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On extended state Kalman filter-based identification algorithm for aerodynamic parameters

control Theory and Technology 2024年第2期22卷 235-243页

作者： Wenyan Bai Ruizhe Jia Peng Yu Wenchao Xue Beijing Aerospace Automatic Control Institute Beijing100854China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China Key Laboratory of Knowledge Automation for Industrial Processes Ministry of EducationBeijing100083China Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing100190China

In this paper, the problem of time-varying aerodynamic parameters identification under measurement noises is studied. By analyzing the key aerodynamic parameters that affect the aircraft control system, a system model with extended states for identifying equivalent aerodynamic parameters is established, and error parameters are extended to the system state, avoiding the difficulty caused by the unknown dynamic in the system. Furthermore, an identification algorithm based on extended state Kalman filter is designed, and it is proved that the algorithm has quasi-consistency, thus, the estimation error can be evaluated in real time. Finally, the simulation results under typical flight scenarios show that the designed algorithm can accurately identify aerodynamic parameters, and has desired convergence speed and convergence precision.

关键词： Aerodynamic parameters Parameter identification Extended state Kalman filter

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Information Presentation Strategies to Promote Pedestrian Behavior Change in Mixed Spaces with Automated Vehicle

Information Presentation Strategies to Promote Pedestrian Be...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Nishiura, Yuki Yamada, Hiroyuki Kurazume, Ryo Graduate School of Information Science and Electrical Engineering Kyushu University Japan Center for Sustainability - Connective Automation Hitachi Ltd. Research and Development Group Autonomous Control Research Department Ibaraki312-0034 Japan Kyushu University Faculty of Information Science and Electrical Engineering Fukuoka819-0395 Japan

ISBN: (纸本)9798350312072

This paper introduces an information presentation strategy for pedestrians, aiming to enhance traffic efficiency in a mixed pedestrian-automated vehicle environment, such as a public road. While automated driving technology has made remarkable progress, interactions with pedestrians on regular roads have mostly been studied in virtual environments using virtual reality goggles. According to these studies, potential traffic efficiency and safety issues arise from pedestrians' limited understanding of automated vehicle behavior. To address this, we propose a human-machine interface employing a head-mounted display (HMD) to mitigate traffic efficiency degradation caused by pedestrians. The proposed system draws upon behavioral economics principles to encourage pedestrians to modify their behavior and develop better interactions with automated vehicles. Simulations were conducted to identify an information presentation strategy that strongly supports learning, and its effectiveness was further validated through experiments involving a real vehicle. Notably, the experimental results confirmed that the information presentation strategies proven effective in simulations also facilitated pedestrian learning during real-world interactions. © 2024 IEEE.

关键词： Virtual reality

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control and Stability of Large-scale Power System with Highly Distributed Renewable Energy Generation:Viewpoints from Six Aspects

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CSEE Journal of Power and Energy Systems 2023年第1期9卷 8-14页

作者： Qing-Hua Wu Anjan Bose Chanan Singh Joe H.Chow Gang Mu Yuanzhang Sun Zhaoxi Liu Zhigang Li Yang Liu School of Electric Power Engineering South China University of TechnologyGuangzhou 510640China School of Electrical Engineering&Computer Science Washington State UniversityPullmanWA 99164USA Department of Electrical and Computer Engineering Texas A&M UniversityCollege StationTX 77843USA Department of Electrical Computer and Systems EngineeringRensselaer Polytechnic Institute(RPI)TroyNYUSA Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology Ministry of Education(Northeast Electric Power University)Jilin 132012China School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China

Power systems are moving toward a low-carbon or carbon-neutral future where high penetration of renewables is *** conventional fossil-fueled synchronous generators in the transmission network being replaced by renewable energy generation which is highly distributed across the entire grid,new challenges are emerging to the control and stability of large-scale power *** analysis and control methods are needed for power systems to cope with the ongoing *** the CSEE JPES forum,six leading experts were invited to deliver keynote speeches,and the participating researchers and professionals had extensive exchanges and discussions on the control and stability of power ***,potential changes and challenges of power systems with high penetration of renewable energy generation were introduced and explained,and advanced control methods were proposed and analyzed for the transient stability enhancement of power grids.

关键词： Distributed energy resources high converter penetration power system control renewable energy generation stability control transient stability

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Interpretable Anomalous Event Detection with Uniform Dynamic Alignment of Time Series in Aircraft Aviation Safety

Interpretable Anomalous Event Detection with Uniform Dynamic...

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International Conference on System Reliability and science (ICSRS)

作者： Jie Yang Diyin Tang Jinsong Yu Limei Tian School of Automation Science and Electrical Engineering Beihang University Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798350354508

ISBN: (纸本)9798350354515

Interpretable anomalous event detection plays a crucial role in proactive aviation safety by identifying anomalous patterns and explaining the occurrence of such events. However, varied-length time series in certain flight phases pose challenges for traditional modeling methods that require equal-length in-puts. To address this, we propose a uniform dynamic time warping with a uniform Scaling alignment method. This method combines global and local information, resolving the variable-length issue while minimizing information loss. Additionally, we perform error analysis on specific samples tot est t he detection model's capacity to identify different adverse samples with varied anomalous behaviors. Results in real flight data verify the proposed alignment method enhances the model performance and also shows a slight edge over other alignment methods.

