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6th International Conference on Robotics, control and automation engineering, RCAE 2023

作者： Zhang, Jing Yan, Haoming Chen, Hongtian Xu, Shuiqing Liu, Yiqi School of Automation Science & Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China College of Electrical Engineering and Automation Hefei University of Technology Hefei230009 China

ISBN: (纸本)9798350315301

Considering the high energy consumption problem in the wastewater treatment process, this paper proposes a multi-objective optimization control scheme based on NSGA-II algorithm. The proposed scheme can not only ensures meet effluent quality requirements but also can achieves energy cost savings. This method takes the aeration energy consumption and pumping energy consumption of the system as the optimization goal with the effluent water quality being the constraint condition. At the same time, the adaptive fuzzy PID controller is designed to ensure the control accuracy and stability of the controlled system. The results of simulation experiments validated in benchmark simulation platform, BSM1, show that, compared with PI control and single-objective optimization control, the proposed optimization scheme in this paper can achieve the desired quality of the effluent water withmore energy-saving. © 2023 IEEE.

关键词： Energy utilization

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Q-Learning for Linear Quadratic Optimal control with Terminal State Constraint

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The International Journal of Intelligent control and Systems 2024年第3期29卷 134-140页

作者： Juanjuan Xu Jingmei Liu Zhaorong Zhang Wei Wang School of Control Science and Engineering Shandong UniversityJinan 250061China School of Automation and Electrical Engineering Linyi UniversityLinyi 276000China School of Computer Science and Technology Shandong UniversityQingdao 266237China

In this paper,we study the linear quadratic(LQ)optimal control of time-varying difference system with terminal state *** main contribution is to provide the Q-learning algorithm for the optimal controller under the case that the time-varying system matrices and input matrices are both unknown,which consists of learning the solution of the Riccati equation and calculating the specific Lagrange multiplier from the data-driven matrix *** from the existing Q-learning algorithms that mainly focus on unconstrained optimal control problems,the novelty of the proposed algorithm can be applied to handle situations with terminal state *** effectiveness of the proposed Q-learning algorithm is demonstrated through a numerical example.

关键词： Linear quadratic optimal control terminal state constraint Q-learning reachability

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Policy Iteration Adaptive Dynamic Programming Based control for Hypersonic Flight Vehicles

Policy Iteration Adaptive Dynamic Programming Based Control ...

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2023 China automation Congress, CAC 2023

作者： Zhang, Yuanhang Fu, Jingbo Liang, Chen Wang, Chenliang Qiao, Jianzhong School of Automation Science and Electrical Engineering Beihang University Beijing China China Academy of Aerospace Science and Industry Launch Vehicle Technology Beijing China Beijing Institute of Control and Electronics Technology Beijing China

ISBN: (纸本)9798350303759

A novel approximate optimal tracking control scheme using policy iteration adaptive dynamic programming is proposed for hypersonic flight vehicles. By analysing the uniqueness of the equilibrium point during stable level flight of a hypersonic flight vehicle after achieving tracking objective, the output tracking problem is transformed into a state regulation problem. The initial admissible control law is obtained based on feedback linearization and sliding mode control under the discrete quadratic form cost function. Policy iteration adaptive dynamic programming algorithm is used to design the approximate optimal control law and the neural network approximation method is applied to approach the cost function. Simulation results illustrate the effectiveness of the proposed scheme. © 2023 IEEE.

关键词： Cost functions

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提取受非高斯列维噪声扰动随机动力系统的最大似然转移路径的数据驱动方法

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Acta Mechanica Sinica 2024年第1期40卷 240-252页

作者：陆凌弘志李扬刘先斌 State Key Laboratory of Mechanics and Control for Mechanical Structures College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China School of Automation Nanjing University of Science and TechnologyNanjing 210094China

机器学习和数据科学技术的飞速发展,很大程度上满足了许多领域通过数据预测比较实际或复杂的动力系统的需求.列维噪声是一个比高斯白噪声更普适和复杂的涨落模型,它被广泛应用于许多非高斯情形来模拟爆炸或跳跃行为.在本文中,我们设计... 详细信息

