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第41届中国控制会议

作者： Xinyi Xu Qilin Qu Yanwei Wang Ying Zheng Housheng Su China-Belt and Road Joint Laboratory On Measurement and Control Technology School of Artificial Intelligence and AutomationHuazhong University of Science and Technology School of Mechanical & Electrical Engineering Wuhan Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The intelligent bearing diagnosis with big data has been widely *** high performance diagnosis models are constantly being proposed,these models are difficult to apply in some practical application with limited collectable *** this paper,an Improved Metric Space Support Vector Machine with a two-stage learning strategy is proposed to overcome the challenge of few-shot scenarios under target domain ***,an improved triplet loss is designed in the metric network to select features by utilizing the similarity of ***,kernel method is used to model in few-shot scenarios by maximizing the inter-class *** on CWRU dataset verify the superiority and robustness of IMSSVM comparing with popular baseline ***,the effectiveness of IMSSVM is verified with visualizing the feature embeddings by t-distributed stochastic neighbor embedding.

关键词： fault diagnosis few-shot learning metric learning kernel method

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Augmenting Vision with Radar for All-weather Geo-localization without a Prior HD Map

Augmenting Vision with Radar for All-weather Geo-localizatio...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Can Dong Ziyang Hong Siru Li Liang Hu Huijun Gao Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Accurate and robust geo-localization in all-weather conditions is essential for enabling autonomous vehicles and delivery robots to offer uninterrupted mobility services in the real world. In this paper, we propose the first camera and radar fusion based geo-localisation method that is robust to all-weather conditions. The core of the proposed method is to leverage the rich semantics information in images and sensing consistency in radars across all-weather. Our proposed method surpasses the state of the art camera-based and LiDAR-camera based methods in inclement weather conditions, shown by extensive comparative experiments. Notably, our approach requires only an open accessible map, eliminating the need for high-definition maps and offering a cost-effective solution for geo-localizing or globally localizing autonomous vehicles in any weather condition. Our code and trained model will be released publicly.

关键词： Accuracy Robot vision systems Radar Radar imaging Cameras Feature extraction Sensor systems Sensors Autonomous vehicles Meteorology

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Research on Simultaneous Localization and Mapping of Mobile Robot Based on Improved Karto Algorithm 11

Research on Simultaneous Localization and Mapping of Mobile ...

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11th Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2023

作者： Zhao, Ya Zhang, Yunxi Zhang, Yijing Hou, Linlin Liu, Jia School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin China School of Information Science and Engineering Qufu Normal University Rizhao China

ISBN: (纸本)9798350333664

The simultaneous localization and mapping (SLAM) of mobile robot is one of the important technologies of mobile robot application., which has been paid much attention. Laser SLAM., as the most traditional SLAM algorithm., has been widely used in mobile robots. In this paper., the problem of synchronous positioning and mapping of mobile robot is studied. Ceres back-end optimization library was introduced into the back-end to improve Karto algorithm to eliminate the phenomenon of overlapping in the process of mobile robot mapping and achieve more accurate mapping effect. Finally., simulation experiments based on ROS experimental platform are carried out to verify the effectiveness of the algorithm. © 2023 IEEE.

关键词： Ceres backend optimization Karto algorithm Laser SLAM Least squares mobile robots

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Appointed-Time Prescribed Performance control for Hypersonic Reentry Vehicles

Appointed-Time Prescribed Performance Control for Hypersonic...

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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Ren, Bin Wang, Honglun Wu, Tiancai Liu, Yiheng Yang, Zhiyuan School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789811694912

This paper comes up with an appointed-time prescribed performance control (APPC) scheme for hypersonic reentry vehicles (HRVs) with actuator faults, model uncertainties and external disturbances. Firstly, a control-oriented HRVs model is established, which regards the above three factors as lumped disturbance. Then, a fixed-time disturbance observer (FTDO) is employed in order to estimate and compensate the lumped disturbance. Furthermore, based on the active disturbance rejection control (ADRC) framework and backstepping method, an APPC law is designed to ensure the attitude tracking errors reach to the prescribed regions within the appointed time. The closed-loop system is also proven to be asymptotically stable via Lyapunov stability theory. Finally, the numerical simulation results demonstrate the good performance of the proposed controller. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Uncertainty analysis

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Energy storage for black start services:A review

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International Journal of Minerals,Metallurgy and Materials 2022年第4期29卷 691-704页

作者： Yanqi Zhao Tongtong Zhang Li Sun Xiaowei Zhao Lige Tong Li Wang Jianning Ding Yulong Ding School of Mechanical Engineering Jiangsu UniversityZhenjiang 212013China Jiangsu Collaborative Innovation Centre of Photovoltaic Science and Engineering Changzhou UniversityChangzhou 213164China Birmingham Centre for Energy Storage&School of Chemical Engineering University of BirminghamBirmingham B152TTUnited Kingdom School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Intelligent Control&Smart Energy(ICSE)Research Group&School of Engineering University of WarwickCoventry CV47ALUnited Kingdom School of Energy and Environmental Engineering University of Science and Technology BeijingBeijing 100083China

