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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

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Reset-Free Reinforcement Learning via Multi-State Recovery and Failure Prevention for Autonomous Robots

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Tsinghua science and technology 2024年第5期29卷 1481-1494页

作者： Xu Zhou Benlian Xu Zhengqiang Jiang Jun Li Brett Nener School of Mechanical Engineering Changshu Institute of TechnologyChangshu 215500China School of Automation Nanjing University of Science and TechnologyNanjing 210094China School of Electronic and Information Engineering Suzhou University of Science and TechnologySuzhou 215009China Faculty of Medicine and Health The University of SydneySydney 2006Australia Department of Electrical Electronic and Computer EngineeringThe University of Western AustraliaPerth 6009Australia

Reinforcement learning holds promise in enabling robotic tasks as it can learn optimal policies via trial and ***,the practical deployment of reinforcement learning usually requires human intervention to provide episodic resets when a failure *** manual resets are generally unavailable in autonomous robots,we propose a reset-free reinforcement learning algorithm based on multi-state recovery and failure prevention to avoid failure-induced *** multi-state recovery provides robots with the capability of recovering from failures by self-correcting its behavior in the problematic state and,more importantly,deciding which previous state is the best to return to for efficient *** failure prevention reduces potential failures by predicting and excluding possible unsafe actions in specific *** simulations and real-world experiments are used to validate our algorithm with the results showing a significant reduction in the number of resets and failures during the learning.

关键词： reinforcement learning manual reset multi-state recovery failure prediction

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Watermark-Based Replay Attack Detection for Unmanned Marine Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第10期9卷 1-10页

作者： Bian, Guangrui Long, Yue Li, Tieshan Park, Ju H. Chen, C.L.P. School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Department of Electrical Engineering Yeungnam University Gyeongsan Republic of Korea

This paper is concerned with the problem of attack detection for unmanned marine vehicles (UMV) suffering from replay attacks. With the openness of the communication network, replay attacks occur at a higher rate and can cause severe impacts on UMV. Therefore, it is of great significance to detect replay attacks promptly and efficiently. To this end, an attack detection scheme based on watermark signals is proposed. Firstly, a Takagi-Sugeno (T-S) fuzzy system model for the UMV are established. Then, encoded and decoded signals based on the watermark signal are constructed, which are added to terminals of the sensors and the state estimators to detect replay attacks. The signals can effectively affect the residual values of the system when it is under attack, thus enabling the detection of replay attacks. Moreover, the method contributes to less system performance loss is demonstrated. Finally, the simulation results verify the effectiveness of this scheme. IEEE

关键词： Vehicles

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Relaxed Stability Criteria for Time-Delay Systems:A Novel Quadratic Function Convex Approximation Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 996-1006页

作者： Shenquan Wang Wenchengyu Ji Yulian Jiang Yanzheng Zhu Jian Sun College of Electrical and Electronic Engineering Changchun University of TechnologyChangchun 130012China the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying *** introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic *** developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular ***,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre *** a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay ***,the superiority of our results is illustrated through three numerical examples.

关键词： Equivalent reciprocal combination technique quadratic function convex approximation approach stability timevarying delay

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Rolling Bearing Fault Diagnosis Based on MTF Encoding and CBAM-LCNN Mechanism

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Computers, Materials & Continua 2025年第3期82卷 4863-4880页

作者： Wei Liu Sen Liu Yinchao He Jiaojiao Wang Yu Gu School of Mechanical and Electrical Engineering Zhoukou Normal UniversityZhoukou466001China School of Information and Control Engineering Jilin Institute of Chemical TechnologyJilin132022China School of Automation Guangdong University of Petrochemical TechnologyMaoming525000China