机器学习和数据科学技术的飞速发展,很大程度上满足了许多领域通过数据预测比较实际或复杂的动力系统的需求.列维噪声是一个比高斯白噪声更普适和复杂的涨落模型,它被广泛应用于许多非高斯情形来模拟爆炸或跳跃行为.在本文中,我们设计了一个系统的数据驱动方法来识别受高斯白噪声和非高斯列维噪声扰动的系统的最大似然转移路径.其中涉及的主要理论和数值概念包括经典动力系统理论中的非局部Kramers-Moyal公式、非局部Fokker-Planck方程以及一个通过交叉验证解决稀疏回归问题的机器学习框架.接下来我们给出两个例子从细节方面展现了该方法的可操作性,并且对最大似然转移路径做了简要的分岔分析.该方法将作为相关理论研究对应的数值方法以及数值角度的验证,并为该高斯扩散过程的推广复杂系统的其他诸如平均离出时间或离出概率等动力学指征的数值识别工作提供一些洞见.

关键词：机器学习最大似然交叉验证随机动力系统数据预测高斯白噪声非高斯数据驱动方法

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Distributed Cooperative control for DC Microgrids with Communication Time Delays Using Networked Predictive PI Scheme 1

Distributed Cooperative Control for DC Microgrids with Commu...

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1st IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2022

作者： Dai, Xiaoran Liu, Guo-Ping Hu, Wenshan Lei, Zhongcheng School of Electrical Engineering and Automation Wuhan University Wuhan China Southern University of Science and Technology Center for Control Science and Technology Shenzhen China

ISBN: (纸本)9798350398069

This paper is concerned with the communication time delay problem in the cyber-physical DC microgrid. A networked predictive PI control scheme is proposed to realize simultaneous voltage recovery and power sharing in the presence of time delays. The proposed method actively compensates for communication delays in a distributed manner. Owing to the proactive prediction, the microgrid can achieve a good performance with delays in the cyber layer. The effectiveness of the proposed scheme is validated via detailed simulations. © 2022 IEEE.

关键词： Time delay

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Comparative Study Of Swing-Up controllers: Passivity-Based Swing-Up control And Sliding Mode Technique Combined Energy-Based Method For Rotational Inverted Pendulum System 9

Comparative Study Of Swing-Up Controllers: Passivity-Based S...

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9th International Conference on Applying New Technology in Green Buildings, ATiGB 2024

作者： Vo, Minh-Tai Duong, Hoai-Nghia Nguyen, Vinh-Hao VNU-HCM Department of Control Engineering and Automation Ho Chi Minh City Viet Nam Rmit University Vietnam School of Science Engineering & Technology Ho Chi Minh City Viet Nam School of Engineering Eastern International University Binh Duong Province Thu Dau Mot city Viet Nam

ISBN: (纸本)9798331505042

In this paper, we focus on designing a swing-up controller, namely Passivity-Based Swing-up control (PBSC). The object we use to validate the PBSC is the Rotational Inverted Pendulum system (RIP), a well-known system in the class of underactuated systems. The key points of the design are summarized as follows: the control is based on the energy of the system, and the arm link of the RIP operates within a small range. The outcomes of this controller are compared with our previously proposed swing-up controller, named Sliding Mode control Combined Energy-Based Method (SMCCEBM). The work is performed in both simulations using MATLAB software and experiments on the experimental testbed. The results are discussed to show that each swing-up controller has its own specific strengths. For balancing tasks, we use the Linear Quadratic Regulator (LQR) on the RIP. However, we do not revisit the LQR theory in this study, we only present the control law for the mentioned balancing control. © 2024 IEEE.

关键词： Sliding mode control

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Research on Improved ICP for 3D Reconstruction of Lightning Arrester 5

Research on Improved ICP for 3D Reconstruction of Lightning ...

