHENG Kun XU Yaobin TIAN Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

With the widespread application of legged robot in various fields,the demand for a robot with high locomotion and manipulation ability is *** an extra arm is a useful but general method for a legged robot to obtain manipulation ***,this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra *** manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation *** former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing *** the fixed coordinated clamping case,the degrees of freedom(DOFs)analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are *** the fixed coordinated shearing case,the coordinated working space is determined,and an ideal coordinated manipulation ball is presented to guide the coordinated shearing *** addition,the constraint analysis of two adjacent integrated limbs is ***,mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition,including gait switching analysis between hexapod gait and pentapod gait,different pentapod gaits analysis,and a complex six-DOF manipulation while *** experiments are implemented,including clamping tasks with two integrated limbs,coordinated shearing task by using two integrated limbs,and mobile manipulation with pentapod *** robot provides a new approach to building a multifunctional locomotion platform.

关键词： leg-arm integration hexapod robot fixed coordinated manipulation mobile manipulation

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Stability Studies on PV Grid-connected Inverters under Weak Grid:A Review

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Chinese Journal of Electrical engineering 2024年第4期10卷 1-19页

作者： Ming Li Xing Zhang Xinxin Fu Hua Geng Wei Zhao School of Electrical Engineering and Automation Hefei University of TechnologyHefei 230009China Department of Automation Tsinghua UniversityBeijing 100084China Sungrow Power Supply Company Ltd. Hefei 230088China

The integration of photovoltaic (PV) systems into weak-grid environments presents unique challenges to the stability of grid-connected inverters. This review provides a comprehensive overview of the research efforts focused on investigating the stability of PV grid-connected inverters that operate under weak grid conditions. Weak grids are characterized by a low short-circuit capacity and low inertia, making it essential to explore strategies that enhance the stability and performance of inverters in such challenging environments. This review covers various aspects, including control strategies and advanced technologies implemented to address stability problems. The research findings related to the impact of weak grid conditions on PV inverters, modeling techniques, and analysis results are discussed. Additionally, this review highlights emerging trends, identifies gaps in the current research, and suggests potential avenues for future investigations aimed at improving the stability of PV grid-connected inverters in weak grid scenarios.

关键词： Grid-following(GFL)control grid-forming(GFM)control photovoltaic(PV)grid-connected inverters weak grid

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Improving String Stability in Cooperative Adaptive Cruise Control Through Multiagent Reinforcement Learning With Potential-Driven Motivation

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第5期6卷 1114-1127页

作者： Jiang, Kun Hua, Min He, Xu Dong, Lu Zhou, Quan Xu, Hongming Sun, Changyin Southeast University School of Automation Nanjing210096 China University of Birmingham School of Engineering BirminghamB15 2TT United Kingdom Southeast University School of Cyber Science and Engineering Nanjing211189 China Ministry of Education Engineering Research Center of Autonomous Unmanned System Technology Hefei230601 China

Cooperative adaptive cruise control (CACC) is regarded as a promising technology for achieving efficient and safe collaboration among connected and automated vehicles (CAVs) in a platoon, and multiagent reinforcement learning (MARL) methods are emerging as an effective approach to implementing the CACC technology. However, most MARL methods do not sufficiently tackle the prevalent string stability problem, even when integrating communication mechanisms to improve agents’ understanding of CACC scenarios. This limitation arises because these methods typically learn communication mechanisms based solely on the information directly observable by the agents, neglecting potentially valuable information present in the environment. In this article, we propose a multiagent actor–critic with a potential-driven motivation (MAACPM) approach, which utilizes variational inference theory to infer the potential motivation representation space in the CACC task, providing a more favorable opportunity for adjusting driving behavior within the platoon. Furthermore, we quantify the specific impact of potential motivation on each vehicle by measuring the difference between policies with and without potential motivation. We then utilize this difference as a potential reward signal to incentivize the agent to grasp effective potential motivation. The proposed method was validated in two typical CACC scenarios, where we compared the performance of our MAACPM algorithm with other state-of-the-art MARL methods to demonstrate its effectiveness. Furthermore, we illustrate potential real-world applications of our method by comparing it with actual vehicle driving data. © 2020 IEEE.

关键词： Reinforcement learning

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Development of Dispersion Calculator SAFEDC of Guided Wave with Complex Material and Waveguide 11

Development of Dispersion Calculator SAFEDC of Guided Wave w...

