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arXiv 2022年

作者： Mao, Bing Wu, Xiaoqun Liu, Hui Xu, Yuhua Lü, Jinhu The School of Mathematics and Statistics Wuhan University Hubei430072 China Hubei Key Laboratory of Computational Science Wuhan University Hubei430072 China Research Center of Complex Network Wuhan University Hubei430072 China The School of Automation Huazhong University of Science and Technology Hubei430074 China The Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Hubei430074 China The School of Statistics and Data Science Nanjing Audit University Jiangsu211815 China The School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the transient and steady performance constraints of the tracking error, a class of prescribed-time prescribed performance functions are designed, and a novel error transformation function is introduced to remove the initial value constraints and solve the singularity problem in existing works. Secondly, based on dynamic surface control methods, controllers with or without approximating structures are established to guarantee that the tracking error achieves prescribed transient performance and converges into a prescribed bounded set within prescribed time. In particular, the settling time and initial value of the prescribed performance function are completely independent of initial conditions of the tracking error and system parameters, which improves existing results. Moreover, with a novel Lyapunov-like energy function, not only the differential explosion problem frequently occurring in backstepping techniques is solved, but the drawback of the semi-global boundedness of tracking error induced by dynamic surface control can be overcome. The validity and effectiveness of the main results are verified by numerical simulations on practical examples. Copyright © 2022, The Authors. All rights reserved.

关键词： Fuzzy control

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Linear convergence of first- And zeroth-order primal-dual algorithms for distributed nonconvex optimization

arXiv

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arXiv 2019年

作者： Yi, Xinlei Zhang, Shengjun Yang, Tao Chai, Tianyou Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science Kth Royal Institute of Technology Digital Futures Stockholm100 44 Sweden Department of Electrical Engineering University of North Texas DentonTX76203 United States State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China

This paper considers the distributed nonconvex optimization problem of minimizing a global cost function formed by a sum of local cost functions by using local information *** first propose a distributed first-order primal-dual algorithm. We show that it converges sublinearly to a stationary point if each local cost function is smooth and linearly to a global optimum under an additional condition that the global cost function satisfies the Polyak-Lojasiewicz condition. This condition is weaker than strong convexity, which is a standard condition for proving linear convergence of distributed optimization algorithms, and the global minimizer is not necessarily unique. Motivated by the situations where the gradients are unavailable, we then propose a distributed zeroth-order algorithm, derived from the proposed distributed first-order algorithm by using a deterministic gradient estimator, and show that it has the same convergence properties as the proposed first-order algorithm under the same conditions. The theoretical results are illustrated by numerical simulations. Copyright © 2019, The Authors. All rights reserved.

关键词： Cost functions

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Concept, Principle, and Modeling of Driving Risk Entropy Based on Human-Vehicle-Road Coupling Model for Autonomous Vehicle

SSRN

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SSRN 2024年

作者： Gao, Hongbo Yang, Hanqing Zhu, Juping Su, Huiping Wang, Ning Xie, Liping Li, Keqiang Department of Automation University of Science and Technology of China Hefei230026 China Institute of Advanced Technology University of Science and Technology of China Hefei230088 China School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Chongqing College of Mobile Communication Chongqing400044 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing100084 China

Driving risk entropy, based on entropy law, is an innovative concept proposed for intelligent driving systems. The concept deals with the driving risks caused by the human-vehicle-road system from the driving information obtained;however, driving risks are difficult to assess due to many influencing factors and great uncertainty. The risk entropy model of vehicles is visualized by introducing the concept of basic isotropic risk elliptic line (BIREL). Further incorporating the concept of information entropy, risk entropy models for vehicle interaction and vulnerable participants are established, and the risk entropy model for roads is developed using raster coordinates. Ultimately, a three-dimensional driving risk entropy model is constructed based on the human-vehicle-road coupling model, with appropriate weights assigned to each parameter through the DDPG algorithm. Experimental results demonstrate the effectiveness of the driving risk entropy model. © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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3d Surface Detection and Segmentation from Point Clouds Via Quadric Fits Based on Dbscan Clustering