To address the issues of slow diagnostic speed,low accuracy,and poor generalization performance in traditional rolling bearing fault diagnosis methods,we propose a rolling bearing fault diagnosis method based on Markov Transition Field(MTF)image encoding combined with a lightweight convolutional neural network that integrates a Convolutional Block Attention Module(CBAM-LCNN).Specifically,we first use the Markov Transition Field to convert the original one-dimensional vibration signals of rolling bearings into two-dimensional ***,we construct a lightweight convolutional neural network incorporating the convolutional attention module(CBAM-LCNN).Finally,the two-dimensional images obtained from MTF mapping are fed into the CBAM-LCNN network for image feature extraction and fault *** validate the effectiveness of the proposed method on the bearing fault datasets from Guangdong University of Petrochemical technology’s multi-stage centrifugal fan and Case Western Reserve *** results show that,compared to other advanced baseline methods,the proposed rolling bearing fault diagnosis method offers faster diagnostic speed and higher diagnostic *** addition,we conducted experiments on the Xi’an Jiaotong University rolling bearing dataset,achieving excellent results in bearing fault *** results validate the strong generalization performance of the proposed *** method presented in this paper not only effectively diagnoses faults in rolling bearings but also serves as a reference for fault diagnosis in other equipment.

关键词： Rolling bearing fault diagnosis markov transition field lightweight convolutional neural network convolutional block attention module

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Human-robot shared control system based on 3D point cloud and teleoperation

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science China(Technological sciences) 2023年第8期66卷 2406-2414页

作者： YANG ChenGuang ZHANG Ying ZHAO GuanYi CHENG Long School of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China Institute of Automation Chinese Academy of SciencesBeijing 100190China

Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous ***,for small-batch and customized tasks,autonomous operation requires path planning for each task,thus reducing *** propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome *** system leverages the operator’s skills and experience to deal with emergencies and perform online error *** this framework,a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector *** operator controls the manipulator trajectory through a teleoperation *** force exerted by the manipulator on the object is automatically adjusted by the robot,thus reducing the workload for the operator and improving the efficiency of task *** addition,hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each *** proposed framework was validated using the ELITE robot to perform a force control scanning task.

关键词： teleoperation 3D point cloud human-robot shared control hybrid force/motion control

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Open Circuit Fault Diagnosis of Permanent Magnet Synchronous Motor Inverter Based on CEEMD-CNN-BiLSTM 19th

Open Circuit Fault Diagnosis of Permanent Magnet Synchronous...

引用

19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Liu, Xiping Yang, Bin Liao, Lei Liu, Zhangqi Xie, Minjie School of Electrical Engineering and Automation Jiangxi University of Science and Technology Ganzhou China

ISBN: (纸本)9789819608966

A convolutional neural network combined with bidirectional long and short-term memory neural network (CNN-BiLSTM) fault diagnosis model is proposed for the open-circuit fault problem of three-phase inverters in permanent magnet synchronous motor drive systems. Firstly, different open-circuit fault types of the inverter are analyzed and labels are set, then the three-phase currents output from the corresponding permanent magnet synchronous motors are extracted as the fault feature signals, and the frequency-domain feature signals are extracted using the complementary ensemble empirical modal decomposition (CEEMD), and finally, the identification and classification of the open-circuit faults of the three-phase inverter are realized using the CNN-BiLSTM. Experimental results show that this method can effectively and accurately complete the identification and classification of three-phase inverter open-circuit faults. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Frequency domain analysis

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A novel multi-resolution network for the open-circuit faults diagnosis of automatic ramming drive system

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Defence technology（防务技术） 2024年第4期34卷 225-237页

作者： Liuxuan Wei Linfang Qian Manyi Wang Minghao Tong Yilin Jiang Ming Li School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094JiangsuChina Northwest Institute of Mechanical and Electrical Engineering Xianyang 712099China

