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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Du, Haibo He, Yigang Li, Shihua Cheng, Yingying Chen, Xisong School of Electrical Engineering and Automation Hefei University of Technology Hefei230009 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9783902823625

This paper considers the problem of attitude synchronization for a group of flexible spacecraft based on distributed attitude cooperative control strategy. Based on the backstepping design, non-smooth control, and the neighbor-based design rule, a distributed attitude control law is constructed step by step. Under the proposed control law, it is shown that the attitude synchronization is achieved asymptotically and the induced vibration by flexible appendages is simultaneously suppressed. © IFAC.

关键词： control theory

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A Pursuit Strategy for Multi-Agent Pursuit-Evasion Game via Multi-Agent Deep Deterministic Policy Gradient Algorithm

A Pursuit Strategy for Multi-Agent Pursuit-Evasion Game via ...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Ye, Jianfeng Wang, Qing Ma, Bei Wu, Yongbao Xue, Lei School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China SEU-Monash Joint Graduate School Southeast University Nanjing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

This paper studies a classical pursuit-evasion problem. The pursuer attempts to capture the faster evader in a bounded area. The velocity of evader is 1.2 times as fast as the pursuers'. All of them have adaptive strategies. We use game theory to model the multi-agent pursuit-evasion game and prove that the game model has Nash equilibrium. Then, we modify the multi-agent deep deterministic policy gradient (MADDPG) algorithm for seeking the Nash equilibrium. The simulation examples are given to illustrate the effectiveness of the designed method. © 2022 IEEE.

关键词： Game theory

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LIFTEDCL: LIFTING CONTRASTIVE LEARNING FOR HUMAN-CENTRIC PERCEPTION 11

LIFTEDCL: LIFTING CONTRASTIVE LEARNING FOR HUMAN-CENTRIC PER...

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11th International Conference on Learning Representations, ICLR 2023

作者： Chen, Ziwei Li, Qiang Wang, Xiaofeng Yang, Wankou School of Automation Southeast University China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China Y-tech Kuaishou Technology China Institute of Automation Chinese Academy of Sciences China

Human-centric perception targets for understanding human body pose, shape and ***-training the model on large-scale datasets and fine-tuning it on specific tasks has become a well-established paradigm in human-centric ***, self-supervised learning methods have re-investigated contrastive learning to achieve superior performance on various downstream *** handling human-centric perception, there still remains untapped potential since 3D human structure information is neglected during the task-agnostic *** this paper, we propose the Lifting Contrastive Learning (LiftedCL) to obtain 3D-aware human-centric representations which absorb 3D human structure *** particular, to induce the learning process, a set of 3D skeletons is randomly sampled by resorting to 3D human kinematic *** this set of generic 3D samples, 3D human structure information can be learned into 3D-aware representations through adversarial *** results demonstrate that LiftedCL outperforms state-of-the-art self-supervised methods on four human-centric downstream tasks, including 2D and 3D human pose estimation (0.4% mAP and 1.8 mm MPJPE improvement on COCO 2D pose estimation and Human3.6M 3D pose estimation), human shape recovery and human parsing. © 2023 11th International Conference on Learning Representations, ICLR 2023. All rights reserved.

关键词： Large datasets

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CrossNet: Computing-Friendly Lightweight Anchor-Free Detector 4

CrossNet: Computing-Friendly Lightweight Anchor-Free Detecto...

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4th International Conference on Artificial Intelligence and Big Data, ICAIBD 2021

作者： Yao, Yuncong Wang, Qiang Mai, Jiren Yang, Wankou Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjin210096 China School of Automation Southeast University Nanjin210096 China Jiangsu Automation Research Institute Lianyungang221116 China

ISBN: (纸本)9780738131702

Many scenarios such as edge and mobile scenarios are very sensitive to computing complexity and parameter size. Most object detection models cannot be directly deployed without specific modifications. In this paper, we introduce CrossNet, a compute-friendly lightweight anchor-free detector based on CenterNet. We abandon DCN module and design the network structure according to lightweight design principles. A new sample matching strategy based on neighbor points is adopted for improving its performance greatly. Weighted Focal Loss and Balanced L1 Loss further reduce the performance gap between CrossNet and CenterNet. CrossNet possesses a model size of 4.3MB (12.8× smaller than original CenterNet, respectively) and requires 1.51B operations for inference (11.7× smaller than original CenterNet, respectively) while still achieving mAP of 74.2% on VOC dataset. We hope our work could provide some inspiration for lightweight detector design. © 2021 IEEE.

关键词： Object detection

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Sensorless control of SPMSM Based on Generalized Super-Twisting Observer and Non-Smooth controller 42

Sensorless Control of SPMSM Based on Generalized Super-Twist...