With the increasing deployment of renewable energy-based power generation plants,the power system is becoming increasingly vulnerable due to the intermittent nature of renewable energy,and a blackout can be the worst *** current auxiliary generators must be upgraded to energy sources with substantially high power and storage capacity,a short response time,good profitability,and minimal environmental *** in the power restoration of renewable energy generators should also be *** different energy storage methods can store and release electrical/thermal/mechanical energy and provide flexibility and stability to the power ***,a review of the use of energy storage methods for black start services is provided,for which little has been discussed in the ***,the challenges that impede a stable,environmentally friendly,and cost-effective energy storage-based black start are *** energy storagebased black start service may lack supply ***,the typical energy storage-based black start service,including explanations on its steps and configurations,is *** start services with different energy storage technologies,including electrochemical,thermal,and electromechanical resources,are *** suggest that hybridization of energy storage technologies should be developed,which mitigates the disadvantages of individual energy storage methods,considering the deployment of energy storage-based black start services.

关键词： black start renewable energy electrochemical energy storage thermal energy storage electromechanical energy storage hybrid energy storage

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Fault-Tolerant control for Hypersonic Reentry Vehicles with RCS

Fault-Tolerant Control for Hypersonic Reentry Vehicles with ...

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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Yang, Zhiyuan Wang, Honglun Wu, Tiancai Liu, Yiheng Ren, Bin School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789811694912

In this paper, a backstepping fault-tolerant control scheme is proposed, enabling hypersonic reentry vehicles which are only controlled by reaction control system with unknown actuator faults and external disturbances to accurately track the attitude commands. Firstly, a control-oriented hypersonic reentry vehicle model which regards two factors mentioned above as lumped disturbance are stated. Then, a high-order sliding mode observer is used to estimate and compensate the lumped disturbance and achieve the purpose of anti-disturbance. Based on the disturbance observer and back-stepping control method, the proposed fault-tolerant control scheme is designed. Meanwhile, considering the characteristic of reaction control system, specific control allocation and PWPF modem are adopted in the control scheme. Finally, the stability and effectiveness of the proposed controller are verified from theoretical analysis and numerical simulations respectively. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Backstepping

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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science China(Technological sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Aircraft Intelligent Guidance Technology for Evasion and Penetration

Aircraft Intelligent Guidance Technology for Evasion and Pen...

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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Li, Jinbai Wang, Honglun Liu, Yiheng Wu, Tiancai School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789811694912

In this paper, in order to improve the performance of aircraft evasion and penetration, an intelligent guidance algorithm is proposed by combining twin delayed deep deterministic policy gradient (TD3) and interfered fluid dynamical system (IFDS). First, the guidance model and simulation environment are established. On this basis, the basic guidance algorithm IFDS and the deep reinforcement learning method TD3 are introduced respectively, and the intelligent guidance algorithm is designed. Then, this paper compares and analyzes the simulated flight path of the aircraft obtained by the traditional guidance algorithm and the intelligent guidance algorithm. Finally, simulations show that the intelligent guidance algorithm can guide the aircraft to avoid obstacles and missiles, and demonstrate the advantages of the intelligent guidance algorithm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft

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Heterogeneous Mean Field Social control: The Multiplicative Noise Case

Heterogeneous Mean Field Social Control: The Multiplicative ...

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Asian control Conference

作者： Yong Liang Bing-Chang Wang Huanshui Zhang School of Control Science and Engineering Shandong University Jinan China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

The linear quadratic mean field social control problem with heterogeneous agents and multiplicative noise is studied in this paper. The direct approach is adopted to design the decentralized controller for this large-population system. The heterogeneous agents are classified into different disjoint cluster, where the agents in a same cluster are homogeneous with identical dynamics and cost function. Agents are coupled with each other through the global cluster mean field term which is the stack of average state of agents in each cluster. First, under the centralized information pattern, we use variational analysis to obtain the necessary and sufficient conditions for the existence of optimal centralized open-loop controller characterized by a system of forward-backward stochastic differential equations (FBSDEs). Next, we decouple the high-dimensional FBSDEs with two coupled low-dimensional Riccati equations to obtain the optimal centralized feedback controller. Finally, under the decentralized information pattern, an asymptotically optimal decentralized controller is design by using the mean field approximations.

关键词： Couplings Sufficient conditions Noise Riccati equations Differential equations Cost function control systems

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Adaptive Interfered Fluid Dynamic System Algorithm Based on Deep Reinforcement Learning Framework

Adaptive Interfered Fluid Dynamic System Algorithm Based on ...

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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Zhang, Yunfei Wang, Honglun School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789811694912

In this paper, adaptive interfered fluid dynamic system algorithm (AIFDS) is proposed for unmanned aerial vehicle (UAV) path planning in dynamic obstacle environment, inspired by the natural flow to avoid rocks. In AIFDS, UAV is regarded as an agent. Through the interaction with the environment, it gradually learns how to adjust the flow field, so as to plan a path with high safety, short distance and short execution time in advance. AIFDS can be combined with almost all reinforcement learning algorithms with continuous action space. This paper studies the combination of AIFDS with SAC, DDPG, PPO, TD3 algorithm. Experiments are carried out in the environment with multiple dynamic obstacles, and the results show that AIFDS has a bright performance in the aspect of path safety. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Deep learning

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