检索结果-内蒙古大学图书馆

Sliding mode active disturbance rejection control for uncalibrated visual servoing

International Journal of Systems, control and Communications 2025年第2期16卷 133-151页

作者： Pu, Cuiping Wu, Yi Ren, Jie Ran, Chenyang College of Mechanical and Electrical Engineering Kunming University Kunming China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Department of Automation Shanghai Jiao Tong University Shanghai China

A sliding mode control algorithm based on a linear extended state observer is proposed to address the multi-source uncertainty of uncalibrated visual servoing in robotic arms. Uncertainty, nonlinearity, coupling, external disturbances, etc. are considered as total disturbances. The linear expansion state observer is designed to observe the total disturbance and compensate for it. This enhances the system’s anti-interference ability. The outer loop adopts sliding mode control law as state feedback. It suppresses the observation errors of the observer and ensures the stability of the system. Sliding mode control based on linear extended observer does not depend on specific tasks and system configurations. It provides a unified design framework for solving the problem of uncalibrated visual servoing. Through numerical simulations of three different disturbance cases, it was compared with PI linear extended state observer and linear active disturbance rejection to verify its good dynamic performance and disturbance rejection performance. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Design of 5G Multi-Frequency Antenna Based on Multi-Objective Sequential Domain Patching

引用

Progress In Electromagnetics Research C 2024年 145卷 53-61页

作者： Zhu, Wenjian Chen, Jiayi Hu, Panshi Song, Zhi Xue, Yanbing School of Automation and Electrical Engineering Dalian Jiaotong University China School of Computer and Communication Engineering Dalian Jiaotong University Applied Basic Research Project of Liaoning Science and Technology Department Dalian116028 China

This paper introduces a 5G multi-frequency antenna design method based on multi-objective sequential domain patching. By etching helical metamaterials on radiation patches and loading asymmetric electric-inductive-capacitive metamaterials on the transmission line side, the antenna structure is designed and optimized using electromagnetic simulation software, HFSS, and MATLAB. The resulting multi-frequency antenna operates across multiple frequency bands: n1, n41, 3.5G, and 4.9G. To ensure antenna performance and radiation efficiency, the antenna multi-frequency bands are precisely controlled. The experimental results show that the error between each operating frequency band and target frequency bands of the antenna is within 7.2%. Compared with conventional antenna design methods, the use of metamaterials and intelligent algorithms to optimize the structural parameters and loading positions of metamaterials can improve antenna performance while shortening the design cycle. Overall, this research offers novel insights into the design of 5G high-performance antennas. © 2024, Electromagnetics Academy. All rights reserved.

关键词： Metamaterials

来源：评论

学校读者我要写书评

暂无评论

Spatial Coordination of Multiple Nonholonomic Agents With Sensory Connectivity Maintenance

引用

IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3425-3435页

作者： Chen, Xi Chen, Meimin Zhu, Lijun Chai, Li Wuhan University of Science and Technology Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan430081 China Shandong Huayu University of Technology School of Electrical Engineering Shandong253034 China School of Artificial Intelligence and Automation Wuhan430074 China Zhejiang University College of Control Science and Engineering Hangzhou310027 China

This article aims to propose a general control strategy for coordination of multiple nonholonomic agents in three dimensional space. For real-world applications, since the field sensor equipped on the mobile agents for local information detection and estimation has some limited detecting range, it is necessary to guarantee that the nearby agents must stay within this range of the onboard sensor. This is called sensory connectivity maintenance. A function termed as coordination function with sensory connectivity maintenance (CFSCM) is defined to describe the performances of the coordination as well as the sensory connectivity status between the agents. Then, a general control strategy is designed based on the proposed CFSCM for spatial coordination of multiple nonholonomic agents with sensory connectivity maintenance. Moreover, the applications of the proposed control strategy for formation with omnidirectional sensors and flocking with directional sensors are shown, respectively. Finally, some numerical examples are conducted to validate the theoretical analysis. © 2013 IEEE.