关键词： Accuracy Event detection Error analysis Atmospheric modeling Image edge detection Time series analysis Robustness Safety Labeling Time-domain analysis

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Herdability of Nash equilibrium in neighbour-based game control system

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International Journal of control 2025年

作者： Guo, Junhao Ji, Zhijian Liu, Yungang Lin, Chong Institute of Complexity Science College of Automation Qingdao University Qingdao China Shandong Key Laboratory of Industrial Control Technology Qingdao China School of Control Science and Engineering Shandong University Jinan China

The game-based control system is composed of a regulator and underlying agents. The regulator first makes a decision, and then each agent optimises its own payoff function to reach the possible Nash equilibrium of the non-cooperative dynamic game. When the number of regulators in the system is greater than 1, the underlying agents naturally have the problem of connecting different regulators, which can be reflected in the topological structure. Therefore, this paper proposes the neighbour-based game control system (NBGCS) with multiple regulators. Then, we define the herdability of game-based systems and provide the necessary and sufficient conditions for achieving this performance. In addition, we describe the herdability by graph theory, and draw the following conclusion: when the system is herdable, the graph corresponding to the game controllability matrix is strategy-connectable. © 2025 Informa UK Limited, trading as Taylor & Francis Group.

关键词： controllability

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Real-Time Hand Gesture Recognition for Humanoid Robot control Using Python CVZone 7th

Real-Time Hand Gesture Recognition for Humanoid Robot Contro...

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7th International Conference on Smart City Applications, SCA 2022

作者： Baihaqi, Muhammad Yeza Vincent Simatupang, Joni Welman Graduate Institute of Automation and Control College of Engineering National Taiwan University of Science and Technology Taipei Taiwan School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Study Program of Electrical Engineering President University Bekasi Indonesia

ISBN: (纸本)9783031268519

Humanoid robot is able to mimic repetitive activities done by human. By having them, humans can focus on tasks that require extra focus, while leaving the simple one to be done by humanoid robot. To extend the functionality of the 3D-printed upper-body humanoid robot, a camera along with a machine learning algorithm is implemented. In this case, their responses can be categorized based on the gesture it sees. In this paper, the authors evaluate the performance of an upper-body humanoid robot that implements CVZone. The method of evaluation is conducted under three different distances, and each distance has three different brightness levels. It is found that the success rate is highest at the shortest distance which is 50 cm, and under medium-lighted environment. As the distance increases, the hand gesture gets harder to differentiate. At the same time, low or high brightness environment makes the image that contain hand gesture hard to interpret, thus lowering the success rate. Finally, hand gesture that involves third and little finger has the lowest success rate of 75%, while the movement that involves three fingers simultaneously has the second lowest success rate of 80.9%. Meanwhile, simple hand gesture such as clenched-fist or lifting a thumb has 100% success rate under all condition. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Anthropomorphic robots

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Transformer-Based Macroscopic Regulation for High-Speed Railway Timetable Rescheduling

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1822-1833页

作者： Wei Xu Chen Zhao Jie Cheng Yin Wang Yiqing Tang Tao Zhang Zhiming Yuan Yisheng Lv Fei-Yue Wang Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Signal&Communication Research Institute China Academy Railway SciencesBeijing 100081China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

Unexpected delays in train operations can cause a cascade of negative consequences in a high-speed railway *** such cases,train timetables need to be ***,timely and efficient train timetable rescheduling is still a challenging problem due to its modeling difficulties and low optimization *** paper presents a Transformer-based macroscopic regulation approach which consists of two stages including Transformer-based modeling and policy-based ***,the relationship between various train schedules and operations is described by creating a macroscopic model with the Transformer,providing the better understanding of overall operation in the high-speed railway ***,a policy-based approach is used to solve a continuous decision problem after macro-modeling for fast *** experiments on various delay scenarios are *** results demonstrate the effectiveness of the proposed method in comparison to other popular methods.

关键词： High-speed railway reinforcement learning train timetable rescheduling Transformer

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Predefined-Time Attitude Tracking control for Quadrotor UAV with Input Delay

Predefined-Time Attitude Tracking Control for Quadrotor UAV ...

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2023 China automation Congress, CAC 2023

作者： Li, Shuo Pei, Hailong Duan, Na College of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Automation Science and Enginneering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou510640 China School of Electrical Engineering & Automation Jiangsu Normal University Xuzhou221116 China

ISBN: (纸本)9798350303759

In this paper, the predefined time attitude tracking flight problem for a quadrotor unmanned aerial vehicle (UAV) system with input delays is investigated. By means of a novel auxiliary system, the effects of input delay are solved. Then, on the basis of the backstepping method and predefined performance control technology, the predefined-time attitude tracking controller is constructed to make UAV attitude tracking. Simulation results verify the validity of the proposed scheme. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Automatic modeling algorithm of stochastic error for inertial sensors

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control Theory and Technology 2024年第1期22卷 81-91页

作者： Luodi Zhao Long Zhao School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191China Digital Navigation Center Beihang UniversityBeijing100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing100191China

This paper proposes an automatic algorithm to determine the properties of stochastic processes and their parameters for inertial error. The proposed approach is based on a recently developed method called the generalized method of wavelet moments (GMWM), whose estimator was proven to be consistent and asymptotically normally distributed. This algorithm is suitable mainly (but not only) for the combination of several stochastic processes, where the model identification and parameter estimation are quite difficult for the traditional methods, such as the Allan variance and the power spectral density analysis. This algorithm further explores the complete stochastic error models and the candidate model ranking criterion to realize automatic model identification and determination. The best model is selected by making the trade-off between the model accuracy and the model complexity. The validation of this approach is verified by practical examples of model selection for MEMS-IMUs (micro-electro-mechanical system inertial measurement units) in varying dynamic conditions.

关键词： GMWM Stochastic process Inertial sensor Sensor calibration Error model Allan variance

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Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks with Tree Topologies

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IEEE Transactions on Network and Service Management 2025年第3期22卷 2354-2369页

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Northwest A and F University College of Information Engineering Yangling712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

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