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Robust disturbance rejection for a fractional-order system based on equivalent-input-disturbance approach

science China(Information sciences) 2018年第7期61卷 200-211页

作者： Ruijuan LIU Jinhua SHE Min WU Fenfang ZHU Zhuoyun NIE School of Applied Mathematics Xiamen University of Technology School of Automation China University of Geosciences School of Engineering Tokyo University of Technology Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Information Science and Engineering National Huaqiao University

This paper presents a disturbance rejection method that is based on the equivalent-inputdisturbance approach for uncertain fractional-order(FO) systems. An FO observer is used to reconstruct the plant states and estimate the disturbances. A disturbance estimator is incorporated in the construction of the FO control system to actively compensate for the entire disturbance. A robust stability condition for the control system and the parameters of the controller are derived using an indirect Lyapunov *** presented method effectively rejects disturbances and handles modeling uncertainties without requiring prior knowledge of the disturbance. Comparison simulations on both numerical and practical examples demonstrate the effectiveness of the proposed method.

关键词： fractional-order system disturbance rejection equivalent-input-disturbance uncertain system Lyapunov method state observer stability

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Sliding angle reconstruction and robust lateral control of autonomous vehicles in presence of lateral disturbance

Sliding angle reconstruction and robust lateral control of a...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2009

作者： Hao, Fang Lihua, Dou Jie, Chen Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 Beijing China

ISBN: (纸本)9781424438044

In this paper the problem of path following control of autonomous vehicles subject to sliding is addressed. First a kinematic model is built which takes sliding effects into account by introducing two additional tire sliding angles. Since the tire sliding angles cannot be directly measured by sensors, an adaptive robust Luenberger observer is designed. With this observer, the tire cornering stiffness instead of the sliding angles is identified in presence of time-varying lateral disturbance. The Lyapunov stability theory guarantees that the estimated cornering stiffness would converge to a neighborhood of the real value when control inputs excitated the system persistently. But due to the existence of the lateral disturbance which causes loss of accuracy of the sliding angle reconstruction, the previously designed anti-sliding controller whose effectiveness completely depends on the estimation of the sliding angles cannot yield satisfactory results. To overcome this problem a tire-oriented kinematic model is built in which the inaccuracy of the sliding angle reconstruction is modeled in form of additive disturbances to the kinematic model. By transforming the tire-oriented kinematic model into a perturbed chained system, a sliding mode controller, which is robust to both the sliding effects and the negative effects of the lateral disturbance is designed with the help of the natural algebraic structure of the chained systems. Simulation results show that the proposed methods can provide accurate estimation of the sliding angles and guarantee high anti-sliding control accuracy even in presence of time-varying lateral disturbance. © 2009 IEEE.

关键词： Tires

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Multi-Time-Scale Variational Mode Decomposition-Based Robust Fault Diagnosis of Railway Point Machines Under Multiple Noises

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Chinese Journal of Electronics 2024年第3期33卷 814-822页

作者： Junqi LIU Tao WEN Guo XIE Yuan CAO Clive Roberts Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology The School of Electronic and Information Engineering Beijing Jiaotong University Birmingham Centre for Railway Research and Education University of Birmingham

The fault diagnosis of railway point machines(RPMs) has attracted the attention of engineers and *** have studies considered diverse noises along the *** fulfill this aspect,a multi-time-scale variational mode decomposition(MTSVMD) is proposed in this paper to realize the accurate and robust fault diagnosis of RPMs under multiple *** decomposes condition monitoring signals after coarse-grained processing in varying *** this manner,the information contained in the signal components at multiple time scales can construct a more abundant feature space than at a single *** the experimental validation,a random position,random type,random number,and random length(4R) noise-adding algorithm helps to verify the robustness of the *** adequate experimental results demoristrate the superiority of the proposed MTSVMD-based fault diagnosis.

关键词： Railway point machines Fault diagnosis Multi-time-scale Variational mode decomposition

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Leader-Following Consensus of Multi-Agent systems with Dynamic Leader and Measurement Noises 36

Leader-Following Consensus of Multi-Agent Systems with Dynam...

