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Image-Based Fast Finite-Time Target Tracking control of Onboard Inertially Stabilized Camera Platform

IEEE Transactions on Industrial Electronics 2024年第12期71卷 16409-16418页

作者： Sun, Xunhong Zhu, Wenwu Du, Haibo Chen, Weile Chen, Chih-Chiang Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Southeast University School of Automation Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

In this article, we investigate the problem of fast finite-time target tracking control of the inertially stabilized platform (ISP) with a camera that mounted on a mobile robot. At first, the kinematics of the onboard ISP target tracking system is established by the geographic coordinate and pinhole camera model, which includes the state-dependent uncertainties and external disturbances. Then, based on the image information captured by camera, a continuous image-based fast finite-time control algorithm is designed for target tracking. Rigorous analysis proves that the target can be tracked at the center of camera's view in finite time in the absence of disturbances. In the presence of disturbances, the tracking error can converge to a region around the origin in finite time. Simulation and experimental comparisons are presented to confirm the efficiency of the proposed method. © 1982-2012 IEEE.

关键词： Mobile robots

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HiTL-based adaptive fuzzy tracking control of MASs:A distributed fixed-time strategy

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Science China(Technological Sciences) 2023年第10期66卷 2907-2916页

作者： LIU Yang CHI RongHu LI HongYi WANG LiJie LIN Na College of Automation and Electronic Engineering Qingdao University of Science and TechnologyQingdao 266061China School of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China Institute of Complexity Science and the School of Automation Qingdao UniversityQingdao 266071China

Human-in-the-loop(HiTL)control is promising for the cooperative control problem of multi-agent systems(MASs)under the complicated *** considering the effect of human intelligence and decision making,the system robustness and security are notably ***,a distributed fixed-time tracking control problem is investigated in this paper for heterogeneous MASs based on the HiTL ***,a lemma of practically fixed-time stable is given where an explicit relationship of settling time and convergence domain is clearly ***,under the framework of the adaptive backstepping approach,a series of modified intermediate control signals is designed to avoid the singularity problem by taking advantage of power transformation,fuzzy logic systems,and inequality ***,the numerical example and comparison results are utilized to testify the effectiveness of the proposed method.

关键词： human-in-the-Loop heterogeneous MASs fixed-time stable adaptive tracking control fuzzy logic systems

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Influence of Non-uniform Parameter of Bolt Joint on Complexity of Frequency Characteristics of Cylindrical Shell

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Chinese Journal of Mechanical engineering 2023年第2期36卷 206-219页

作者： Qiansheng Tang Houxin She Chaofeng Li Bangchun Wen School of Engineering Anhui Agricultural UniversityHefei 230036China School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero‑Propulsion System Ministry of EducationNortheastern UniversityShenyang 110819China

Bolt connection is one of the main fixing methods of cylindrical shell structures.A typical bolted connection model is considered as a tuned ***,in the actual working conditions,due to the manufacturing error,installation error and uneven materials of bolts,there are always random errors between different *** investigate the influence of non-uniform parameters of bolt joint,including the stiffness and the distribution position,on frequency complexity characteristics of cylindrical shell through a statistical method is the main aim of this *** bolted joints considered here were simplified as a series of springs with random *** vibration equation of the bolted joined cylindrical shell was derived based on Sanders’thin shell *** Monte Carlo simulation and statistical theory were applied to the statistical analysis of mode characteristics of the ***,the frequency and mode shape of the tuned system were investigated and compared with ***,the effect of the random distribution and the random constraint stiffness of the bolts on the frequency and mode shape were *** the statistical analysis on the natural frequencies was evaluated for different mistuned *** some special cases were presented to help understand the effect of random *** research introduces random theory into the modeling of bolted joints and proposes a reference result to interpret the complexity of the modal characteristics of cylindrical shells with non-uniform parameters of bolt joints.

关键词： Bolted joint Random mistuning Shell vibration Mode shape Statistical analysis

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Bipartite consensus algorithm under second-order multi-agent systems with matrix weight-based network

Bipartite consensus algorithm under second-order multi-agent...

