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Characteristic model-based control of aerial manipulator for improved interaction stability

Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Combined Filters Design, Using the Principle of Internal Models

Combined Filters Design, Using the Principle of Internal Mod...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Gaiduk, Anatoly Denisenko, Darya Prokopenko, Nikolay Southern Federal University Scientific Design Office Robotics and Control Systems Department of Automatic Control Systems Rostov-on-Don Taganrog Russia Department of scientific research Don State Technical University Rostov-on-Don Russia Department of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Don State Technical University Department of Information Systems and Radio Engineering Rostov-on-Don Russia

To design active analog, discrete-analog and digital filters a new method is suggested, taking into account the conditions of selective invariance and using the internal models principle of the dynamic systems. For this purpose, the structure of each basic filter ensures the presence of an explicit spectral model of the filtered signal. Such a filter is selectively invariant, and this property depend only on the spectrum-setting parameters and do not depend on other parameters. It is suggest-ed to carry out the design of the combined selective filters by integration of the suggested basic second-order filters, focusing on the log magnitude plot of the latter. This makes possible to minimize the order of the combined both analog and digital filters. The combined selective filters are distinguished by high stability of selective properties and can be used in the systems for measurement, signal processing, data transmission, as well as automatic and automated control of various social, production and special facilities. © 2024 IEEE.

关键词： Wiener filtering

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Estimation of the Impact of Transport Sector on the Economy in Azerbaijan: Multiplier Models 3

Estimation of the Impact of Transport Sector on the Economy ...

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3rd International Conference on Problems of Logistics, Management and Operation in the East-West Transport Corridor, PLMO 2024

作者： Hasanli, Yadulla Ibishov, Elman Rahimli, Gunay Scientific Research İnnstitute of Economic Studies Unec Institute of Control Systems of The Ministry of Science and Education of Republic of Azerbaijan Baku Azerbaijan Scientific Research İnnstitute of Economic Studies Unec Baku Azerbaijan

ISBN: (纸本)9798350353099

In this study, the direct and indirect effects of the investments allocated to the development of transport on 25 sectors were evaluated through the multiplier models built based on the input-output table and the social accounting matrix (SAM) for the economy of Azerbaijan. The results of both models were analyzed and compared. The research shows that the multiplicative effects of investments directed to the transport sector estimated with multiplier model based on SAM was greater than the effect estimated using input-output model. The main reason for this is that in the SAM multiplier model, along with intermediate consumption, the multiplier effects of added value and net export are also considered. However, these effects have been of a different nature in the mining industry and in the field of scientific research and development. The main reason for this is that the services of these fields are paid mainly at the expense of imports (software expenses, fees paid for scientific articles, etc.). © 2024 IEEE.

关键词： input-output investment multiplier effects SAM transport

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Vibration Problems Arising During the Transportation of Goods and Their Mathematical Modeling in the East-West Transport Corridor 3

Vibration Problems Arising During the Transportation of Good...

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3rd International Conference on Problems of Logistics, Management and Operation in the East-West Transport Corridor, PLMO 2024

作者： Mamedov, Ilgar Abdullayeva, Aynura Institute of Control Systems Laboratory of Mathematical Analysis of Control in Physical Biological and Economic Processes Baku Azerbaijan Military-Scientific Research Institute Azerbaijan National Defense University Baku Azerbaijan

ISBN: (纸本)9798350353099

The East-West transport corridor passing through Azerbaijan, being one of the main transport and logistics centers in the region, is the shortest transport route connecting Europe and Asia and is important in cargo transportation between Europe and the China-Kazakhstan border. Since Azerbaijan is located in a seismically active zone, a number of problems may arise when transporting goods. These problems show the relevance of mathematical modeling of vibration processes. The presented work substantiates the boundary value problem for the three-dimensional integro-differential Bianchi equation, which adequately describes vibration processes. © 2024 IEEE.

关键词： Boundary value problems

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An intelligent matching method for the equivalent circuit of electrochemical impedance spectroscopy based on Random Forest

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材料科学技术（英文版） 2025年第6期209卷 300-310页

作者： Wenbo Chen Bingjun Yan Aidong Xu Xin Mu Xiufang Zhou Maowei Jiang Changgang Wang Rui Li Jie Huang Junhua Dong Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China General Research Institute China Oil & Gas Pipeline Network CorporationLangfang 065000China

One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.

关键词： Electrochemical impedance spectroscopy Random forest Corrosion Equivalent circuit model

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Design of the 4,4-4,9 GHz Broadband Power Amplifier for 5G Base Station Equipment

Design of the 4,4-4,9 GHz Broadband Power Amplifier for 5G B...

