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第三十二届中国控制会议

作者： HAO Renjian WANG Junzheng ZHAO Jiangbo Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563835

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process.A torque decoupling approach for electric linear actuator is proposed to achieve respective *** improve the speed of time varying parameters estimating,a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust *** adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric *** modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded *** co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Adaptive robust control Electric linear actuator LuGre model Fast estimation

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High-Order Fully Actuated system Models for Strict-Feedback systems With Increasing Dimensions

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2451-2462页

作者： Xiang Xu Guang-Ren Duan Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055 the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China

This paper mainly addresses control problems of strict-feedback systems(SFSs)with increasing *** with the commonly-considered SFSs where the subsystems have the same dimension,we aim to handle more complex cases,i.e.,the subsystems in the considered SFSs are assumed to have increasing *** transforming the systems into highorder fully-actuated system(HOFAS)models,the stabilizing controllers can be directly *** first-order SFSs,secondorder and high-order SFSs are also considered.

关键词： Increasing dimensions high-order fully-actuated system nonlinear systems strict-feedback systems

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A Hybrid Data-Driven Granular Model for Battery Remaining Useful Life Prediction

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Jing, TaiLong Du, Sheng Wang, Cong Wu, Chao Pedrycz, Witold Sharaf, Mohamed Li, ZhiWu Luoyang Institute of Science and Technology School of Electrical Engineering and Automation Luoyang471023 China China University of Geosciences School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Xi’an710072 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland King Saud University College of Engineering Department of Industrial Engineering Riyadh11421 Saudi Arabia Institute of Systems Engineering Macau University of Science and Technology Macau China

Accurate and meaningful prediction of the remaining useful life (RUL) of lithium-ion batteries (LIBs) provides a significant guide for the maintenance and management of these LIBs. A singular numerical predictive result by numerous conventional models is insufficient to furnish decision-makers with comprehensive or nuanced insights. To address this issue, predictive RUL results in the form of information granules are essential. In this study, a hybrid data-driven granular model is established for battery RUL prediction with granular (interval-based) quantification for LIBs. This granular model is designed and formulated in a way that it produces comprehensive prediction outcomes realized as information granules, which are expressed in a more descriptive and comprehensive manner. Thus, the resulting information granules can effectively reflect and communicate the confidence associated with the predictions. The granular model is realized in two steps: 1) probabilistic prediction results are produced by a hybrid numeric predictive model and 2) a comprehensive granulation of the probabilistic results is achieved under the principle of information granularity. The granular predictive results are holistically evaluated and optimized by the two associated criteria of granularity (coverage and specificity). This transformation of information granules provides an intuitive and interpretable display for battery maintenance and safe work. The proposed granular model is verified by using an open-access LIBs dataset, and the experimental results demonstrate that the proposed granular model outperforms other comparative methods. © 2025 IEEE. All rights reserved.

关键词： Prediction models

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Joint space compliance control for a hydraulic quadruped robot based on force feedback

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Journal of Beijing Institute of technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

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Interval analysis for neural networks with application to fault detection

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science China(Information sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of Control Science and Engineering Harbin Institute of Technology National Key Laboratory of Complex System Control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-Lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

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Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

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Journal of Beijing Institute of technology 2015年第1期24卷 83-90页

作者：杜明芳王军政李静李楠李多扬 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Automation School Beijing Union University

A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.

关键词： dynamic object recognition key SURF feature feature matching adaptive Hessianthreshold unmanned vehicle

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Hybrid dynamic model of polymer electrolyte membrane fuel cell stack using variable neural network

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Journal of Beijing Institute of technology 2012年第3期21卷 354-361页

作者：李鹏陈杰蔡涛王光辉 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of EducationBeijing Institute of Technology

The polymer electrolyte membrane（PEM） fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,which combines the advantages of mechanism model and black-box model,is proposed in this *** improve the performance,the static neural network and variable neural network are used to build the black-box *** static neural network can significantly improve the static performance of the hybrid model,and the variable neural network makes the hybrid dynamic model predict the real PEM fuel cell behavior with required ***,the hybrid dynamic model is validated with a 500 W PEM fuel *** static and transient experiment results show that the hybrid dynamic model can predict the behavior of the fuel cell stack accurately and therefore can be effectively utilized in practical application.

关键词： PEM fuel cell variable neural network hybrid dynamic model

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A Combat Intention Reasoning Method for Warship Formation Targets Based on Deep Learning 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Xu, Hongfeng Zhao, Jiajia Zhang, Hang Jiang, Jixiang Chen, Linxiu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

With the rapid development of science and technology, modern war presents the characteristics of mathematics and information. Grasping the operational intention of battlefield targets plays a crucial role in the trend of war. The target of warship formation is an important fighting force in modern war. How to analyze and reason the target’s fighting intention accurately and timely is one of the most important parts of modern battlefield situation cognition system. Aiming at the problems of too strong subjectivity, lack of objectivity and poor model robustness existing in traditional intention reasoning methods, this paper introduces the idea of deep learning data-driven, and takes the electromagnetic, state and formation characteristic information of ship formation targets as input, designs a deep learning-based ship formation target intention reasoning model. The effectiveness of the algorithm is verified by mathematical simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Deep learning

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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement

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Defence technology（防务技术） 2024年第12期42卷 136-155页

作者： Xintao Wang Ming Yang Songyan Wang Mingzhe Hou Tao Chao Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an *** confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 ***,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the ***,the nonlinear numerical simulations verify the performance of the game guidance strategy.

关键词： Active defense aircraft Differential game theory Three-player confrontation Energy optimization Acceleration constraint Obstacle avoidance

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Relative Navigation of Unmanned Aerial Vehicles Based on Data Link Ranging and Partial Guidance Information 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Wang, Ziwen Song, Chuang Hao, Mingrui Liang, Xinkai Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

In GNSS-denied environments, precise relative navigation between unmanned aerial vehicles (UAVs) is a key technology for achieving cooperative tasks. The relative navigation method based on data link ranging information combines altitude, airspeed measurements, and attitude information to ensure the observability of UAVs’ relative states. However, due to the significant constraints imposed by observability conditions, a novel approach is proposed that utilizes partial guidance information from the UAV swarm towards the target as additional measurements. This approach enhances the observability capability of relative navigation and alleviates the constraints imposed by the observability conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Observability

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