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第36届中国控制会议

作者： Yunpeng Wang Yunchun Xie Long Cheng Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper studies a leader-following consensus problem of multi-agent systems with a dynamic *** is assumed that the leader moves along a polynomial trajectory with respect to time,while followers have first-order integral *** follower is equipped with the positioning system and ranger finder sensor to measure its own position and the relative positions with its *** measured information is corrupted by measurement *** first study a specials case of leader-following consensus problem（tracking problem）,then we extend the results to the general *** is assumed that leader’s velocity is unknown to all *** deal with this challenge,the least square is used to estimate leader’s *** on the estimated velocity and measured information,a consensus protocol is *** is proved that the proposed protocol can solve the mean square leader-following consensus problem under some mild *** simulation examples are also presented to demonstrate the effectiveness of the proposed protocol.

关键词： Leader-Following Consensus Mutli-Agent systems Dynamic Leader Measurement Noise Least Square Method

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Short-term PV generation system direct power prediction model on wavelet neural network and weather type clustering

Short-term PV generation system direct power prediction mode...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yang, Ying Dong, Lei School of Automation Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9780769550114

With the increase of the capacity of PV generated systems, how to eliminate the problem caused by the randomness of power output for photovoltaic system becomes more significant. Most of the existing photovoltaic prediction is Based on the solar radiation. However, it's difficult to implement in China due to insufficient solar radiation station available and poor forecasting performance. In addition, indirect forecasting cannot consider the factors related with PV system. A novel power forecasting model using historical power is proposed to solve the problems. Furthermore, in order to adapt sudden weather changes, the future weather type was recognized by using self-organizing feature map(SOM). Then, PV power generation in each weather type could be forecasted from its corresponding forecast network and the over fitting issue of single network model could be addressed. Wavelet neural network is combined with wavelet analysis and neural network. It is compatible with the good time-frequency property and good fault tolerant ability of neural network. Wavelet neural network can optimize the forecasting model. The experimental results indicate that the prediction has high precision and can be applied in stable operation of photovoltaic generation system. © 2013 IEEE.

关键词： Solar radiation

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Speed sensorless control with neuron MARS estimator of an induction machine

Speed sensorless control with neuron MARS estimator of an in...

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2006 2nd International Conference on Power Electronics systems and Applications, ICPESA

作者： Lei, Dong Dong, Yang Xiaozhong, Liao Department of Automatic Control Engineering Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9623675445

In the high speed range, vector control of rotor flux orientation of an induction machine implements good perfornance. However, the perfornance in low speed rang deteriorates because of the inaccurate estimation of rotor flux and speed. In this paper, modified voltage model for rotor flux estimation and neuron model-reference adaptive system (MARS) for speed estimation are used to improve the perfornance of speed sensorless vector control. To improve the accuracy of rotor flux estimation, the stator resistance is identified on-line. The experimental results show that the proposed scheme yields improved perfornance in low speed range.

关键词： Induction machine

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Tracking and Mapping Strategy for Indoor UAV Based on Entropy Theory:An ORB-SLAM3 Extension 41

Tracking and Mapping Strategy for Indoor UAV Based on Entrop...

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第41届中国控制会议

作者： Jian Xu Haoyu Qi Min Xu Yunge Zang Zhen Li Xi Zhang Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

For indoor application,which is an entirely GPS-denied environment,visual simultaneous localization and mapping(SLAM) facilitates the real autonomy of unmanned aerial vehicle(UAV) but raises the challenging requirement on accurate localization with low computational *** address this difficulty,a stereo-camera based SLAM system is proposed by applying Entropy theory to *** an extension to ORB-SLAM3,the additional entropy decision module and map processor are specifically *** decision module can improve computing efficiency by deciding whether keyframes or extra optimization should be ***,the map processor is targeted at loading and maintaining the prior map whenever *** results in indoor laboratory environment show that the developed system can achieve the superior localization accuracy in more efficient computation manner with smaller size of mapping compared with ***,the map can be effectively expanded and corrected even when prior information is invalid,greatly increasing the robustness of SLAM system.