引用

11th European Workshop on Structural Health Monitoring, EWSHM 2024

作者： Wang, Xin Liu, Menglong Wang, Kai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Aerospace Engineering Xiamen University Xiamen China

The propagation characteristics of guided waves (GW) are related to both the material, loading and geometry parameters. A dispersion calculator of GW propagating in the complex geometry with anisotropic material parameter in the waveguide is developed based on the semi-analytical finite element (SAFE) method. By assuming the simple harmonic motion along the propagation direction and adopting the mesh discretization in the cross section, SAFE features the capability of GW calculation in the complex waveguide at only a cost of limited calculation resources. Hence, besides the capabilities of the most off-the-shelf tools focusing on the analytical solution of GW in simple plate or pipeline, the developed algorithm further offers the solution of GW in waveguide with laminates of arbitrary ply stacking sequences and in arbitrarily complex cross section. Quadratic one-dimensional and triangular elements are adopted to automatically discretize the plate structure and complex cross section, respectively. The obtained results of GW in plates are in a good agreement with the results obtained with the off-the shelf-tools that adopt analytical derivations, and show stronger robustness of mode searching and sorting by avoiding the complex root-finding procedure required in the analytical derivation. The most GW features, including phase velocity, group velocity, and wave structure in terms of displacement, stress, and strain, and animation of wave propagation are directly calculated. All these functions are integrated in the previously developed freeware SAFEDC v1.0, released in September 2023. And the newly updated version SAFEDC v1.0.1 has undergone certain optimizations compared to the original version. © 2024 11th European Workshop on Structural Health Monitoring, EWSHM 2024. All rights reserved.

关键词： Dispersions

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Aborted lane-change strategy based on Gauss Mixture Hidden Markov model

Advances in Transportation Studies

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Advances in Transportation Studies 2023年 61卷 321-336页

作者： Xu, Y. Guan, J. Yu, Y. Liu, Z. School of Mechanical Engineering-Beijing Institute of Technology Beijing China School of Automation-Beijing Institute of Technology Beijing China

The concept of aborted lane-change is introduced in this paper, and the lane-change decisions are divided into four states: lane-keeping, lane-change, keeping lane-change and aborting lane-change. Considering the lane change characteristics of actual drivers, an aborted lane-change model based on the Gauss mixture hidden Markov model (GMM-HMM) is proposed. Meanwhile, the concept of aggressiveness is proposed and calculated by Long Short-Term Memory (LSTM). The aggressiveness quantifies surrounding vehicle driving characteristics and is included as input to the lane-change decision *** with the previous lanechange model, the simulation results show that the proposed model improves the correct rate to 95% after incorporating the scenario of aborted lane-change;with the consideration of aggressiveness, the correct rate is further improved to 97.5%, and the performance in online validation is well with errors less than 2s. It can be concluded that the model proposed in this paper can better simulate the driver's lane-change behavior, which is instructive for future work. © 2023, Aracne Editrice. All rights reserved.

关键词： Long short-term memory

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Image Dehazing Algorithm Based on Cell Vibration Energy Model 8th

Image Dehazing Algorithm Based on Cell Vibration Energy Mod...

引用

8th International Conference on Life System Modeling and Simulation, LSMS 2024 and 8th International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2024

作者： Lei, Xiaozhou Fei, Zixiang Fei, Minrui School of Mechatronic Engineering and Automation Shanghai University Shanghai China School of Computer Engineering and Science Shanghai University Shanghai China

ISBN: (纸本)9789819601875

Image dehazing is a challenging task in image enhancement. Due to the widespread presence of haze, it obscures scenes leading to loss of image features, and consequently, failure of visual tasks. To address this issue, this paper proposes a fast and effective image dehizing algorithm based on the cell vibration energy model and image enhancement ideas. Specifically, first, an optimized global enhancement model based on cell vibration is proposed to further improve the computational efficiency of the enhancement process. Then, inspired by image enhancement ideas, a two-round enhancement dehazing framework using stacked modules is proposed. Following that, a negative lightness difference image estimation method combining mean filtering, fast guided filtering, and linear transformation is proposed to solve the core parameter estimation problem within the framework. At the same time, a value range constraint strategy is proposed to limit the value range of the negative lightness map and enhance the adaptability of the algorithm. Lastly, a proportion adjustment method is used to further adjust the brightness of the dehazed image. Experimental results show that the proposed dehazing algorithm outperforms nine state-of-the-art methods in terms of dehazing efficiency and detail restoration. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Wiener filtering

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