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IEEE International Conference on systems, Man and Cybernetics

作者： Wenpeng He Xin Chen Hao Fu Yipu Sun School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China School of Computer Science and Technology Wuhan University of Science and Technology Wuhan P. R. China

ISBN: (纸本)9781665442084

This paper investigates the consensus problems of heterogeneous discrete-time (DT) nonlinear multi-agent systems (MASs) with unknown dynamics and switching typology. By adding a virtual model to each agent and using the model reference protocol to the actual model, the consensus problems of unknown nonlinear MASs are transformed into consensus problems of known virtual linear MASs, and a distributed control law is designed for the virtual model to make the virtual linear MASs achieve consensus under the switching typology. Two numerical simulations with nonidentical nonlinear dynamics and switching typology are given to prove the effectiveness of the proposed method.

关键词： Protocols Conferences Switches Consensus control Numerical simulation Numerical models Nonlinear dynamical systems

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Observer-based finite time H ∞ control of nonlinear discrete time-varying systems with an adaptive event-triggered Mechanism

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Journal of the Franklin Institute 2020年第16期357卷 11668-11689页

作者： Menghua Chen Hamid Reza Karimi Jian Sun School of Automation Beijing Institute of Technology Beijing 100081 China Department of Mechanical Engineering Politecnico di Milano Milan 20156 Italy Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

The problem of finite time stability and synthesis is discussed for nonlinear discrete time-varying systems by using the T-S fuzzy model. To reduce the communication network resources, two adaptive event-triggered mechanisms (AETMs) are taken into consideration in sensor-to-observer (S/O) and observer-to-controller (O/C) channels. The thresholds of the AETMs are adjusted according to the estimation error rather than some fixed ones. Sufficient conditions for developing an observer-based time-varying control are obtained, which ensure the time-varying error system to be finite time stable and satisfy the H ∞ performance simultaneously. Moreover, using the singular value decomposition technique, recursive linear matrix inequalities conditions are obtained for computing the gains of the controller and observer. Finally, the superiority and applicability of the proposed method are demonstrated by examples.

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Design and Analysis of Joint-Assisted Exoskeleton control system of Upper Limb in Active Spacesuit

Design and Analysis of Joint-Assisted Exoskeleton Control Sy...

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第三十九届中国控制会议

作者： Zhaoyang Li Yuehong Dai Jiejun Hu Junyao Wang Peng Tang University of Electronic Science and Technology of China Research Center of Intelligent Aircraft System Technology and Application of UESTC Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province

Based on joint-assisted exoskeleton technology, a concept of active spacesuit for future extraterrestrial exploration activities is presented. Firstly, we design the mechanical structure of joint-assisted exoskeleton of upper limb, and perform kinematic analysis on the upper limb to obtain the joint motion information when lifting load. We obtain the resistance torque of the spacesuit joint by the measuring equipment, and the total torque of the upper limb by the simplified two-links dynamic ***, we present the combination of adaptive impedance control and sliding mode control that based on CTC method. Finally, the prototype of joint-assisted exoskeleton robot of upper limb is fabricated and tested, and the experimental results indict that the control system can improve the trajectory tracking effect and eliminate the influences of environmental change. The research can not only help the astronauts more easily complete the task of collecting samples of the future manned space missions, but also provide a theoretical foundation for the subsequent research of active spacesuit.

关键词： Active Spacesuit Exoskeleton Adaptive Impedance control Upper Limb Extraterrestrial Exploration

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An IoT Edge Computing system Architecture and its Application

An IoT Edge Computing System Architecture and its Applicatio...

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2020 IEEE International Conference on Networking, Sensing and control, ICNSC 2020

作者： Chen, Shichao Li, Qijie Zhang, Hua Zhu, Fenghua Xiong, Gang Tang, Ying Macau University of Science and Technology State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences China Beijing University of Technology State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Beijing Aerospace Smart Manufacturing Technology Development Co. Ltd Platform Research and Development Department Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Engineering Research Center of Intelligent Systems and Technology Institute of Automation Cloud Computing Center Chinese Academy of Sciences Beijing China Rowan University Department of Electrical and Computer Engineering GlassboroNJ United States Institute of Smart Education Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781728168531

As the number of devices connected to the Internet of things (IoT) surges, the amount of data explodes. Therefore it not only increases the bandwidth load of data transmission but also aggravates the computing and storage load of a cloud platform. At the same time, the traditional computing paradigm centered on cloud computing cannot meet the real-time requirements in many application scenarios. The emergence of edge computing can solve the problems of realtime data processing and network bandwidth occupation in the current IoT scene. In this paper, according to the characteristics of IoT, such as fragmented data, heterogeneous network, and limited energy consumption, the architecture of an IoT edge computing system is constructed to suit better an IoT scene. In addition, the application of edge computing key technologies such as virtualization, edge intelligence, computing offload, collaborative scheduling and micro-services in resource-constrained IoT scenarios is analyzed in detail. Finally, the functions and application of energy consumption monitoring and optimization to a central air-conditioning system are analyzed and summarized, which is a typical application of edge computing in the context of the IoT. © 2020 IEEE.

