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Exponential Stability of Impulsive system via Saturated Sliding Mode control

IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 469-471页

作者： Miaomiao Yu Xiaodi Li the Shandong Provincial Engineering Research Center of System Control and Intelligent Technology Shandong Normal University School of Mathematics and Statistics Shandong Normal University IEEE

Dear Editor,This letter presents a class of saturated sliding mode control (SMC)strategy for linear systems subject to impulsive disturbance and input saturation. To ensure the feasibility of proposed SMC under saturation, a relationship is established among attraction domain, saturation structure and control gain.

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Reinforcement Learning-Based Resource Reservation for Mobile Edge Computing With Probable Failure

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IEEE Transactions on Vehicular technology 2025年第5期74卷 7985-7996页

作者： Dai, Qiuli Chen, Honglong Ni, Zhichen Yang, Yubin Chen, Linghan Fan, Xinglong Li, Xiangyu Shandong Provincial Engineering Research Center of Intelligent Sensing and Measurement and Control Technology Qingdao266580 China China Electronics Technology Instruments Company Ltd Qingdao266555 China

Mobile edge computing (MEC) has increasingly been propelled into the spotlight as a promising paradigm to address the growing demand for latency-sensitive mobile applications. The practical challenges associated with deploying and maintaining traditional edge service devices highlight the attraction of leveraging end devices as edge servers. Yet, the inherent mobility and power constraints of such servers make them prone to failure. As an effective strategy, some edge servers are earmarked to mitigate probable failure, which may cause resource redundancy. In this paper, a novel partial resource reservation scheme is proposed to diminish this waste, each edge server in system reserves a part of their resources to defend probable failure. The approach directs reservation actions towards the individual resources, rather than the entirety of edge servers. Given that edge servers serve as key participants within the system, it is imperative to optimize overall income by carefully balancing incurred costs and generated benefits. We investigate this partial resource reservation problem from the perspective of edge servers, and transform it into Markov decision process (MDP). A scheme that fomulates strategies for edge servers then been proposed, called Q-learning-based resource reservation (QLRR), which can accommodate the dynamic nature of edge server failure. Empirical evaluations demonstrate that our proposed scheme outperforms existing benchmark schemes, significantly enhancing the income of edge servers. © 1967-2012 IEEE.

关键词： Mobile edge computing

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Adaptive Sensor-Fault Tolerant control of Unmanned Underwater Vehicles With Input Saturation

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 907-918页

作者： Xuerao Wang Qingling Wang Yanxu Su Yuncheng Ouyang Changyin Sun the School of Artificial Intelligence the Engineering Research Center of Autonomous Unmanned System Technologyand the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent TechnologyMinistry of EducationAnhui UniversityHefei 230601China the School of Automation Southeast UniversityNanjing 210096China

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean *** active sensor fault-tolerant control scheme is ***,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor ***,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback *** is shown that the effect of sensor faults is online estimated and compensated by an adaptive *** the proposed controller,the tracking error and estimation error can asymptotically converge to ***,simulation results are performed to demonstrate the effectiveness of the proposed method.

关键词： Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle

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Penalty Function-Based Distributed Primal-Dual Algorithm for Nonconvex Optimization Problem

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 394-402页

作者： Xiasheng Shi Changyin Sun IEEE the Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University the School of Artificial Intelligence Anhui University Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology Anhui University the Anhui Key Laboratory Industrial Energy-Saving and Safety Anhui University

This paper addresses the distributed nonconvex optimization problem, where both the global cost function and local inequality constraint function are nonconvex. To tackle this issue, the p-power transformation and penalty function techniques are introduced to reframe the nonconvex optimization problem. This ensures that the Hessian matrix of the augmented Lagrangian function becomes local positive definite by choosing appropriate control parameters. A multi-timescale primal-dual method is then devised based on the Karush-Kuhn-Tucker(KKT) point of the reformulated nonconvex problem to attain convergence. The Lyapunov theory guarantees the model's stability in the presence of an undirected and connected communication network. Finally, two nonconvex optimization problems are presented to demonstrate the efficacy of the previously developed method.

关键词： Constrained optimization Karush-Kuhn-Tucker (KKT) point nonconvex p-power transformation

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Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

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Journal of Bionic engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

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State Recovery and Fault-tolerant control of Autonomous Surface Vehicle with Actuator and Sensor Faults

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-12页

作者： Wang, Xuerao Wang, Qingling Cao, Xiang Ouyang, Yuncheng Sun, Changyin School of Artificial Intelligence the Engineering Research Center of Autonomous Unmanned System Technology and the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology Ministry of Education Anhui University Hefei China School of Automation Southeast University Nanjing China

This paper is concerned with the trajectory tracking problem for autonomous surface vehicles (ASVs) subject to simultaneous actuator and sensor faults. An output-feedback multiple fault-tolerant control (MFTC) scheme is proposed by using inaccurate position-heading measurement only. First, a modified extended state observer (ESO) is proposed to simultaneously achieve the state recovery of position-heading and non-measurable velocities under unknown dynamics and external disturbances. To eliminate the effect of multiple faults, separated adaptive compensation mechanisms are introduced to estimate various fault factors individually. Based on the proposed ESO and estimated factors, an adaptive output-feedback MFTC strategy is explored to stabilize the closed-loop control system in the presence of multiple faults. It is proven that the proposed controller guarantees that all signals in the closed-loop control system are bounded, including tracking error, observer error, and estimation errors. Finally, simulation results with several cases are provided to demonstrate the effectiveness of the proposed MFTC method. IEEE