SSRN

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SSRN 2024年

作者： Xie, Tingting Chen, Hui Liu, Wanquan Zhou, Rongyu Li, Qilin College of Automation Engineering Shanghai University of Electric Power Shanghai200090 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou510275 China School of Electrical Engineering Computing and Mathematical Sciences Curtin University BentleyWA Australia

Extracting surfaces from 3D point clouds is significant in reconstructing and transforming these discrete points into their corresponding models. Scannedpoint clouds are often accompanied by noise, and the existing methods mainly rely on local feature similarities for surface extractions. Errors in estimatingthe feature information may lead to incorrect surface detection. In this paper we propose a surface extraction and boundary detection method based onclustering technique. The method can be described in three steps: In the first step, a normal correction is carried out using the information from theneighbourhood of points with sharp features. The second step is to cluster the points that meet the coplanar condition of the local quadric surface (LQS).In the third step, surface merger is performed by merging the local surfaces satisfying the merging conditions. Experimental validation is carried outto determine the effectiveness of the proposed method. The experimental results show improved surface extraction accuracy of the proposed methodin comparison to RANSAC, RG, LCCP, C2NO and HT methods. © 2024, The Authors. All rights reserved.

关键词： Merging

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Position control of X-Y Precision Planar Motion Stage Based on Iterative Learning and Cross-coupling

Position Control of X-Y Precision Planar Motion Stage Based ...

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Data Driven control and Learning systems (DDCLS)

作者： Jingzhe Fang Tao Zhang Xiyou Chen Chen Qi Guopeng Zhang Hualiang Zhang Hongyu Yan School of Electrical Engineering Shenyang University of Technology Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

In some precision machining applications, not only should we pay attention to the tracking accuracy of the X-Y precision plane motion table, but the more important criterion is the contour accuracy. This paper proposes an adaptive iterative learning control that adjusts in real time with the system's working state for the X-Y precision plane motion stage control system. Then on the basis of adaptive iterative learning control, the relationship between the two axes is established by cross-coupling control, the contour error of the system is calculated in real time, and the stability of the system is improved. The final experimental results show that the improved algorithm has smaller contour error and better robustness.

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Lane Keeping control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject ...

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American control Conference

作者： Changfang Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecom-munications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

关键词： Wheels Vehicles Roads Tires Friction Aerodynamics Vehicle dynamics

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Fast Realization of Robot 3D Simulation Based on WebGL

Fast Realization of Robot 3D Simulation Based on WebGL

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Chinese control and decision Conference, CCDC

作者： Tao Zhang Xintong Wang Yun Teng Jingzhe Fang Yiqiang Zhang Xiyou Chen School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China

As science and technology have advanced, an increasing number of people are focusing their study on 3D robot simulation. The 3D quick simulation of the mechanical arm can be achieved using 3D modeling software and ***. Use the third-party WebGL library *** [1] to construct the simulation scenario, then interact with and render the 3D scene and 3D robot model directly on the Web, which is easier and faster than downloading plug-ins [2] . This essay briefly explains the benefits and applicability of *** in the creation of 3D virtual simulations, then goes on to discuss the quick implementation process of 3D robot simulations before summarizing the building technique.

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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on control, automation and systems ( ICCAS)

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and Department of Systems and Control Beihang University BUAA Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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Path-tracking of Mobile Robot Using PD-type Iterative Learning control with Forgetting Factor

Path-tracking of Mobile Robot Using PD-type Iterative Learni...

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Chinese control and decision Conference, CCDC

作者： Tao Zhang Jingzhe Fang Yun Teng Xintong Wang Yiqiang Zhang Xiyou Chen School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China

In this paper, a discrete iterative learning control strategy is proposed for the path-tracking problem of mobile robot trajectory tracking with repeated trajectories. The algorithm adds the forgetting factor to the PD-type discrete iterative learning control and considers the correction of the initial state of the control. The convergence of the algorithm is proved rigorously by using the paradigm theory, and the sufficient conditions of the paradigm form to make the algorithm converge are obtained. Finally, the effectiveness of the proposed algorithm is verified by simulation.

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Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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