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42nd Chinese control Conference, CCC 2023

作者： Chen, Dejin Yu, Ke Ding, Shihong Wang, Xiangyu Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China School of Electrical and Information Engineering Zhenjiang212013 China

ISBN: (纸本)9789887581543

To enhance the estimation accuracy and dynamic performance of sensorless surface-mounted permanent magnet synchronous motor (SPMSM) drives, a sensorless control scheme based on generalized super-twisting observer (GSTO) and non-smooth controller is proposed. Firstly, a GSTO for back electromotive force (back-EMF) estimation is proposed. Compared with the conventional super-twisting observer, the GSTO has a faster convergence rate and stronger robustness due to the additional terms. Then a linear extended state observer (LESO) is adopted to estimate the position, speed, and lumped disturbance at the same time. Moreover, a non-smooth composite speed controller is designed by combining the disturbance feed-forward compensation. Compared with the conventional PI speed controller, the non-smooth controller has a shorter settling time and a better disturbance rejection ability. Finally, the effectiveness of the proposed method is verified by simulation results. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： controllers

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Nonlinear robust control design for SSSC to improve damping oscillations and transient stability of power system 36

Nonlinear robust control design for SSSC to improve damping ...

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第36届中国控制会议

作者： Bangjun Lei Xiang Wu Shumin Fei Key Laboratory of power big data of Guizhou Province College of Electrical and Information EngineeringGuizhou Institute of Technology School of Mathematical Sciences Guizhou Normal University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

ISBN: (纸本)9781538629185

In this article, a nonlinear robust（NR） control is designed for static synchronous series compensator（SSSC） to improve transient stability and oscillation damping of power system. By taking the parameter deviations, external disturbances and unmodeled dynamics into account, the nonlinear dynamic model of SSSC can be changed into a Hamiltonian structure with the help of coordinate transformation. Based on the Hamiltonian structure of SSSC, a nonlinear robust control is designed for SSSC. Numerical simulation results on the two-area four-machine power system demonstrate the robustness and effectiveness of the proposed nonlinear robust control in comparison with the direct feedback linearization（FL） control. The study results show that the nonlinear robust control has better performance than the FL control.

关键词： SSSC nonlinear robust control Hamiltonian function method oscillations damping transient stability

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UKF based Fault Detection and State Estimation for Nonlinear systems with Correlated Noise 36

UKF based Fault Detection and State Estimation for Nonlinear...

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第36届中国控制会议

作者： Hongxue Chen Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao Guangzheng Hu Huifang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

State estimation and fault diagnosis are essential topics for dynamic *** Kalman fllter（UKF） has been widely applied in nonlinear *** classical UKF algorithm is built on the premise that process noise and measurement noise is *** practical problems,this assumption is not always *** addition,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen ***,it is very important to study the state estimation of nonlinear systems with unreliable measurements and correlated *** this paper,an UKF based state estimation algorithm with unreliable observations under correlated noise is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： fault detection state estimation correlated noise nonlinear system

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带马尔科夫跳的模态相关时变时滞随机系统的状态反馈控制器设计(英文)

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自动化学报 2010年第11期36卷 1601-1610页

作者：马莉达飞鹏吴凌尧 Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of EducationResearch Institute of AutomationSoutheast University College of Electronic and Information Engineering Jiangsu University

In this paper,an improved mean-square exponential stability condition and delayed-state-feedback controller for stochastic Markovian jump systems with mode-dependent time-varying state delays are obtained. First,by constructing a modified Lyapunov-Krasovskii functional,a mean-square exponential stability condition for the above systems is presented in terms of linear matrix inequalities (LMIs). Here,the decay rate can be a finite positive constant in a range and the derivative of time-varying delays is only required to have an upper bound which is not required to be less than 1. Then,based on the proposed stability condition,a delayed-state-feedback controller is designed. Finally,numerical examples are presented to illustrate the effectiveness of the theoretical results.

关键词：马尔科夫跳模态相关时变时滞随机系统状态反馈控制器

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Design of Modular Humanoid Rehabilitation Robot for Apoplectic Hemiplegia 29

Design of Modular Humanoid Rehabilitation Robot for Apoplect...

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第29届中国控制与决策会议

作者： Shuai Li Jian Li Siqi Li Guodong Li Yu Mu The Bionic Robot and System Key Laboratory School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most effective way to regain the Activities of Daily Living(ADL).Based on the concept of humanoid and modular design,this paper outlines the design process of humanoid ***,kinematics and dynamics are calculated in different coordinate frames,which makes simulation and control algorithms are more complex and not intuitive,for the forked-tree structure rehabilitation robot,a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames,the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics,and the singular configurations of redundant manipulator are *** important design criteria of humanoid robot is discussed,and the realization of the mechanical design is ***,the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.

关键词： Rehabilitation Robot Humanoid robot Modularity Singularity Geometric Representation

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Energy Analysis of a CPG-controlled Miniature Robotic Fish

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Journal of Bionic engineering 2018年第2期15卷 260-269页

作者： Junzhi Yu Shifeng Chen Zhengxing Wu Xingyu Chen Ming Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China University of Chinese Academy of Sciences Beijing 100049 China School of lnformation and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator （CPG） based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.

关键词： bionic robotic fish energy analysis Central Pattern Generator （CPG） swimming motion control

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