关键词： Nonlinear dynamical systems

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Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

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Advances in Manufacturing 2023年第1期11卷 39-55页

作者： Yan Liu Qiu Tang Xin-Cheng Tian Long Cui Center for Robotics School of Control Science and EngineeringShandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China

As more and more composite materials are used in lightweight vehicle white bodies,self-pierce riveting(SPR)technology has attracted great ***,the existing riveting tools still have the disadvantages of low efficiency and *** improve these disadvantages and the riveting qualification rate,this paper improves the control scheme of the existing riveting tools,and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR ***,this paper briefly introduces the working principle and SPR procedure of the servo riveting *** a moving component force analysis is performed,which lays the foundation for the motion ***,the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve *** control this process,the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control ***,this paper adopts the permanent magnet synchronous motor(PMSM)as the power of riveting tool,and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function(RBF)network friction compensation for the PMSM speed ***,the proposed control approach is simulated by Matlab,and is applied to the servo riveting system designed by our *** simulation and riveting results show the feasibility of the designed controller.

关键词： Lightweight vehicle body connection Self-pierce riveting(SPR)process Flexible servo riveting tool Riveting force planning and control

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A Novel Grades Prediction Method for Undergraduate Students by Learning Explicit Conditional Distribution

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第9期5卷 4837-4848页

作者： Zhang, Na Liu, Ming Wang, Lin Liu, Shuangrong Sun, Runyuan Yang, Bo Zhu, Shenghui Li, Chengdong Yang, Cheng Cheng, Yuhu China University of Mining and Technology School of Information and Control Engineering Xuzhou221116 China Shandong Key Laboratory of Intelligent Buildings Technology Jinan250101 China University of Jinan Shandong Provincial Key Laboratory of Network Based Intelligent Computing Jinan250022 China Quan Cheng Laboratory Jinan250100 China Shandong Jianzhu University Shandong Key Laboratory of Intelligent Buildings Technology Jinan250101 China Shandong Jianzhu University School of Information and Electrical Engineering Jinan250101 China Ministry of Education Engineering Research Center of Intelligent Control for Underground Space Xuzhou221116 China

Educational data mining (EDM) offers an effective solution to predict students' course grades in the next term. Conventional grade prediction methods can be viewed as regressing an expectation of the probability distribution of the student's grade, typically called single-value grade prediction. The reliable prediction outcomes of these methods depend on the complete input information related to students. However, next-term grade prediction often encounters the challenge of incomplete input information due to the inaccessibility of future data and the privacy of data. In this scenario, single-value grade prediction struggles to assess students' academic status, as it may not be represented and assessed by relying on a singular expectation value. This limitation increases the risk of misjudgment, and may lead to errors in educational decision-making. Considering the challenge of collecting complete input information, we shift from traditional single-value predictions to forecasting the explicit probability distribution of the course grade. The probability distribution of the grade can assess the students' academic status by providing probabilities corresponding to all possible grade values rather than relying solely on an expectation value, which offers the foundation to support the educators' decision-making. In this article, the course grade distribution prediction (CGDP) model is proposed, aiming to estimate an explicit conditional probability distribution of course grades in the next term. This model can identify at-risk students, offering comprehensive decision-making information for educators and students. To ensure precise distribution predictions, a calibration method is also employed to improve the alignment between predicted and actual probabilities. Experimental results verify the effectiveness of the proposed model in early grade warning for undergraduates, based on real university data. © 2020 IEEE.

关键词： Probability distributions

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Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

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Advances in Manufacturing 2024年第1期12卷 94-107页

作者： Yan Liu Qiu Tang Xin-Cheng Tian School of Control Science and Engineering Shandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China School of Mechanical and Electronic Engineering Shandong Jianzhu UniversityJinan250101People’s Republic of China

The automatic cutting of intersecting pipes is a challenging task in *** improved automation and accuracy,this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single ***,it summarizes the intersection forms and introduces a dual-pipe intersection *** on this model,the moving three-plane structure(a description unit of the geometric characteristics of the intersecting curve)is constructed,and a geometric model of the branch pipe with a single Y-groove is ***,a novel mathematical model for plasma radius and taper compensation is ***,the compensation model and groove model are integrated by establishing movable ***,to prevent collisions between the plasma torch and workpiece,the torch height is planned and a branch pipe-rotating scheme is *** the established models and moving frames,the planned path description of cutting robot is provided in this novel *** accuracy of the proposed method is verified by simulations and robotic cutting experiments.

关键词： Automatic groove cutting of intersecting pipes Model-driven robot path planning Plasma beam radius and taper compensation

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An online terrain classification framework for legged robots based on acoustic signals

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Biomimetic Intelligence & Robotics 2023年第2期3卷 51-53页

作者： Daoling Qin Guoteng Zhang Zhengguo Zhu Xianwu Zeng Jingxuan Cao School of Control Science and Engineering Shandong UniversityJinan 250061China Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinan 250061China

Terrain classification information is of great significance for legged robots to traverse various ***,this communication presents an online terrain classification framework for legged robots,utilizing the acoustic signals produced during *** Mel-Frequency Cepstral Coefficient(MFCC)feature vectors are extracted from the acoustic data recorded by an on-board *** the Gaussian mixture models(GMMs)are used to classify the MFCC features into different terrain type *** proposed framework was validated on a quadruped ***,our investigations achieved a classification time-resolution of 1 s when the robot trotted over three kinds of terrains,thus recording a comprehensive success rate of 92.7%.

关键词： Legged robots Terrain classification Acoustics GMMs

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