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Youth Academic Annual Conference of Chinese Association of automation (YAC)

作者： Ximeng Han Quanli Liu Wei Wang Xiaoguang Zhao Zhigang Wang School of Control Science and Engineering Dalian University of Technology Dalian China Dalian Seasky Automation Co. Ltd Dalian China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

Dynamic detection of catenary geometry parameters (CGP) has a significant impact on the stability of the train power supply. Aiming at the problem that the detection speed of traditional detection methods can not meet the high frequency, high speed, and low fitness, this paper presents a non-contact, high-precision, real-time detection system for the CGP based on FPGA hardware acceleration. Dynamic measurement techniques based on monocular cameras and line-structured light. Firstly, the FPGA controls the camera to acquire images in real-time, and a parallel three-step median filtering algorithm is developed to reduce image noise, ten times more efficiently than the traditional median filter. Secondly, in order to solve the catenary localization problem in complex scenes, Hough transform is utilized to detect catenary, and the mean-shift algorithm is improved according to the hardware structure to realize catenary localization and tracking in complex scenes. Additionally, the weighted centroid extraction algorithm combined with hardware acceleration is optimized to achieve the stable extraction of pixel coordinates. Finally, the FPGA migration of the algorithms is completed. The coordinates of the spot center are transmitted to the host via Ethernet, and CGP is calculated by reconstructing the line structured light in 3D. After testing an image with a resolution of 800*480, Modelsim simulation takes 0.02 ms to process one image frame. When the algorithm is transplanted to the FPGA platform, the process from sending the control word to receiving the center of mass coordinates takes only 25 ms. The experiments demonstrate that the detection system outlined in this paper exhibits high accuracy and speed, adaptability, portability, and ease of installation, making it highly valuable for practical applications.

关键词： Geometry Location awareness Filtering algorithms Feature extraction Cameras Real-time systems Field programmable gate arrays

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Simulated Ising Annealing Algorithm with Gaussian Augmented Hamiltonian Monte Carlo

Simulated Ising Annealing Algorithm with Gaussian Augmented ...

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Chinese control Conference (CCC)

作者： Langyu Li Hao Wang Zhixin Xie Zixuan Liu Wei Cui Yu Pan State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China School of Automation Science and Engineering South China University of Technology Guangzhou China School of Mechanical Engineering and Automation Harbin Institude of Technology Shenzhen China

A numerical technique called Simulated Ising Annealing (SIA) uses digital computers to obtain approximations of the ground states of Ising models. The quadratic unconstrained binary optimization (QUBO) problem in combinatorial optimization, which is challenging to solve through exhaustive search, has significant linkages to the Ising model. Therefore, SIA's main objective is to identify a better solution in finite iterations. In order to enhance the performance of the simulated annealing procedure, we adopt a Gaussian augmented Hamiltonian Monte Carlo (GAHMC) method in this study. We contrasted our algorithm with Gibbs sampling and local quantum annealing method. Finally, we discuss its application on QUBO problem.

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Experimental Design of Lower-limb Movement Recognition Based on Support Vector Machine 41

Experimental Design of Lower-limb Movement Recognition Based...

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第41届中国控制会议

作者： Wangyang Ge Juan Zhao Feng Wang Chi Xu Zhaohui Yang Jinhua She School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Rehabilitation Union HospitalTongji Medical CollegeHuazhong Univ.Science & Technology School of Engineering Tokyo University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As a rehabilitation aid,the lower extremity rehabilitation robot usually works together with the patient during the rehabilitation training process,and achieves therapeutic effects by assisting the patient to complete movements within a certain trajectory for *** realize the active training of the rehabilitation robot,the rehabilitation robot needs to be able to recognize the patient's movement intention and cooperate with *** signals contain rich neuromuscular movement information and are often used to extract patients' movement *** this paper,using the principle of human lower extremity force generation,we designed an experiment for lower extremity action recognition of sEMG *** extracting the composition of feature vectors through time-domain feature values,we designed an SVM classifier to achieve the classification of five common lower extremity actions and obtained an average accuracy rate of 90.66% through the experiment,which verified the effectiveness of the experimental design.

