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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Ni, Qiang Zhu, Xu Chen, Yangyang School of Automation Southeast University Nanjing211102 China School of Electronics and Control Engineering Chang’an University Xi’an710064 China

ISBN: (纸本)9789819733279

For the heterogeneous vehicle platoon with multiple delays, the internal stability and string stability are investigated in this paper. First, the control gains are designed for the responding vehicles and then the closed-loop heterogeneous platoon dynamics are constructed. Then, the exact delay margins (EDMs) are deduced by combing the Kronecker summation and Bistritz Tabulation (BT) algorithm and at the same time the sufficient, necessary internal stability conditions and sufficient string stability conditions are given. Finally, simulation results show that our proposed stability analysis methods are correct and effective for the heterogeneous vehicle platoon with multiple delays. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Vehicles

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Data-driven output regulation control for constrained linear systems

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Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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A Local Distance Descriptor for 3D Point Clouds 5

A Local Distance Descriptor for 3D Point Clouds

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5th International Conference on Computer Vision and Computational Intelligence, CVCI 2024

作者： Li, Wei Mudiwa, Allen Zhang, Lu Dept. of Automation School of Electrical and Control Engineering SUST Xi’an China School of Liberal Arts XATU Xi’an China

ISBN: (数字)9781510680067

ISBN: (纸本)9781510680050

Extracting 3D features from point cloud data is the central component for the automatic repair system of ancient ceramic fragments developed by us. This paper presents a local 3D point clouds descriptor for individual point on various surfaces based on the distances among the point’s neighborhood, which providing feature extracting service to the system. The descriptor use the distance between the point with its k-neighborhoods, which are chosen by a adjustable search radius, to identify the surface type of the ceramic fragments. The descriptor then utilize and maintain the existed local distance information from some selected point to generate feature vectors for accurate point matching which will ease the restoration work. To validate the algorithm, experiments on real data are performed and compared with other similar descriptors. The results show that our descriptor can provide reliable identification performance and also do not introduce any local information loss. The descriptor are also a non-geometric deformation operation, so it has the potential to be a commonly used intermediate algorithm in many point cloud applications. © 2024 SPIE.

关键词： Restoration

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Non-singular Fast Terminal Sliding Mode and Active Disturbance Rejection control for Quadrotor UAV

Non-singular Fast Terminal Sliding Mode and Active Disturban...

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2024 IEEE International Conference on Unmanned Systems, ICUS 2024

作者： Chen, Cheng Liu, Yunping Zhang, Tingting Sun, Yuanxin Shi, Jingwei School of Automation Nanjing University of Information Science and Technology Nanjing China School of Command and Control Engineering Army Engineering University of PLA Nanjing China

ISBN: (纸本)9798350384185

The purpose of this paper is to improve the anti-interference ability of the quadrotor UAV. This paper proposes a non-singular fast terminal sliding mode combined with an active disturbance rejection controller. Firstly, the uncertainty factors, such as model errors and internal and external disturbances of the quadrotor UAV system, are regarded as lumped disturbances, estimated and compensated online by the extended state observer in real-time. According to its underactuated, multivariable, and nonlinear characteristics, it is divided into a position loop and an attitude loop. On this basis, it is transformed into complete drive control by introducing virtual control quantity. The simulation results show that the non-singular fast terminal sliding mode active disturbance rejection controller has better robustness than the cascade active disturbance rejection control. © 2024 IEEE.

关键词： Disturbance rejection

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Alternating current heating techniques for lithium-ion batteries in electric vehicles:Recent advances and perspectives

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Journal of Energy Chemistry 2024年第9期96卷 679-697页

作者： Xinrong Huang Jinhao Meng Wei Jiang Wenjie Liu Kailong Liu Yipu Zhang Daniel-Ioan Stroe Remus Teodorescu School of Energy and Electrical Engineering Chang’an UniversityXi’an 710018ShaanxiChina School of Electrical Engineering Xi’an Jiaotong UniversityXi’an 710049ShaanxiChina School of Highway Chang’an UniversityXi’an 710018ShaanxiChina School of Automation Northwestern Polytechnical UniversityXi’an 710072ShaanxiChina School of Control Science and Engineering Shandong UniversityJinan 250100ShandongChina Department of Energy Aalborg UniversityAalborg 9220Denmark

The significant decrease in battery performance at low temperatures is one of the critical challenges that electric vehicles(EVs)face,thereby affecting the penetration rate in cold *** current(AC)heating has attracted widespread attention due to its low energy consumption and uniform heating *** paper introduces the recent advances in AC heating from the perspective of practical EV ***,the performance degradation of EVs in low-temperature environments is introduced *** concept of AC heating and its research methods are ***,the effects of various AC heating methods on battery heating performance are *** on existing studies,the main factors that affect AC heating performance are ***,various heating circuits based on EVs are categorized,and their cost,size,complexity,efficiency,reliability,and heating rate are elaborated and *** evolution of AC heaters is presented,and the heaters used in brand vehicles are sorted ***,the perspectives and challenges of AC heating are *** paper can guide the selection of heater implementation methods and the optimization of heating effects for future EV applications.