关键词： UAV stereo-camera ORB-SLAM3 entropy theory prior map

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Sensor fault diagnosis based on on-line random forests 35

Sensor fault diagnosis based on on-line random forests

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35th Chinese control Conference, CCC 2016

作者： Yang, Li Zhang, Jia Deng, Fang Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control of Complex System Beijing100081 China

ISBN: (纸本)9789881563910

In order to reduce the memory requirement, and obtain real-time status of equipment, the paper proposed to use the the on-line random forests (ORFs) algorithm to identify sensor fault. The sample set is derived from Tennessee Eastman (TE) process. The models are updated by a group of sensor data, which are collected in each interval. As models are real-time and dynamic, the equipment could be tested at any time. Moreover, the samples obtained at previous intervals are not need to store. The results of experiments show that the accuracies of ORFs and Random Forests (RFs) are similar in sensor fault diagnosis process. And in some fast changing process, ORFs distinguishes fault types with higher accuracy, better adaptable and faster than RFs. © 2016 TCCT.

关键词： On-line Random Forests Sensor fault Tennessee Eastman process

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High-performance chiral all-optical OR logic gate based on topological edge states of valley photonic crystal

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Chinese Physics B 2023年第7期32卷 392-398页

作者：王晓蓉费宏明林瀚武敏康丽娟张明达刘欣杨毅彪肖连团 College of Physics Taiyuan University of TechnologyTaiyuan 030024China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China School of Science RMIT UniversityMelbourneVictoria 3000Australia

For all-optical communication and information processing,it is necessary to develop all-optical logic gates based on photonic structures that can directly perform logic ***-optical logic gates have been demonstrated based on conventional waveguides and interferometry,as well as photonic crystal ***,any defects in those structures will introduce high scattering loss,which compromises the fidelity and contrast ratio of the information *** on the spin-valley locking effect that can achieve defect-immune unidirectional transmission of topological edge states in valley photonic crystals(VPCs),we propose a high-performance all-optical logic OR gate based on a VPC *** tuning the working bandwidth of the two input channels,we prevent interference between the two channels to achieve a stable and high-fidelity *** transmittance of both channels is higher than 0.8,and a high contrast ratio of 28.8 dB is ***,the chirality of the logic gate originated from the spin-valley locking effect allows using different circularly polarized light as inputs,representing“1”or“0”,which is highly desired in quantum *** device’s footprint is 18μm×12μm,allowing high-density on-chip *** addition,this design can be experimentally fabricated using current nanofabrication techniques and will have potential applications in optical communication,information processing,and quantum computing.

关键词： topological photonics topological edge state valley photonic crystal all-optical logic gate

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A Method for Marine Ship Formation Intention Recognition based on BiConvLSTM-Attention 3

A Method for Marine Ship Formation Intention Recognition bas...

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3rd International Conference on Electronic Information Engineering and Computer science, EIECS 2023

作者： Xi, Yunqiao Zhang, Junping Liu, Jian Wang, Linlin Xu, Hongfeng Chen, Linxiu Jiang, Jixiang Harbin Institute of Technology School of Electronics and Information Engineering Harbin China Institute of Electrical and Mechanical Engineering Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316674

To solve the problem that current dynamic intention recognition methods fail to make full use of time domain variation information between multi-temporal group targets, which leads to low accuracy of intention recognition. This paper proposes a bidirectional convolutional long short term memory-attention network for marine formation target intention recognition. The network takes the multi-source trajectory data of the marine ship formation target as the input, extracts and uses the target change rule and time domain characteristics of the Marine formation data, and trains the model to have the ability to independently learn the weight of information in different time periods. The simulation results show that the method has good performance and can meet the needs of practical application. © 2023 IEEE.

关键词： intention recognition long short-term marinship formation temporal features

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