关键词： Maintenance Robot sensing systems Kinematics Vectors Electronic mail Aerospace electronics Three-dimensional displays System dynamics Robot kinematics Multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

Predicting Traffic Flow Using Dynamic Spatial-Temporal Graph Convolution Networks

引用

computers, Materials & Continua 2024年第3期78卷 4343-4361页

作者： Yunchang Liu Fei Wan Chengwu Liang School of Computer and Data Science Henan University of Urban ConstructionPingdingshan467036China School of Electrical and Control Engineering Henan University of Urban ConstructionPingdingshan467036China

Traffic flow prediction plays a key role in the construction of intelligent transportation ***,due to its complex spatio-temporal dependence and its uncertainty,the research becomes very *** of the existing studies are based on graph neural networks that model traffic flow graphs and try to use fixed graph structure to deal with the relationship between ***,due to the time-varying spatial correlation of the traffic network,there is no fixed node relationship,and these methods cannot effectively integrate the temporal and spatial *** paper proposes a novel temporal-spatial dynamic graph convolutional network(TSADGCN).The dynamic time warping algorithm(DTW)is introduced to calculate the similarity of traffic flow sequence among network nodes in the time dimension,and the spatiotemporal graph of traffic flow is constructed to capture the spatiotemporal characteristics and dependencies of traffic *** combining graph attention network and time attention network,a spatiotemporal convolution block is constructed to capture spatiotemporal characteristics of traffic *** on open data sets PEMSD4 and PEMSD8 show that TSADGCN has higher prediction accuracy than well-known traffic flow prediction algorithms.

关键词： Intelligent transportation graph convolutional network traffic flow DTW algorithm attention mechanism

来源：评论

学校读者我要写书评

暂无评论

Characteristics of perfluoromethyl vinyl ether:A new eco-friendly alternative gas for SF_(6)

引用

High Voltage 2024年第3期9卷 509-517页

作者： Song Xiao Yijiang Chen Mingjun Tang Shuangshuang Tian Haoran Xia Yifan Wang Ju Tang Yi Li Xiaoxing Zhang State Key Laboratory of Power Grid Environmental Protection School of Electrical Engineering and AutomationWuhan UniversityHubeiChina Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System School of Electrical and Electronic EngineeringHubei University of TechnologyWuhanChina

The exploration of eco-friendly insulating gas to substitute the most potent greenhouse gas sulphur hexafluoride(SF6)has consistently garnered significant ***,the au-thors evaluated the feasibility of utilising perfluoromethyl vinyl ether(PMVE,C_(3)F_(6)O)as a new branch of eco-friendly insulating gas for the first *** primary dielectric and stability characteristics of PMVE regarding AC breakdown,partial discharge,dielectric recovery,and decomposition properties were revealed under various gas pressure and electrical field *** was found that PMVE demonstrated superior dielectric strength,with the AC breakdown and PD inception voltage(PDIV)1.10 and 1.14 times that of pure SF_(6).Furthermore,the dielectric strength of PMVE exhibits stability even after undergoing 100 cycles of AC breakdowns,and there is no observable formation of solid precipitation on the electrode *** discharge decomposition of PMVE mainly generates fluorocarbon(CF_(4),C_(2)F_(6),C_(3)F_(6),C_(3)F_(8),etc.)and ***,the exceptional insulation stabilityandno absence of solidprecipitation featuresendow PMVE tobe utilised as a new eco-friendly gas for SF_(6)-free gas-insulated equipment.

关键词： surface dielectric vinyl

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Distributed Adaptive Inverse Differential Game Approach to Leader's Behavior Learning for Multiple Autonomous Followers

IEEE Transactions on Artificial Intelligence

引用

IEEE Transactions on Artificial Intelligence 2023年第6期4卷 1666-1678页

作者： Wu, Huai-Ning Wang, Mi Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beijing100191 China Peng Cheng Laboratory Shenzhen518000 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China

In this article, the leader's behavior learning problem is investigated for a class of leader-follower systems, where the leader's behavior is assumed not a priori known to all followers that are autonomous. A multiplayer nonzero-sum differential game is introduced to indicate the control interaction between agents, where the leader's behavior is modeled by an unknown cost function. The autonomous followers aim to retrieve the weighting matrix in the leader's cost function collaboratively. A distributed online adaptive inverse differential game (IDG) approach to the leader's behavior learning is proposed for the autonomous followers. Specifically, a concurrent learning based adaptive law and an interactive game controller are first developed for each autonomous follower to learn the leader's feedback gain matrix online, while the feedback Nash equilibrium of the game can be achieved. Then, a linear matrix inequality optimization problem is formulated to determine the weighting matrix of the leader's cost function for each autonomous follower. The proposed method simply requires that all followers share their interactive feedback gain matrices, not their private intents, and use only the system state data, not both the system state data and the leader's control input data. The main advantages of the proposed method are that it can be implemented online without requiring the persistent excitation condition and needs less computational power for all followers. Finally, numerical simulations are provided to demonstrate the effectiveness and feasibility of the developed method. © 2020 IEEE.