关键词： Edge computing

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AU Nanoparticles Decorated Gan Nanoflowers with Enhanced Nh3 Sensing Performance at Room Temperature

SSRN

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SSRN 2023年

作者： Han, Dan Chen, Yi Li, Donghui Shi, Jiexu Wang, Hongtao He, Xiuli Zhao, Li Wang, Weidong Sang, Shengbo Ji, Jianlong Shanxi Key Laboratory of Micro Nano Sensors and Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System The Ministry of Education Taiyuan University of Technology Taiyuan030024 China State Key Laboratory of Transducer Technology Aerospace Information Research Institute Chinese Academy of Sciences Beijing100190 China Bioengineering Research Center Medical Innovation Research Division Chinese PLA General Hospital Beijing China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science China

Surface modification with noble metal is considered as an effective strategy to enhance sensing performance of semiconductor gas sensors. In this work, gold nanoparticles (Au NPs) decorated Gallium Nitride nanoflowers (Au-GaN NFs) have been synthesized successfully by a feasible hydrothermal method combined with high temperature nitridation and followed by in-situ reduction process. The characterizations of the structure and morphology of as-obtained Au-GaN NFs indicated that the Au NPs were successfully loaded on the surface of GaN. The excellent gas sensing performance was observed for GaN of 2 mol% Au loaded, including the high response (86.8%) to 100 ppm NH3 with fast response/recovery time (41 s/169 s) at room temperature, low theoretical limit of detection (72 ppb), good stability and selectivity. Besides, the influence of humidity on the performance of sensors was explored, where the response can be reached 56.5% towards 100 ppm NH3 under 70% RH. The improvement of the sensing performance of Au-GaN NFs sensor can be attributed to the combined action of chemical and electronic sensitization of Au NPs. This work provides a candidate of Au-GaN NFs for the development of wireless sensing system in NH3 monitoring. © 2023, The Authors. All rights reserved.

关键词： Nanoflowers

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Coordinated motion control and event-based obstacle-crossing for four wheel-leg independent motor-driven robotic system via MPC

arXiv

引用

arXiv 2020年

作者： Liu, Dongchen Wang, Junzheng Wang, Shoukun The National Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing10081 China The Ministry of Industry and Information Technology Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing10081 China

This work investigates the coordinated motion control and obstacle-crossing problem for a four wheel-leg independent motor-driven robotic system via a model predictive control (MPC) approach based on an event-triggering mechanism. The modeling of a wheel-leg robotic control system with a dynamic supporting polygon is organized. The system dynamic model is 3 degrees of freedom ignoring the pitch, roll, and vertical motions. The single wheel dynamic is analyzed considering the characteristics of the motor-driven and the Burckhardt nonlinear tire model. As a result, an over-actuated predictive model is proposed with the motor torques as inputs and the system states as outputs. As the supporting polygon is only adjusted at certain conditions, an event-based triggering mechanism is designed to save hardware resources and energy. The MPC controller is evaluated on a virtual prototype as well as a physical prototype. The simulation results guide the parameter tuning for the controller implementation in the physical prototype. The experimental results on these two prototypes verify the efficiency of the proposed approach. © 2020, CC BY.

关键词： Geometry

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Dual-band Antenna Design for Moving Terminal Applications

Dual-band Antenna Design for Moving Terminal Applications

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Progress in Electromagnetics Research Symposium - Fall (PIERS - FALL)

作者： Yanyan Wang Qingxi Chi Mingrui Hao Yunong Bu Hang Zhang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728153049

ISBN: (纸本)9781728153056

In this paper, a small dual-band antenna has been proposed for moving terminal applications, which is fed by microstrip line and consists of feeding line, partial ground plane, semi-circular ring strips, reversed C-shaped, e-shaped and parasitic branches. The bending branches are employed for the designed antenna to increase the path of current, which is beneficial to reduce the size of the proposed antenna. In addition, the parasitic branches are loaded by coupling capacitance to provide another band for the proposed dual-band antenna, which miniaturizes the designed antenna and makes the operating band easy to be adjusted. By modeling and optimizing the structure of the proposed dual-band antenna in the HFSS, the results show that the proposed antenna can operate at 3.52 GHz and 5.25 GHz. Moreover, the developed dual-band antenna has omnidirectional radiation patterns at both operating bands and got a good total realized gain. Therefore, the designed dual-band antenna is very appropriate for the small moving terminal applications.