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2024 Conference of Young researchers in Electrical and Electronic Engineering, ElCon 2024

作者： Ignatovich, Vladislav O. Galtsov, Yaroslav O. Institute of Radio Engineering Systems and Control Department of Antennas and Radio Transmitting Devices Taganrog Russia Taganrog Scientific-research Institute of Communication Taganrog Russia

ISBN: (纸本)9798350360646

In this paper, the design and experimental research of a broadband power amplifier is presented. This device is designed for using in 5G network base stations. Authors had declared a gain at level of more than 11 dB at frequency band of 4.4 - 4.9 GHz. Also it maintains an output power of 40 dBm when compressed with a gain of 3 dB. This power amplifier is also protected from the effects of high-frequency harmonics. That means that the amplifier described in this article meets standards of modern network systems. © 2024 IEEE.

关键词： 5G amplifier base station equipment base stations broadband amplifier power amplifier

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General Equilibrium Models of Azerbaijan Economy: Conceptual View and Multiplier Effects 5

General Equilibrium Models of Azerbaijan Economy: Conceptual...

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5th International Conference on Problems of Cybernetics and Informatics, PCI 2023

作者： Hasanli, Yadulla Rahimli, Gunay Scientific Research Institute of Economic Studies Unec Laboratory of Modeling of Socioeconomic Processes Institute of Control Systems Baku Azerbaijan

ISBN: (纸本)9798350319064

This article examines various types of general equilibrium models and provides information on the current state of general equilibrium models built in Azerbaijan. Additionally, current limitations and options to tackle them are addressed to continue building general equilibrium models in this country. Then, the article estimates the effects of investments in different sectors using input-output model and social accounting matrix based multiplier model in case of Azerbaijan, and the results of two models are compared. The article is of practical importance for researchers and decision-makers by stimulating of constructing these models and of scientific importance by considering problems related using these models for countries with similar economies. © 2023 IEEE.

关键词： Stochastic models

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Model-based measurements in the monitoring tasks of high-power plants 12

Model-based measurements in the monitoring tasks of high-pow...

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12th International Conference on Mathematical Modeling in Physical Sciences, IC-MSQUARE 2023

作者： Borovik, S.Y. Kuteynikova, M.M. Sekisov, Y.N. Samara Federal Research Scientific Center RAS Institute for the Control of Complex Systems RAS 61 Sadovaya Street Samara443020 Russia

The tasks of the measuring information obtaining about the state of the blading section and structural elements of gas turbine engines, as typical representatives of high-power plants, in the process of their experimental research and testing are considered. Such measurements are usually characterized by extreme environmental conditions, complex shapes and multidimensional movements of the monitored surfaces, strict constraints on the number and location of primary transducers, etc. As a result, the required measurement information is obtained under the influence of a large number of interfering factors, which are not always available for direct measurements and consideration in the experimental data processing. The approach based on the modeling the immeasurable components counting the current parameters of the power plant mode and environmental conditions is considered as an alternative to the direct measurements. The use of online models allows (in addition to increasing the reliability of measurements) to evaluate the unique characteristics of the monitored object (e.g., changes in shape) and, in some cases, to predict its critical state. The examples of the practical implementation of the approach in specific measurement systems designed for bench testing of gas turbine engines are also given in the article. © 2024 institute of Physics Publishing. All rights reserved.

关键词： Critical current density (superconductivity)

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Design of Output and Impacts control systems

Design of Output and Impacts Control Systems

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Gaiduk, Anatoly Prokopenko, Nikolay Chumakov, Vladislav Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Dept. of Automatic Control Systems Rostov-on-Don Russia Don State Technical University Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350345551

To design linear control systems a new method is suggested on the basis of the principle of output and impacts control. The main difference of this principle consists in the use of only measurable variables and separate operators for each input signal of the control device. The design problem has a solution if the plant is completely controllable, and at least the controllable variable is measured. The suggested approach makes it possible to eliminate the well-known contradiction between the accuracy and stability of systems with control on deviation, and to provide the required astatism orders or selective invariance to the external actions. At the same time, the conditions of ensuring the direct indicators of the transient quality and the physical implementation of the control device are taken into account. The coefficients of the equation of the output and impacts control device are determined by solving a system of linear algebraic equations. The control device can be implemented on the basis of either operational amplifiers or sufficiently high-speed digital automation tools. The suggested method can be applied for designing high-quality linear control systems for various purposes. © 2023 IEEE.

关键词： Operational amplifiers

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Analog Implementation of 1-D Discrete Map 25

Analog Implementation of 1-D Discrete Map

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Diaz-Diaz, Irwin A. Campos, Eric Institute For Scientific And Technological Research Of San Luis Potosi Control And Dynamical Systems Division S. L. P. Mexico

ISBN: (纸本)9798350340266

In recent years, chaotic dynamics have been widely applied in encryption, secure communications, and pseudo- random number generators. Due to its simplicity, 1-D maps are a promising tool for the mentioned applications. This work presents the analog electronic implementation of the discrete dynamic system known as the tent map. In the design of the electronic circuit, passive and active components have been considered, achieving experimental results from the tent mapping in correspondence with the results of its numerical simulations. As in the theoretical case, the analog implementation of the tent map presents chaos, fixed points, intermittency, and period doubling. The proposed approach is simple, uses off-the-shelf components, and can be built by undergraduate students. © 2024 IEEE.

关键词： Cryptography

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