关键词： sEMG signal SVM movement recognition lower-limb

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Adaptive fuzzy fixed-time control for uncertain time-delay nonlinear systems with output constraints

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IEEE Transactions on Fuzzy Systems 2025年

作者： Bai, Yang Dou, Gang Zhang, Tianliang Zhang, Weihai Guo, Mei Shandong University of Science and Technology College of Electrical Engineering and Automation Qingdao266590 China Shandong University of Science and Technology College of Electronic and Information Engineering Qingdao266590 China Qingdao University of Technology School of Information and Control Engineering Qingdao266520 China

This paper aims to address two complex issues in the control of a class of high-order time-delay nonlinear systems: i) the adaptive fixed-time tracking control and ii) the differential explosion arising from the iterative derivation of the intermediate control law during the design process. The issue is how to construct a tracking controller to ensure that the tracking error converges to an adjustable region around the origin in a fixed time. This article develops an adaptive fixed-time control strategy by employing fuzzy logic system (FLS) to approximate the unknown function terms and the nonlinear growth assumption often used in unknown systems is eliminated. This strategy combines the dynamic surface technology with the first-order filtered signals in recursive design, and effectively addresses the sticky problem of complexity explosion in controller design. Finally, the effectiveness and feasibility of this control scheme are demonstrated through a single-link manipulator system and a numerical example © 1993-2012 IEEE.

关键词： Iterative methods

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3D Curved Path Tracking control for UAV Collision Avoidance in Low Altitude Environments

3D Curved Path Tracking Control for UAV Collision Avoidance ...

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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Zhang, Menghua Wang, Honglun Wu, Jianfa Xu, Pengya School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Beijing Institute of Control Engineering Beijing100190 China Shanghai Electro-Mechanical Institute Shanghai201109 China

ISBN: (纸本)9789811694912

Aiming at the 3D curved path tracking problem for fixed-wing unmanned vehicle (UAV) collision avoidance in low altitude environments, a path tracking control method is proposed based on the strategy of separated guidance-control design. First, considering the characteristics of six degree of freedom (6-DOF) motion equation of UAV including strong nonlinearity, tight coupling and nonaffinity, the affine transformation is performed on the UAV model for control design. Second, the path tracking control system is divided into the inner control loop and the outer guidance loop. Based on back-stepping linear active disturbance rejection control (BLADRC), the control loop is further divided into the angular rate loop, the angle loop and the ground speed loop, thus, corresponding controllers are designed respectively. For the design of guidance loop, acceleration commands of the UAV in vertical plane and horizontal plane are obtained by the L1 guidance algorithm, and corresponding angle commands are given by command transformation. Finally, the simulation results show that the UAV can track the desired path determined by the collision avoidance decision method accurately, thus the feasibility and the effectiveness of the proposed path tracking control method is verified. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot 14

Extended State Observer Based Fault-Tolerant Predictive Cont...

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14th IEEE International Conference on Cyber Technology in automation, control, and Intelligent Systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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Spatio-Temporal Communication Compression in Distributed Prime-Dual Flows

arXiv

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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yuan, Deming Su, Hongye Shi, Guodong College of Control Science and Engineering Zhejiang University China School of Automation Nanjing University of Science and Technology China Centre for Field Robotics The University of Sydney Australia

In this paper, we study distributed prime-dual flows for multi-agent optimization with spatio-temporal compressions. The central aim of multi-agent optimization is for a network of agents to collaboratively solve a system-level optimization problem with local objective functions and node-to-node communication by distributed algorithms. The scalability of such algorithms crucially depends on the complexity of the communication messages, and a number of communication compressors for distributed optimization have recently been proposed in the literature. First of all, we introduce a general spatio-temporal compressor characterized by the stability of the resulting dynamical system along the vector field of the compressor. We show that several important distributed optimization compressors such as the greedy sparsifier, the uniform quantizer, and the scalarizer all fall into the category of this spatio-temporal compressor. Next, we propose two distributed prime-dual flows with the spatiotemporal compressors being applied to local node states and local error states, respectively, and prove (exponential) convergence of the node trajectories to the global optimizer for (strongly) convex cost functions. Finally, a few numerical examples are present to illustrate our theoretical results. Copyright © 2024, The Authors. All rights reserved.