关键词： Dual band Antenna radiation patterns Microstrip antennas Wireless LAN Microwave antennas Electromagnetics

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Gap Effects on the Coupled system of Multiple Microresonators

Gap Effects on the Coupled System of Multiple Microresonator...

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International Applied Computational Electromagnetics Society Symposium (ACES)

作者： Lingling Dai Cheng Xu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9780996007894

ISBN: (纸本)9781728146331

Novel photonic molecules consisting of multiple microsphere resonators in linear chain are proposed in this paper. The coupled effects in these structures are numerically studied. Additionally, impacts of the gap between resonators on the spectrum is researched. The result indicates the number of splitting modes and the difference in modes strongly depend on the gap. The property demonstrates that coupled systems are excellent candidates for biochemical sensing applications.

关键词： Resonators Photonics Couplings Microcavities Sensors Whispering gallery modes Finite element analysis

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Global Dynamics and Optimal Design of a New Highly Efficient Nonlinear Energy Sink Based on Magnetic-Elastic Impacts with Negative Stiffness

Research Square

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Research Square 2021年

作者： Li, Shuangbao Wang, Tingting Chen, Jianen Research Institute of Science and Technology Innovation Civil Aviation University of China Tianjin300300 China College of Science Civil Aviation University of China Tianjin300300 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

A new highly efficient elastic-impact bistable nonlinear energy sink (EI-BNES) based on magnetic-elastic impacts with negative stiffness and bistability is proposed and optimized through global dynamical analysis. The EI-BNES has better robustness and higher energy dissipation rates with nearly more than 96.5% for broadband impulsive excitations than the traditional cubic NESs and single bistable NESs. The structure of negative stiffness impacts is realized by reasonable layout of permanent ring magnets and springs. A two-degree-of-freedom (two-DOF) elastic-impact system is established to describe the coupled nonlinear interaction between the main structure and the attached EI-BNES. A global Melnikov reduction analysis (GMRA) is proposed to study global dynamics and homoclinic bifurcations of the reduced two-dimensional subsystem, which is used to explain the mechanism of nonlinear targeted energy transfer (TET) and detect the threshold of impulsive amplitudes of EI-BNES for in-well and compound motions between in-well and cross-well resonance responses. A special type of saddle-center equilibrium points is also found in the non-smooth system of the EI-BNES and can be used to effectively increase the energy dissipation rates. The optimal design criterion of the tuned EI-BNES for better dissipation performance is also first discussed based on the GMRA and numerical techniques for calculating the Melnikov function of the non-smooth systems. The effectiveness of the analytical GMRA is also verified by numerical simulations. © 2021, CC BY.

关键词： Stiffness

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Reliability-based robust event-triggered anti-windup control for Arctic dynamic positioning of turret-moored vessels under ice loads

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Ocean Engineering 2025年 336卷

作者： Shasha Wang Bingyao Tan Yuanhui Wang Zhouhua Peng Yulong Tuo College of Marine Electrical Engineering Dalian Maritime University Dalian 116026 PR China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian 116026 PR China College of Intelligent System Science and Engineering Harbin Engineering University Nantong Street 145 Harbin 150001 PR China

This paper proposes a reliability-based robust dynamic positioning control method for a turret-moored vessel subject to unavailable model parameters, unknown disturbances and input saturation in ice regions. Firstly, based on the Discrete Element Method (DEM), an ice load model is established to simulate the ice loads exerted on FPSO vessels in broken ice environments. Then, the Gaussian error function is employed to approximate the input saturation nonlinearity. The unavailable model parameters, unknown disturbances, ice loads and input saturation approximation error are ingeniously transformed into a linear parametric form with only one parameter needed to be adjusted online. Further, we proposed a reliability-based robust anti-windup controller to achieve the arctic dynamic positioning of FPSO vessels, where a parametric adaptive method is designed to adjust the single unknown parameter online. Moreover, an event-triggered mechanism is integrated into the proposed controller to reduce the controller execution frequency and thruster wear, which can extend the service life of thrusters to some degree. Theoretical analysis proves that all signals in the closed-loop arctic dynamic positioning control system are globally uniformly ultimately bounded. Finally, the effectiveness of the proposed methods in arctic region dynamic positioning is validated through simulations.

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