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6th International Symposium on Autonomous Systems, ISAS 2023

作者： Liu, Xinyu Hao, Mingrui Zhen, Yan Fan, Yu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316155

This article proposes a joint overload controller for pitch and yaw channels on the high-order fully actuated system theory for a nonlinear lateral and longitudinal static unstable STT aircraft model. Firstly, a second-order fully actuated system model for aircraft overload was derived, and an optimal control method for lateral and longitudinal overload was designed. Through mathematical simulation verification of this controller and traditional PID controller, it is shown that the PID control method has significant shortcomings in nonlinear aircraft with coupling. However, high-order fully actuated system theory control method can better adapt to nonlinear and static instability problems, achieve stable tracking of aircraft overload commands, and have better rapidity. © 2023 IEEE.

关键词： System theory

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Distributed robust iterative learning control for AC microgrids with external disturbances

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science China(Information sciences) 2025年

作者： Hongyu SU Jingang LAI School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent ControlMinistry of Education Huazhong University of Science and Technology

This study proposes a distributed secondary control scheme based on distributed robust iterative learning control(DRILC) for islanded alternating current(AC) microgrids subjected to external disturbances. By employing the decoupled sliding mode consensus approach, voltage regulation, frequency restoration, and accurate active power sharing can be achieved within a finite time on the proposed novel integral terminal sliding mode(ITSM) manifold. Furthermore, the appropriate iterative update law in the ITSM-based controller is utilized to learn and eliminate external disturbances as effectively as possible. In the proposed control scheme, the iterative learning control and sliding mode control are designed to function in a complementary manner, which enhances the performance of the secondary control scheme for multi-objective regulations. The stability criteria and robustness to external disturbances of the closed-loop microgrid system in the iteration and time domains are also rigorously derived with the help of the Lyapunov direct method. Finally, the effectiveness of the proposed secondary control scheme is validated by case studies of an islanded AC microgrid test system in the MATLAB/SimPowerSystems software environment.

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Adaptive Task Allocation for Multi-UAV Systems Using a Novel Dynamic Distributed Algorithm

Adaptive Task Allocation for Multi-UAV Systems Using a Novel...

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2024 China Automation Congress, CAC 2024

作者： Zhou, Cheng Li, Nuo Yang, Shuqi Yu, Lianbo Lian, Lei Wang, Dong Wang, Wei Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9798350368604

This paper introduces the Dynamic Efficient Distributed Performance Impact (DEDPI) algorithm for optimizing task allocation in multi-UAV systems operating in dynamic environments. The algorithm overcomes the limitations of existing approaches, specifically the suboptimal solutions of dynamic task algorithms and the computational inefficiencies of extending static algorithms to dynamic contexts, by dynamically adjusting task queues and employing a novel objective function to enhance resource allocation and responsiveness. Experimental results demonstrate that DEDPI significantly increases the number of completed tasks while reducing the average task execution cost, providing an effective solution for real-time, mission-critical UAV operations. © 2024 IEEE.

关键词： Resource allocation

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Ground-based investigations on phase-moving phenomenon with space sublimation cooling for lunar exploration missions

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Chinese Journal of Aeronautics 2022年第8期35卷 65-74页

作者： Enhui LI Yunze LI Jixiang WANG Man YUAN Jingyan XIE Yuehang SUN Lizhu YANG Xianwen NING School of Aeronautic Science and Engineering Beihang UniversityBeijing 100083China Beijing Key Laboratory of Space Thermal Control Technology China Academy of Space TechnologyBeijing 100094China

The lunar surface is a typical vacuum environment,and its harsh heat rejection conditions bring great challenges to the thermal control technology of the exploration *** addition to the radiator,the sublimator is recommended as one of the promising options for heat *** sublimator makes use of water to freeze and sublimate in a porous medium,rejecting heat to the vacuum *** complex heat and mass transfer process involves many physical phenomena such as the freezing and sublimation phase change of water in the porous medium and the movement of the phase-change *** this paper,the visualized ground-based experimental approaches of space sublimation cooling were presented to reveal the moving law of threephase point and the growth phenomenon of ice-peak and icicle in microchannels under vacuum *** visualized experiments and results prove that the freezing ice is divided into the porous ice-peak and the transparent *** the sublimation progresses,the phase-change interface moves downward steadily,the length of the ice-peak increases,but the icicle *** visualized experiments of space sublimation cooling in the capillary have guiding significance to reveal the sublimation cooling mechanism of water in the sublimator for lunar exploration missions.