关键词： Cost functions

来源：评论

学校读者我要写书评

暂无评论

Techno-economic Analysis of Hybrid Renewable Energy Storage Optimal Sizing in Urban Energy System 6

Techno-economic Analysis of Hybrid Renewable Energy Storage ...

引用

6th International Conference on electrical, control and Instrumentation engineering, ICECIE 2024

作者： Sarfraz, Muhammad Tao, Xu Zafar, Ahsan Ansari, Mahrukh Ahmed, Awais School of Electrical and Information Engineering Tianjin University Tianjin China Control and Automation Engineering Tianjin University Tianjin China

ISBN: (纸本)9798350380040

Advances in renewable energy systems have inevitably created opportunities like realizing self-sufficient and carbon emission-free energy systems and challenges such as optimal scheduling and sizing of single or multiple energy storages in energy systems. This study discusses the technical and economic objective functions for optimum sizing of renewable energy storage in the urban energy system i.e. grid and solar photovoltaic as the main power generation sources. It is perceived that leveraging energy storage according to the capability of each storage technology is the intelligent approach, as each storage technology comes up with some merits and demerits such as battery storage has a rapid response i.e. less than one second and higher round trip efficiency i.e. greater than 90% but it has a self-discharge rate of around 1% and capacity loss of 20%. As far as hydrogen storage is concerned it has a higher energy density but cycle efficiency of hydrogen storage is merely 50%. So, using these renewable storage technologies individually does not result in an efficient, economical, and reliable system. Thus, this paper analyzes the different combinations of these storage technologies into hybrid optimization by implementing, volatile grid electricity rates, limiting battery operation, precise battery and hydrogen usage, and limiting grid operation to achieve lowest energy cost, capacity shortage, and net present cost objective functions. © 2024 IEEE.

关键词： Clean energy

来源：评论

学校读者我要写书评

暂无评论

A Novel Self-Supervised Learning Network for Binocular Disparity Estimation

引用

computer Modeling in engineering & Sciences 2025年第1期142卷 209-229页

作者： Jiawei Tian Yu Zhou Xiaobing Chen Salman A.AlQahtani Hongrong Chen Bo Yang Siyu Lu Wenfeng Zheng Department of Computer Science and Engineering Major in Bio Artificial IntelligenceHanyang UniversityAnsan-si15577Republic of Korea School of Electrical and Computer Engineering Louisiana State UniversityBaton RougeLA 70803USA Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11574Saudi Arabia School of Automation University of Electronic Science and Technology of ChinaChengdu610054China

Two-dimensional endoscopic images are susceptible to interferences such as specular reflections and monotonous texture illumination,hindering accurate three-dimensional lesion reconstruction by surgical *** study proposes a novel end-to-end disparity estimation model to address these *** approach combines a Pseudo-Siamese neural network architecture with pyramid dilated convolutions,integrating multi-scale image information to enhance robustness against lighting *** study introduces a Pseudo-Siamese structure-based disparity regression model that simplifies left-right image comparison,improving accuracy and *** model was evaluated using a dataset of stereo endoscopic videos captured by the Da Vinci surgical robot,comprising simulated silicone heart sequences and real heart video *** results demonstrate significant improvement in the network’s resistance to lighting interference without substantially increasing ***,the model exhibited faster convergence during training,contributing to overall performance *** study advances endoscopic image processing accuracy and has potential implications for surgical robot applications in complex environments.

关键词： Parallax estimation parallax regression model self-supervised learning Pseudo-Siamese neural network pyramid dilated convolution binocular disparity estimation

来源：评论

学校读者我要写书评

暂无评论

A zeroth-order algorithm for distributed optimization with stochastic stripe observations

引用

Science China(Information Sciences) 2023年第9期66卷 297-298页

作者： Yinghui WANG Xianlin ZENG Wenxiao ZHAO Yiguang HONG School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Department of Control Science and Engineering Tongji University

Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：