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第41届中国控制会议

作者： Chuanjian Li Xiaofeng Zong 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

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The hybrid group consensus of multi-agent systems that consist of two groups in environments with time-delays and additive noises is studied in this *** hybrid group consensus implies that the agents in one group achieve strong consensus and the agents in another group achieve weak consensus.A new type of control protocol is proposed to achieve the following hybrid group consensus behavior:the agents in the first group and in the second group achieve strong consensus and weak consensus,*** sufficient conditions are obtained for the hybrid group consensus problem in both mean square and almost sure ***,a simulation example is given to illustrate the feasibility of the theoretical results.

关键词： multi-agent system hybrid group consensus time-delays additive noises

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Adaptive Attitude control for Multi-MUAV systems With Output Dead-Zone and Actuator Fault

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1567-1575页

作者： Guowei Dong Liang Cao Deyin Yao Hongyi Li Renquan Lu School of Automation and the Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

Many mechanical parts of multi-rotor unmanned aerial vehicle(MUAV)can easily produce non-smooth phenomenon and the external disturbance that affects the stability of *** multi-MUAV attitude systems that experience output dead-zone,external disturbance and actuator fault,a leader-following consensus anti-disturbance and fault-tolerant control(FTC)scheme is proposed in this *** the design process,the effect of unknown nonlinearity in multi-MUAV systems is addressed using neural networks(NNs).In order to balance out the effects of external disturbance and actuator fault,a disturbance observer is designed to compensate for the aforementioned negative *** Nussbaum function is used to address the problem of output *** designed fault-tolerant controller guarantees that the output signals of all followers and leader are synchronized by the backstepping ***,the effectiveness of the control scheme is verified by simulation experiments.

关键词： Disturbance observer fault-tolerant control(FTC) multi multi-rotor unmanned aerial vehicle(multi-MUAV)attitude systems neural networks(NNs) output dead-zone

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Spatially Dense Multi-Target Track Segment Association Algorithm

Spatially Dense Multi-Target Track Segment Association Algor...

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Chinese control Conference (CCC)

作者： Yan Yao Liping Yan Yuanqing Xia Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

In the field of radar data processing, track interruption seriously affects target tracking, track fusion, and other tasks. The existing track segment association algorithms have low correlation accuracy in dense distributed or long-time interruption situations. To this purpose, a dense multi-target track segment association (DMTTSA) algorithm is proposed. Firstly, two identical networks based on the multi-head probability sparse (ProbSparse) self-attention are used to capture the long-term dependencies of the tracks. Then, the bidirectional quadruplet hard sample loss (BiQuaHard loss) is constructed to make the tracks belonging to the same targets closer and the tracks belonging to the different targets farther. Finally, DMTTSA takes the closest track pairs in the feature space as the associated tracks and divides the unassociated tracks into the birth and dead tracks in chronological order. Some comparative experiments are carried out to show the anti-noise performance of the DMTTSA, as well as the effectiveness of solving the problem of dense multi-target track interruption.

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A short-circuit fault ride-through method based on adaptive dual-mode control of grid-forming inverters

A short-circuit fault ride-through method based on adaptive ...

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2023 IEEE PELS Students and Young Professionals Symposium, SYPS 2023

作者： Huang, Dingbang Fang, Zhijian Zhang, Sheng Li, Xuan Wei, Zihao Jin, Liangwei China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex SystemsWuhan China Wuhan China

ISBN: (纸本)9798350307832

With the outbreak of environmental problems and energy crisis, human beings are exploring new energy sources more and more deeply. As the installed capacity of energy storage devices increases and the coverage of distributed energy storage systems becomes more and more extensive, the power grid puts forward higher requirements on its fault ride-through capability. To address this problem, this paper investigates the short-circuit fault ride-through technology of grid-forming inverter systems and proposes a control scheme for switching between grid-forming and grid-following systems. The scheme can switch to grid-following control model when a fault occurs in the grid, and then switch back to grid-forming system when the short-circuit fault is repaired, thus ensuring the stable operation of the power system and controlling the current value during the short-circuit fault to prevent over-current situation. Finally, the effectiveness of the proposed control strategy is further verified by combining MATLAB/Simulink simulations and experiments. © 2023 IEEE.

关键词： Timing circuits

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Multiple Uncertainty Rejection-Based Power Lifting Adaptive Fixed-Time Tracking control 13

Multiple Uncertainty Rejection-Based Power Lifting Adaptive ...

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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Liu, Yang Ren, Hongru Hui, Yu Li, Hongyi College of Automation and Electronic Engineering Qingdao University of Science and Technology Qingdao266061 China School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou510006 China

ISBN: (纸本)9798350361674

This work investigates an adaptive fixed-time tracking control issue of nonlinear systems with the multiple uncertainty. A practically fixed-time lemma is established, and the singularity problem of fixed-time tracking control is handled by exploiting the power lifting technique. Moreover, a nonlinear fixed-time tracking scheme is proposed under the framework of the backstepping, and a simple design process is presented, which can simultaneously tackle uncertain parameters and disturbances. Finally, the numerical simulation is to explain the effectiveness of the proposed method. © 2024 IEEE.