关键词： Lunar vacuum environment Phase-change flow space sublimation cooling Unsteady phase-moving phenomenon Visualized ground-based experimental approaches

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Robust Fixed-time Composite controller Design with the Unknown System Dynamics Estimator for Nonlinear Robotic Manipulator Systems 24

Robust Fixed-time Composite Controller Design with the Unkno...

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2nd International Conference on Frontiers of intelligent Manufacturing and Automation, CFIMA 2024

作者： Li, Siyan Xing, Yashan Na, Jing Li, Qi Faculty of Mechanical and Electrical Engineering Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Yunnan China

ISBN: (纸本)9798400710681

In this paper, a robust fixed-time composite control scheme based on an Unknown System Dynamics Estimator (USDE) is proposed. The proposed control method guarantees the tracking error convergence in a fixed-time for nonlinear robotic manipulators with unknown dynamics and disturbance. To address the existence of uncertainties, first, a simple structure of USDE by a low-pass filtering operation is constructed without using acceleration signals, Which is adjusted for only one filter coefficient. Then, the USDE compensate the estimated value into the robust fixed-time composite controller. The composite controller contains a fixed time control term, a robust control term, and a computed torque control term. By the fixed-time control term, the upper bound on the convergence time is independent of the initial conditions of the system, which ensures fast-tracking tasks for the robot manipulator. And the robust control term is used to reduce the impact of USDE estimation errors. The stability of the closed-loop system is demonstrated through Lyapunov criteria. The validity of the proposed method is verified by simulation. © 2024 Copyright held by the owner/author(s).

关键词： Stability criteria

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DFIMat: Decoupled Flexible Interactive Matting in Multi-person Scenarios 17th

DFIMat: Decoupled Flexible Interactive Matting in Multi-per...

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17th Asian Conference on Computer Vision, ACCV 2024

作者： Jiao, Siyi Zeng, Wenzheng Gao, Changxin Sang, Nong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9789819609710

Interactive portrait matting refers to extracting the soft portrait from a given image that best meets the user’s intent through their inputs. Existing methods often underperform in complex scenarios, mainly due to three factors. (1) Most works apply a tightly coupled network that directly predicts matting results, lacking interpretability and resulting in inadequate modeling. (2) Existing works are limited to a single type of user input, which is ineffective for intention understanding and also inefficient for user operation. (3) The multi-round characteristics have been under-explored, which is crucial for user interaction. To alleviate these limitations, we propose DFIMat, a decoupled framework that enables flexible interactive matting. Specifically, we first decouple the task into 2 sub-ones: localizing target instances by understanding scene semantics and the flexible user inputs, and conducting refinement for instance-level matting. We observe a clear performance gain from decoupling, as it makes sub-tasks easier to learn, and the flexible multi-type input further enhances both effectiveness and efficiency. DFIMat also considers the multi-round interaction property, where a contrastive reasoning module is designed to enhance cross-round refinement. Another limitation for multi-person matting task is the lack of training data. We address this by introducing a new synthetic data generation pipeline that can generate much more realistic samples than previous arts. A new large-scale dataset SMPMat is subsequently established. Experiments verify the significant superiority of DFIMat. With it, we also investigate the roles of different input types, providing valuable principles for users. Our code and dataset will be public. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Large datasets

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High-precision end-to-end adaptive optics aided orbital angular momentum wireless communication with XFTC-Net

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Optics Letters 2025年第10期50卷 3265-3268页

作者： Xu, Panpan Chang, Huan Wang, Fei Gao, Ran Guo, Dong Zhu, Lei Li, Zhipei Zhou, Sitong Xu, Qi Chen, Jing Xin, Xiangjun Beijing100081 China National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing Beijing China Beijing100876 China Key Laboratory of Computing Power Network and Information Security Ministry of Education Qilu University of Technology 250353 China

In this Letter, we demonstrate high-precision end-to-end adaptive optics (AO) technique based on the X-Shape Fusion Transformer-convolutional neural network (XFTC-Net) without an additional probe path to compensate for distortions caused by atmospheric turbulence (AT) in orbital angular momentum (OAM) optical wireless communication links. The experimental results show that the XFTC-Net effectively extracts the intensity distribution features of distorted OAM beams, predicting AT phase screens and identifying OAM modes. After XFTC-Net-aided AO compensation, the bit error rate of the OAM optical communication system remains below 3.8 × 10−3, staying within Cn2 = 1 × 10−15–1 × 10−13 m−2/3. Moreover, the optical power with l= 3 increases from 5.08 dBm to 8.23 dBm at a transmission distance of 800 m. These experimental results indicate that the proposed XFTC-Net AO technique effectively compensates for OAM beam distortion in both single- and multiplexed-channel OAM links, which effectively balances the system complexity and transmission performance of OAM-based free space optical (FSO) communication systems, opening up new avenues for enhancing the performances of high-capacity optical communication. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Fiber to the x