关键词： Cost functions

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Adaptive Learning of Human Driving Behavior for Nonlinear Vehicle Systems via Fuzzy Modelling

Adaptive Learning of Human Driving Behavior for Nonlinear Ve...

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Chinese automation Congress (CAC)

作者： Ran Yi Jie Lin Huai-Ning Wu School of Automation Science and Electrical Engineering Beihang University Beijing China The Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China The Peng Cheng Laboratory Shenzhen China

Artificial intelligence hopes machines perform tasks in a way naturally like a human being, a useful approach is behavior cloning (BC), which makes the machine learn human behavior. This paper addresses the online learning problem of human behavior based on a nonlinear human-in-the-loop (HiTL) vehicle system, where the human driver is modeled by a fuzzy controller. First, a Takagi-Sugeno (T-S) fuzzy model is constructed for the nonlinear vehicle control system. And a control model based on the parallel distributed compensation (PDC) technique is used to describe the human driver's behavior. A concurrent learning (CL)-based online adaptive law is then designed to learn the fuzzy feedback gain matrices of the fuzzy control model. Compaired with traditional approaches, the CL-based law removes the persistent excitation (PE) condition, mekes it more suitable for complex nonlinear systems. Finally, the simulation results are provided to demonstrate the effectiveness of the approach.

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Hierarchical finite-time optimization regulation of multiple autonomous surface vehicles for time-varying target cooperative tracking

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Kongzhi yu Juece/control and Decision 2025年第1期40卷 279-284页

作者： Ge, Ming-Feng Li, Yi-Fan Liu, Zhi-Wei Gu, Zhi-Wei Chen, Qian School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan430074 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Imaging Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan430074 China

We propose a novel hierarchical finite-time optimization regulation algorithm for multiple autonomous surface vehicles (ASVs) to achieve cooperative tracking of a time-varying target. An objective function reflecting the energy consumption of the multiple ASVs system in the tracking process is designed, and a finite-time optimal estimator (FTOE) is developed to minimize the objective function in the case that ASVs form a specified formation while following the desired trajectory. Meanwhile, the target trajectory can be variable instead of constant. In the finite-time local controller (FTLC), the sailing states of the multiple ASVs system can be stabilized to the vicinity of the multiple various predefined time-varying trajectories in finite time in a way that minimizes the objective function by tracking the FTOE. The proof of the finite-time stability is provided and the settling time is calculated. Finally, simulation results demonstrate the effectiveness of the proposed hierarchical algorithm. © 2025 Northeast University. All rights reserved.

关键词： Target tracking

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Acoustic wireless communication based on parameter modulation and complex Lorenz chaotic systems with complex parameters and parametric attractors

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Chinese Physics B 2021年第8期30卷 248-259页

作者： Fang-Fang Zhang Rui Gao Jian Liu Department of Control Science and Engineering Shandong UniversityJinan 250061China Department of Electrical Engineering and Automation Qilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Mathematical Sciences University of JinanJinan 250022China

As the competition for marine resources is increasingly fierce,the security of underwater acoustic communication has attracted a great deal of *** information and location of the communicating platform can be leaked during the traditional underwater acoustic communication *** to the unique advantages of chaos communication,we put forward a novel communication scheme using complex parameter modulation and the complex Lorenz ***,we design a feedback controller and parameter update laws in a complex-variable form with rigorous mathematical proofs(while many previous references on the real-variable form were only special cases in which the imaginary part was zero),which can be realized in practical engineering;then we design a new communication scheme employing parameter *** main parameter spaces of the complex Lorenz system are discussed,then they are adopted in our communication *** also find that there exist parametric attractors in the complex Lorenz *** make numerical simulations in two channels for digital signals and the simulations verify our conclusions.

关键词： parameter modulation identification chaotic system acoustic wireless communication

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