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2024 China automation Congress, CAC 2024

作者： Wang, Yu Jiang, Guoping Zhou, Yingjiang Zhai, Yuefan Lu, Ming School of Automation and Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China Beijing Institute of Control Engineering Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9798350368604

Currently, the research on consensus in second-order scalar-weighted multi-agent systems has made significant progress. However, when describing complex problems, scalar weighted networks are difficult to accurately represent the coupling relationships between these problems. The dimensional expansion offered by matrix-weighted networks facilitates the description and analysis of complex issues. Currently, there is still limited research on second-order matrix-weighted networks. In this paper, a novel control protocol is designed using the backstepping method, enabling second-order matrix-weighted networks to achieve bipartite consensus. The impact of the Laplacian’s null space on the network’s bipartite consensus results is analyzed, and numerical simulations are conducted to validate the conclusions presented in the paper. © 2024 IEEE.

关键词： Multi agent systems

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The Design Optimization of the High-Frequency Planar Transformers for Electric Vehicle Chargers 7

The Design Optimization of the High-Frequency Planar Transfo...

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7th IEEE International Electrical and Energy Conference, CIEEC 2024

作者： Zhang, Li Shen, Min Wang, Xiaozhou Zhao, Shuang Li, Helong Yang, Zhiqing Ding, Lijian School of Electrical and Automation Engineering Hefei University of Technology HeFei China School of Intelligent Manufacturing and Control Engineer Qilu Institute of Technolgy Jinan China School of Electrical and Automation Engineering Hefei University of Technology China

ISBN: (纸本)9798350359558

Electric vehicle chargers can be divided into high-voltage DC (HVDC) system for charging power battery and low-voltage DC (LVDC) system for supplying low-voltage battery. Since the next generation EVs is getting smarter, they calls for chargers with higher power rating, higher power density and reduced loss which poses challenges for the LVDC systems design. In this paper, LLC resonant DC/DC converter is selected for HVDC system and two-stage converter with a Buck/Boost converter and an SRC converter is used for LVDC system. Circuit parameter design and high frequency (HF) planar transformer design are conducted for the aforementioned two kinds of converters respectively. For HVDC system, a transformer integrating resonant inductance and magnetizing inductance on a core is designed, and for LVDC system, a quarter-turn transformer is designed. The rationality and high efficiency of the two high HF planar transformer designs are verified by simulation and experiment results. © 2024 IEEE.

关键词： Inductance

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Industrial Gearbox Fault Diagnosis Based on Vision Transformer and Infrared Thermal Imaging

Industrial Gearbox Fault Diagnosis Based on Vision Transform...

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Li, Yan Cao, Xunqi Wang, Haoyu Yu, Kun Zhang, Yongchao School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China

ISBN: (纸本)9783031734069

Infrared thermal imaging technology measures the intensity of external radiation emitted by objects, producing thermal images that depict their outlines and surface temperature distribution. This method holds tremendous potential for monitoring the health status of gearboxes, offering a highly promising approach to ensure their optimal performance and longevity. By utilizing the rich features of thermal images, it is possible to distinguish the health status of gearboxes from a new technological perspective. However, the traditional infrared thermal imaging technology method based on Convolutional Neural Network (CNN) has limitations in capturing the overall features and contextual relationships of images. Vision Transformer (ViT) network uses self-attention mechanism to fully explore the correlation within features, which can effectively represent the global information of high-dimensional features. Therefore, this article proposes a ViT network method for gearbox fault diagnosis by using infrared thermal imaging. The effectiveness of this method is verified by using experimental data from an industrial gearbox. Compared with other comparison methods, the proposed method exhibits better diagnostic results. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Convolutional neural networks

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Distributed Cooperative control for Human-Unmanned Aerial Vehicle Swarm Teaming in Target Tracking∗

Distributed Cooperative Control for Human-Unmanned Aerial Ve...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： He, Hangxuan Huo, Mengzhen Duan, Haibin School of Automation Science and Electrical Engineering Beihang University Beijing100083 China School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beijing100083 China