关键词： Lithium-ion battery Low temperature Alternating current heating Heater Electric vehicle

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Improving Formation Maneuvering of Unmanned Surface Vehicles: A Finite-Time Distributed Approach with Velocity Constraints

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-12页

作者： Wang, Ping Yu, Chengpu Lv, Maolong Park, Ju H. School of Automation Beijing Institute of Technology Beijing China College of Air Traffic Control and Navigation Air Force Engineering University Xi'an China Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea

This paper presents a novel approach for addressing the finite-time distributed formation maneuvering (FTDFM) of multiple unmanned surface vehicles (USVs), which takes into account the challenges posed by velocity and error constraints. Each USV is subject to parameter uncertainty, ocean disturbance, actuator fault, and input saturation, making the task of achieving reliable and accurate formation particularly challenging. To overcome these challenges and meet practical requirements, a finite-time (FT) performance function is selected as the constraint function, which ensures that the velocity and error of each USV stay within a given bounded set within a known time. Using FT stability theory, a new framework is proposed that integrates a tangent-type barrier function and an improved backstepping approach to handle uncertainties and constraints. In this approach, a tracking differentiator (TD) is introduced to replace the virtual controller's derivative, and a smooth function is used to address the input saturation, effectively reducing the complexity and dynamic order of the algorithm. The proposed controller is capable of ensuring the realization of the desired formation within a finite time while maintaining the constraints without deviation. Additionally, by using the auxiliary variable technique, the proposed control method can also be applied to USVs with underactuated models. Simulation examples are provided to demonstrate the efficacy of the proposed control algorithm in achieving accurate and reliable formation maneuvering of multiple USVs under various constraints. IEEE

关键词： Actuators

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Deep reinforcement learning guidance with impact time control

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Journal of Systems engineering and Electronics 2024年第6期35卷 1594-1603页

作者： LI Guofei LI Shituo LI Bohao WU Yunjie School of Astronautics Northwestern Polytechnical UniversityXi’an 710072China Beijing Institute of Control and Electronic Technology Beijing 100038China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

In consideration of the field-of-view(FOV)angle con-straint,this study focuses on the guidance problem with impact time control.A deep reinforcement learning guidance method is given for the missile to obtain the desired impact time and meet the demand of FOV angle *** basis of the framework of the proportional navigation guidance,an auxiliary control term is supplemented by the distributed deep deterministic policy gradient algorithm,in which the reward functions are developed to decrease the time-to-go error and improve the terminal guid-ance *** numerical simulation demonstrates that the missile governed by the presented deep reinforcement learning guidance law can hit the target successfully at appointed arrival time.

关键词： impact time deep reinforcement learning guidance law field-of-view(FOV)angle deep deterministic policy gradient

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Intelligent optimisation scheduling of raw material area in sausage production line

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International Journal of Simulation and Process Modelling 2023年第4期20卷 239-254页

作者： Han, Zhonghua Guan, Mingpeng Liu, Hangyu Chang, Daliang Sun, Liangliang School of Electrical and Control Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110017 China School of Control Engineering Northeastern University at Qinhuangdao Hebei Qinhuangdao066099 China

The production process in the raw material area of the sausage production line needs to be further optimised to improve production efficiency and reduce the waiting time for suctioning of emulsifying fillings. In this study, we propose an improved Q-learning method for scheduling in raw material area (RMSPS-IQL). To overcome the problem of low learning efficiency caused by multi-operation and multi-tasking in the production line scheduling process, a priority stranding probability is added to the action selection method based on the epsilon-greedy strategy. In addition, to determine the execution time of the action during continuous working, a stranding action starting control method based on the probability of filling deterioration was designed. Comparative analysis of the results of multiple simulation schemes suggested that the RMSPS-IQL effectively reduces the waiting time for suctioning fillings from emulsifying pot, and improves the productivity of the production line. Copyright © 2023 Inderscience Enterprises Ltd.

关键词： Filling

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Strong Structural controllability Based on Leader-Follower Framework

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Journal of Systems Science & Complexity 2023年第4期36卷 1498-1518页

作者： QI Wei JI Zhijian LIU Yungang LIN Chong Insitute of Complexity Science College of AutomationQingdao UniversityQingdao 266071China Shandong Key Laboratory of Industrial Control Technology Qingdao UniversityQingdao 266071China School of Control Science and Engineering Shandong UniversityJinan 250061China

In this paper,the strong structural controllability of the leader-follower framework is ***,the authors analyze different edge augmentation methods to preserve the strong structural controllability of the path-bud *** following four cases are considered:Adding edges from the path to the bud;adding edges from the bud to the path;adding the reverse or forward edges to the path or bud;and adding both the reverse and forward edges to the path or *** sufficient conditions are derived for the strong structural controllability of the new topologies which are generated by adding different *** addition,it is proved that rank[A B]=n is a necessary condition for the strong structural ***,three examples are given to verify the effectiveness of the main results.

关键词： Edge augmentation leader-follower framework path-bud topology strong structural controllability

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Geometric attitude tracking control of quadrotor UAVs with adaptive extended state observers

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ISA Transactions 2025年 160卷 289-297页

作者： Wang, Liping Chen, Jiapeng Huang, Yuyuan Zhu, Yongbin Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology Guangzhou510640 China

This paper studies a geometric attitude tracking control problem of quadrotor unmanned aerial vehicles (UAVs) with adaptive extended state observers (AESOs). Through coordinate transformation, the error dynamic of AESO can be transformed into a canonical form which is easier to analyze by linear time-varying theory. In the presence of unknown disturbances and system uncertainties, the estimated error and stability of AESO can be analyzed. Simultaneously, a geometric tracking controller is developed on SO(3) with AESOs which guarantees that the error exponentially converges to a bounded set related to the estimated error. Some examples and a flight test are given to verify the availability of the control scheme. © 2025

关键词： Unmanned aerial vehicles (UAV)

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