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Low-Speed Frame control of SGCMG Based on High-Precision Grating Angle Measurement

Low-Speed Frame Control of SGCMG Based on High-Precision Gra...

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International Conference on Guidance, Navigation and control, ICGNC 2024

作者： Zhao, Weiheng Tian, Limei Su, Nuo Hu, Yuewei Zhang, Qiang Lu, Ming liang, Zhulin Zhao, Zhixin Beijing Institute of Control Engineering Beijing 100094 China Science and Technology on Space Intelligent Control Laboratory Beijing 100094 China Beijing Institute of Control Engineering Beijing 100094 China

ISBN: (纸本)9789819622351

The gimbal control performance of Single Gimbal control Moment Gyroscopes (SGCMG) is a crucial factor affecting the output performance of control Moment Gyro (CMG). The precision of low-speed gimbal angle sensors emerges as a critical determinant of gimbal control performance. The utilization of high-precision frame-angle sensors emerge as an essential prerequisite for achieving precise control within such frameworks. This paper designs a new high-precision grating angle measurement sensor and a low-speed frame control system based on high-precision gratings, significantly enhancing the control accuracy of SGCMG at extremely low speeds. Through simulations and experiments, it is evident that employing a 25-bit optical grating for angle measurement, in contrast to a 21-bit rotary encoder, results in a 70% increase in rotational speed accuracy and an 80% improvement in stability at extremely low rotational speeds, thus demonstrating a noticeable enhancement in control performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Grating Gimbal control High-precision Single gimbal control moment gyro (SGCMG)

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Multi-Level Robotic Pouring Using Offline Reinforcement Learning

Multi-Level Robotic Pouring Using Offline Reinforcement Lear...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhang, Xiaoxiong Liu, Junwei Zhang, Wei School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper presents a novel learning-based method for a robotic manipulator to achieve liquid pouring across different liquid levels using only visual sensors. Previous works have relied on either online reinforcement learning or imitation learning, which are limited by sim-to-real gaps or data efficiency. In this paper, we propose to combine supervised learning and offline reinforcement learning, utilizing a human demonstration dataset containing only successful pouring at the highest level. Specifically, our approach employs supervised learning for a visual classifier, transforming the visual input into a categorical distribution over liquid levels. The offline reinforcement learning method is applied to a binary-conditioned control policy, which takes a binary signal and the robot's proprioception as inputs to determine the action. The binary signal indicates whether the desired liquid level has been reached based on the target liquid level. Through experiments, our method demonstrates superior effectiveness compared to a state-of-the-art imitation learning algorithm. Moreover, tests in unseen scenarios and multiple liquid level commands verify the generalization and transferability of our approach. © 2024 IEEE.

关键词： Self-supervised learning

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Recursive Least Squares Identification With Variable-Direction Forgetting via Oblique Projection Decomposition

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 547-555页

作者： Kun Zhu Chengpu Yu Yiming Wan Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Beijing Institute of Technology Chongqing Innovation Center

In this paper,a new recursive least squares(RLS)identification algorithm with variable-direction forgetting(VDF)is proposed for multi-output *** objective is to enhance parameter estimation performance under non-persistent *** proposed algorithm performs oblique projection decomposition of the information matrix,such that forgetting is applied only to directions where new information is *** proofs show that even without persistent excitation,the information matrix remains lower and upper bounded,and the estimation error variance converges to be within a finite ***,detailed analysis is made to compare with a recently reported VDF algorithm that exploits eigenvalue decomposition(VDF-ED).It is revealed that under non-persistent excitation,part of the forgotten subspace in the VDF-ED algorithm could discount old information without receiving new data,which could produce a more ill-conditioned information matrix than our proposed *** simulation results demonstrate the efficacy and advantage of our proposed algorithm over this recent VDF-ED algorithm.

关键词： Non-persistent excitation oblique projection recursive least squares(RLS) variable-direction forgetting(VDF)

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