ISBN: (纸本)9781665481090

Over the last decade, the relationship between humans and cyber-physical systems has grown closer, particularly in fields such as manufacturing and transportation. This paper presents a control framework within the engineering domain, wherein a human operator collaborates with a swarm of unmanned aerial vehicles (UAVs) to achieve a shared goal. First, we construct a human-swarm mutual trust model that empowers both parties with a degree of autonomy. Second, we adopt a distributed optimization algorithm integrated with control barrier functions to manage the swarm's motion. The cooperative control framework is demonstrated in a 3D scenario, and simulation results verify the feasibility of the proposed method. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Event-Based Dissipative Path Following control for Autonomous Ground Vehicles With External Disturbances and Actuator Faults

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 1-10页

作者： Li, Wenfeng Wong, Pak Kin Xie, Zhengchao Gao, Jinwu Hu, Yunfeng Zhao, Jing School of Mechanical Engineering and Automation Northeastern University Shenyang China Department of Electromechanical Engineering University of Macau Macau China Department of Mechanical Engineering South China University of Technology Guangzhou China State Key Laboratory of Automotive Simulation and Control Department of Control Science and Engineering Jilin University Changchun China

In this paper, a novel event-based dissipative fuzzy control method is proposed for path following systems of autonomous ground vehicles subject to external disturbances and actuator faults. As the varying longitudinal velocity causes highly nonlinearities in the path following systems, a Takagi-Sugeno fuzzy vehicle dynamics model is established for controller design. Moreover, the time delay, multiple actuator faults and external disturbances are fully considered in the modeling of vehicle dynamic systems. For the improvement of path following performance, a dissipative performance index is employed in the controller design to strengthen the reliability of the control method. To achieve a better economization of the limited resource, an enhanced adaptive event-triggered mechanism is introduced into the controller design. Based on an augmented Lyapunov-Krasovskii functional candidate, a less conservative theorem is obtained by employing some extended integral inequalities. The theorem guarantees that the resulted fuzzy path following control system meets the strict dissipative performance on the premise of asymptotic stability. Finally, experimental results validate the superiority of the proposed method. IEEE

关键词： Linear matrix inequalities

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Process Monitoring Based on Temporal Feature Agglomeration and Enhancement

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 825-827页

作者： Xiao Liang Weiwu Yan Yusun Fu Huihe Shao Department of Automation the School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Automation the School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

Dear Editor,This letter proposes a process-monitoring method based on temporal feature agglomeration and enhancement,in which a novel feature extractor called contrastive feature extractor(CFE)extracts the temporal and relational features among process *** the feature representations are enhanced by maximizing the separation among different classes while minimizing the scatter within each class.

关键词： among while letter

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Average Filtering Error-Based Event-Triggered Fuzzy Filter Design with Adjustable Gains for Networked control Systems

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IEEE Transactions on Fuzzy Systems 2025年第6期33卷 1963-1976页

作者： Pan, Yingnan Huang, Fan Li, Tieshan Lam, Hak-Keung Qingdao University School of Automation Shandong Qingdao266071 China Bohai University College of Control Science and Engineering Liaoning Jinzhou121013 China University of Electronic Science and Technology of China School of Automation Engineering Sichuan Chengdu611731 China King's College London Strand Department of Engineering LondonWC2R 2LS United Kingdom

This paper investigates the event-triggered H∞ filtering problem for interval type-2 fuzzy networked control systems with data loss. The goal of this paper is to design an event-triggered fuzzy filter with adjustable gains to further improve the H∞ performance of the filtering error system (FES) while saving communication resources. Firstly, an adaptive event-triggered mechanism (ETM) that utilizes the average filtering error to adaptively adjust the triggered threshold is proposed to mitigate network congestion. In contrast to the existing filtering achievements, the proposed adaptive ETM considers the impact of filtering error on data transmission which can achieve the effect of saving more communication resources. Then, an interval stability theory is applied to adjust the filter gains for achieving the purposes of changing the convergence speed of the FES and improving the Hinfty performance. Moreover, under the conditions of imperfect communication links, sufficient criteria for designing the H∞ filter with adjustable gains are obtained based on the interval stability theory and linear matrix inequalities technique. Finally, the simulation results are utilized for demonstrating the feasibility of the proposed method. © 1993-2012 IEEE.

关键词： Fuzzy filters

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