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5th International Conference on Robotics, Intelligent control and Artificial Intelligence, RICAI 2023

作者： Lu, Senjian Hou, Beiping Zhang, Qinlong Zheng, Yangbin Shao, Fangkun Ge, Shihao Zhu, Wen School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou310023 China Zhejiang Intl. Science and Technology Cooperation Base of Intelligent Robot Sensing and Control China Technology 310023 China

ISBN: (纸本)9798350357950

The lightning arrester is an electrical device used to prevent damage to the insulation of electrical equipment caused by over voltages, including lightning and switching impulses. Creepage distance, umbrella distance, and diameter are crucial parameters for lightning arrester protection. However, traditional manual detection methods are laborious and cumbersome. Moreover, due to the highly symmetrical structure of the lighting arrester itself, the traditional methods have difficulties such as easy reverse registration, etc. This paper proposes an approach for obtaining multi-angle point cloud maps by using robotic arm and depth camera, and a quadratic point cloud registration algorithm is presented, it incorporates both the FGR (fast global registration) registration and improved ICP (Iterative Closest Point) registration algorithms. Specifically, the FGR registration algorithm is initially employed for the approximate registration of two point-cloud, and then The KICP (ICP uses KDTREE to accelerate the ICP algorithm) is used for fine registration. The experimental results demonstrate that the average registration time is 60% faster than traditional method with high registration accuracy. Therefore, this method has good Real time performance and robustness for reconstructing lightning arrester. © 2023 IEEE.

关键词： improved ICP lightning arrester three-dimensional reconstruction

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Asynchronous State Estimator Design for Markov Switched Systems with Incomplete Probabilities and Redundant Channels 42

Asynchronous State Estimator Design for Markov Switched Syst...

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42nd Chinese control Conference, CCC 2023

作者： Chen, Haiyang Gao, Fangzheng Mao, Xueyi School of Control Science and Engineering Tiangong University Tianjin300387 China School of Automation Nanjing Institute of Technology Nanjing211167 China Nanjing Communications Institute of Technology Publicity Department Nanjing211188 China

ISBN: (纸本)9789887581543

This paper is concerned about the H∞ asynchronous state estimator design for Markov switched systems (MSSs) with incomplete transition probabilities and redundant channels. A hidden Markov chain (HMC) is introduced to characterize the asynchronous degree between the state estimator mode and the system mode. Firstly an asynchronous full-order state estimator is devised for the MSSs. Then, by Lyapunov functional and stochastic analysis, new criteria are derived such that the augmented system consisting of the target system and state estimator is H∞ stochastically finite-time boundedness. After that, with matrix decoupling technique, a design algorithm is obtained in form of linear matrix inequalities (LMIs). Finally, the practical one-link robotic manipulator is utilized to validate the developed results. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Linear matrix inequalities

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Transformer-Based Predictive Analysis and Maintenance for Aluminum Foil Mill

Transformer-Based Predictive Analysis and Maintenance for Al...

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第43届中国控制会议

作者： Jiuzheng Su Wenshan Hu Guo-Ping Liu Zhongcheng Lei School of Electrical Engineering and Automation Wuhan University Center for Control Science and Technology Southern University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The aluminum foil mill is an important industrial production equipment. To reduce operation and maintenance costs and prevent breakdowns in the rolling mill, it is necessary to analyze and predict the data of different sensors of the mill, including voltage, current, temperature and others. In this paper, the problem analysis and modeling of the actual rolling mill production process are carried out, and the typical data of sensors are analyzed based on the Transformer model. Experimental results are compared with other typical time series prediction models. The final results show that the Transformer model has great potential in the predictive maintenance of aluminum foil mill.

关键词： Transformer model Aluminum foil mill Predictive maintenance Time series prediction

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Specific-Time Unknown Input Observer for Lur'e System

Specific-Time Unknown Input Observer for Lur'e System

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2023 International Conference on Neuromorphic Computing, ICNC 2023

作者： Chao, Chengke Huang, Shengchao Lv, Yuezu Shan, Dan Beijing Institute of Technology School of Automation Beijing China Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology Beijing China Shenyang Jianzhu University School of Electrical and Control Engineering Liaoning China

ISBN: (纸本)9798350316889

This paper investigates the problem of specific-time state estimation for Lur'e systems with unknown inputs. By analyzing nonlinear Lur'e systems, sufficient conditions for the design of unknown input observers are provided. Then, a specific-time observer is designed, with convergence analysis illustrated. The main advantage of the designed observer can realize accurate estimation of Lur'e system in specific time. Finally, a simulation example of the third-order Chua's circuit is conducted to verify the validity of the proposed specific-time unknown input observer. © 2023 IEEE.

关键词： lur'e systems specific-time observer unknown input observer

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