The open-circuit fault is one of the most common faults of the automatic ramming drive system(ARDS),and it can be categorized into the open-phase faults of Permanent Magnet Synchronous Motor(PMSM)and the open-circuit faults of Voltage Source Inverter(VSI). The stator current serves as a common indicator for detecting open-circuit faults. Due to the identical changes of the stator current between the open-phase faults in the PMSM and failures of double switches within the same leg of the VSI, this paper utilizes the zero-sequence voltage component as an additional diagnostic criterion to differentiate *** the variable conditions and substantial noise of the ARDS, a novel Multi-resolution Network(Mr Net) is proposed, which can extract multi-resolution perceptual information and enhance robustness to the noise. Meanwhile, a feature weighted layer is introduced to allocate higher weights to characteristics situated near the feature frequency. Both simulation and experiment results validate that the proposed fault diagnosis method can diagnose 25 types of open-circuit faults and achieve more than98.28% diagnostic accuracy. In addition, the experiment results also demonstrate that Mr Net has the capability of diagnosing the fault types accurately under the interference of noise signals(Laplace noise and Gaussian noise).

关键词： Fault diagnosis Deep learning Multi-scale convolution Open-circuit Convolutional neural network

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Modeling and analysis of oil frictional loss in wet-type permanent magnet synchronous motor for aerospace electro-hydrostatic actuator

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Chinese Journal of Aeronautics 2023年第11期36卷 328-341页

作者： Jinquan XU Wenbo JIN Hong GUO Tian YU Wenhu FAN Zongxia JIAO School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315800China Research Institute for Frontier Science Beihang UniversityBeijing 100191China

To improve the power density and simplify the seal structure,the Wet-Type Permanent Magnet Synchronous Motor(WTPMSM)technique has been applied to aerospace Electro-Hydrostatic Actuators(EHA).In a WTPMSM,the stator and the rotor are both immersed in the aviation hydraulic *** the heat dissipation performance of the WTPMSM can be enhanced,the aviation hydraulic oil will cost an extra oil frictional loss in the narrow airgap of the *** paper proposes an accurate oil frictional loss model for the WTPMSM,in which the wide speed range(0–20 kr/min)and the narrowness of the airgap(0.5–1.5 mm)are its ***,the mechanism of the oil frictional loss in the airgap of the WTPMSM is *** an accurate oil frictional loss model is proposed considering the nonlinear influence caused by the Taylor ***,the influence of motor dimensions on oil frictional loss is ***,the proposed oil frictional loss model is verified by experiments,which provides a guideline for engineers to follow in the WTPMSM design.

关键词： Electro-hydrostatic actuator Motor dimensions Oil frictional loss Taylor vortex Wet-type permanent magnet synchronous motor

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A Novel Access Point Deployment Framework for mmWave Cell-Free Massive MIMO Networks

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IEEE Transactions on Wireless Communications 2025年第6期24卷 4581-4597页

作者： Topal, Ozan Alp Demir, Ozlem Tugfe Bjornson, Emil Cavdar, Cicek School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Electrical and Electronics Engineering TOBB University of Economics and Technology Ankara Turkey

Millimeter-wave network deployment is an essential and ongoing problem due to the limited coverage and expensive network infrastructure. In this work, we solve a joint network deployment and resource allocation optimization problem for a mmWave cell-free massive MIMO network considering indoor environments. The objective is to minimize the number of deployed access points (APs) for a given environment, bandwidth, AP cooperation, and precoding scheme while guaranteeing the rate requirements of the user equipments (UEs). Considering coherent joint transmission (C-JT) and non-coherent joint transmission (NC-JT), we solve the problem of AP placement, UE-AP association, and power allocation among the UEs and resource blocks jointly. For numerical analysis, we model a mid-sized airplane cabin in ray-tracing as an exemplary case for IDS. Results demonstrate that a minimum data rate of 1 Gbps can be guaranteed with less than 10 APs with C-JT. From a holistic network design perspective, we analyze the trade-off between the required fronthaul capacity and the processing capacity per AP, under different network functional split options. We observe an above 600 Gbps fronthaul rate requirement, once all network operations are centralized, which can be reduced to 200 Gbps under physical layer functional splits. 2002-2012 IEEE.

关键词： Integer programming

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