关键词： Backstepping

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Pipeline Anomaly Detection Based on KPCA and Cosine Distance Prototypical Network 26

Pipeline Anomaly Detection Based on KPCA and Cosine Distance...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Yi, Kang Liu, Xin Hu, Wenkai Li, Yupeng School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9798331521950

Accurately and promptly detecting the pipeline anomaly is crucial to the safe operation of pipeline systems, while a difficulty lies in that many existing methods require massive data for training models. However, pipelines are running under normal state for the most of the time, and labeled pipeline anomaly data is usually scarce. Among the commonly used sensors, vibration sensors are widely utilized in pipeline detection because of their advantages such as easy installation and high sensitivity. However, the vibration signal shows non-stationary characteristics when anomalies occur, and are contaminated by noises, making it difficult to represent the actual state with features extracted from either the time or frequency domain. Accordingly, this paper proposes a pipeline anomaly detection method based on the KPCA (kernel principal component analysis) and cosine distance prototypical network. First, features are extracted from original signals;then, the feature dimension is reduced by KPCA;last, the cosine distance is introduced to the prototypical network for anomaly detection. The effectiveness of the proposed method is demonstrated by case studies involving experimental data. © 2025 IEEE.

关键词： Frequency domain analysis

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Multiscale Feature Fusion Module for Prohibited Item Detection 9

Multiscale Feature Fusion Module for Prohibited Item Detecti...

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9th International Conference on intelligent Computing and Signal Processing, ICSP 2024

作者： Xu, Ruiqi Zhang, Chirui School of Automation China University of Geosciences Hubei Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China

ISBN: (纸本)9798350376548

X-ray security check is a prevalent placement measure that plays a vital role in ensuring public safety. However, detecting prohibited items poses a complex challenge due to their variable sizes within X-ray images. In this study, we tackle this issue by curating a novel dataset through the integration of open-source data and introducing a Multiscale Feature Fusion Module. This module facilitates robust detection by amalgamating features across different scales. Extensive experiments verified that the superiority of our method compared to existing methods on the prohibited items test set constructed in this paper demonstrates extremely well the practical effectiveness of our proposed method. © 2024 IEEE.

关键词： component Environmental Security Prohibited Items Security Inspection X-ray Images

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KMatrix: A Flexible Heterogeneous Knowledge Enhancement Toolkit for Large Language Model

KMatrix: A Flexible Heterogeneous Knowledge Enhancement Tool...

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2024 Conference on Empirical Methods in Natural Language Processing, EMNLP 2024

作者： Wu, Shun Wu, Di Luo, Kun Zhang, XueYou Zhao, Jun Liu, Kang The Key Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China Shanghai Artificial Intelligence Laboratory China

ISBN: (纸本)9798891761674

Knowledge-Enhanced Large Language Models (K-LLMs) system enhances Large Language Models (LLMs) abilities using external knowledge. Existing K-LLMs toolkits mainly focus on free-textual knowledge, lacking support for heterogeneous knowledge like tables and knowledge graphs, and fall short in comprehensive datasets, models, and user-friendly experience. To address this gap, we introduce KMatrix: a flexible heterogeneous knowledge enhancement toolkit for LLMs including verbalizing-retrieval and parsing-query methods. Our modularity and control-logic flow diagram design flexibly supports the entire lifecycle of various complex K-LLMs systems, including training, evaluation, and deployment. To assist K-LLMs system research, a series of related knowledge, datasets, and models are integrated into our toolkit, along with performance analyses of K-LLMs systems enhanced by different types of knowledge. Using our toolkit, developers can rapidly build, evaluate, and deploy their own K-LLMs systems. Our toolkit and resources are available at here. © 2024 Association for Computational Linguistics.

关键词： Computational linguistics

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot

Design and locomotion characteristic analysis of a novel ten...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Mo, Jixue Gao, Changqing Fang, Hao Yang, Qingkai Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Research Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Beijing Institute of Technology School of Automation Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9798350325706

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot's hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment. © 2023 IEEE.

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Optimal Cooperative Secondary control for Islanded DC Microgrids via a Fully Actuated Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 405-417页

作者： Yi Yu Guo-Ping Liu Yi Huang Peng Shi IEEE Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055China School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China School of Electrical and Mechanical Engineering the University of AdelaideSA 5005Australia Research and Innovation Centre Obuda University1034 BudapestHungary

DC-DC converter-based multi-bus DC microgrids(MGs) in series have received much attention, where the conflict between voltage recovery and current balancing has been a hot topic. The lack of models that accurately portray the electrical characteristics of actual MGs while is controller design-friendly has kept the issue active. To this end, this paper establishes a large-signal model containing the comprehensive dynamical behavior of the DC MGs based on the theory of high-order fully actuated systems, and proposes distributed optimal control based on this. The proposed secondary control method can achieve the two goals of voltage recovery and current sharing for multi-bus DC MGs. Additionally, the simple structure of the proposed approach is similar to one based on droop control, which allows this control technique to be easily implemented in a variety of modern microgrids with different configurations. In contrast to existing studies, the process of controller design in this paper is closely tied to the actual dynamics of the MGs. It is a prominent feature that enables engineers to customize the performance metrics of the system. In addition, the analysis of the stability of the closed-loop DC microgrid system, as well as the optimality and consensus of current sharing are given. Finally, a scaled-down solar and battery-based microgrid prototype with maximum power point tracking controller is developed in the laboratory to experimentally test the efficacy of the proposed control method.

关键词： DC microgrids distributed control high-order fully actuated system approach linear quadratic regulator microgrid modeling secondary control

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