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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Fanhang Dong, Enzeng Tong, Jigang Yang, Sen Du, Shengzhi Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory 391 Binshui West Road Xiqing District Tianjin China Tshwane University of Technology Department of Electrical Engineering Pretoria0001 South Africa

ISBN: (纸本)9798350320831

We present a two-stage 3D object detection framework from point clouds, named Point Density-aware Channel-wise Transformer (PD-CT3D), which investigate the property of point density. This architecture uses 3D sparse CNN to effectively generate high-quality proposals at the first stage, then integrates the inherent property of point density and 3D CNN-based voxel features by density-aware proposal grid pooling. Specifically, each generated proposal from the first stage is divided into grids to aggregate corresponding voxel-wise features and raw point-based features for encoding the representative features from the whole scene. Subsequently, a channel-wise encoder-decoder transformer is adopted to extract the encoded density-aware features and decode them into a global representation for final refinement. Experiments on the widely used KITTI dataset show that the PD-CT3D achieves competitive performance among state-of-the-art methods. © 2023 IEEE.

关键词： Object detection

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Distributed Time-Varying Optimization with Equality Constraints

Distributed Time-Varying Optimization with Equality Constrai...

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International Conference on control and Automation (ICCA)

作者： Zheng Yang Ji Ma Xiang Xu Department of Automation Xiamen University Xiamen Fujian China Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In this paper, we consider the distributed time-varying optimization problem with coupled equality constraints over a connected undirected network. To address this issue, we design a novel distributed constraint optimization algorithm, and establish its ISS stability with external disturbances and tracking errors as the input and state, respectively. Moreover, the obtained result includes distributed constrained optimization with static objective functions as a special case. In comparison to existing relevant works, the proposed algorithm demonstrates exponential convergence for cases involving static objective functions. Finally, the theoretical results are validated via a numerical example.

关键词： Constraint optimization Automation Linear programming Trajectory Optimization Numerical stability Convergence

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An Overview of Artificial Intelligence Ethics

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2023年第4期4卷 799-819页

作者： Huang, Changwu Zhang, Zeqi Mao, Bifei Yao, Xin Southern University of Science and Technology Research Institute of Trustworthy Autonomous Systems Shenzhen518055 China Southern University of Science and Technology Department of Computer Science and Engineering Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Shenzhen518055 China Huawei Technologies Company Ltd. Trustworthiness Theory Research Center Shenzhen518055 China University of Birmingham School of Computer Science BirminghamB15 2TT United Kingdom

Artificial intelligence (AI) has profoundly changed and will continue to change our lives. AI is being applied in more and more fields and scenarios such as autonomous driving, medical care, media, finance, industrial robots, and internet services. The widespread application of AI and its deep integration with the economy and society have improved efficiency and produced benefits. At the same time, it will inevitably impact the existing social order and raise ethical concerns. Ethical issues, such as privacy leakage, discrimination, unemployment, and security risks, brought about by AI systems have caused great trouble to people. Therefore, AI ethics, which is a field related to the study of ethical issues in AI, has become not only an important research topic in academia, but also an important topic of common concern for individuals, organizations, countries, and society. This article will give a comprehensive overview of this field by summarizing and analyzing the ethical risks and issues raised by AI, ethical guidelines and principles issued by different organizations, approaches for addressing ethical issues in AI, and methods for evaluating the ethics of AI. Additionally, challenges in implementing ethics in AI and some future perspectives are pointed out. We hope our work will provide a systematic and comprehensive overview of AI ethics for researchers and practitioners in this field, especially the beginners of this research discipline. © 2020 IEEE.

关键词： Industrial robots

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Tracking control of motion control systems with disturbance observer based on high-order fully actuated system approach

Tracking control of motion control systems with disturbance ...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Rongmei Li Xin Huo Aijing Wu Weizhen Liu Control and Simulation Center Harbin Institute of Technology Harbin P. R. China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper investigates the tracking problem of motion control systems driven by permanent magnet synchronous motors (PMSMs) in the presence of unknown disturbances. In contrast to using the model of state space methods, this study adopts a different method by initially transforming the model of a motion control system driven by PMSM into a high-order fully actuated (HOFA) system. Subsequently, a controller is designed based on the HOFA system approach, and a closed-loop linear system with disturbances is obtained. To handle the impact of disturbances, a disturbance observer is employed to estimate the disturbance. The validity of the proposed algorithm is assessed through theoretical analysis, and a numerical simulation is also conducted to further support the findings, thereby underscoring the effectiveness of the proposed approach.

关键词： Linear systems Parameter estimation Tracking Aerospace electronics control systems Permanent magnet motors Numerical simulation

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control of Proton Exchange Membrane Fuel Cell Intake System:A High-Order Fully Actuated System Approach

Control of Proton Exchange Membrane Fuel Cell Intake System:...

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第43届中国控制会议

作者： Ganxin Li Fuxing Yao He Kong Yahui Zhang Jinwu Gao Yunfeng Hu Xiaohong Jiao Guilin Wen State Key Laboratory of Crane Technology Yanshan University Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern Uni.of Sci.and Tech. Department of Control Science and Engineering Jilin University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The air supply system of the proton exchange membrane fuel cell(PEMFC) has complex characteristics such as multiple inputs and multiple outputs, strong nonlinear coupling, and internal and external disturbances. controlling the airflow and cathode pressure in coordination is a great challenge. To deal with this challenge, this paper designs a novel strategy based on high-order fully actuated(HOFA) systems theory. First, the fourth-order underactuated system of PEMFC is transformed into an HOFA system, and an extended state observer is designed to estimate unmodeled dynamics and unknown disturbances and then, based on the characteristics of the HOFA system, a parametric control law is designed to control the airflow and cathode pressure in coordination. Finally, the effectiveness of the HOFA system is validated on a PEMFC air supply system test bench,and the results suggest that our designed strategy can realize accurate and coordinated control of the airflow and cathode pressure,outperforming some existing advanced methods.

关键词： Proton exchange membrane fuel cell Air supply control High-order fully actuated system approaches Extended state observer

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A Review of Recent Advances in Coordination Between Unmanned Aerial and Ground Vehicles

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无人系统（英文） 2021年第2期9卷 97-117页

作者： Yulong Ding Bin Xin Jie Chen School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Peng Cheng Laboratory Shenzhen 518055P.R.China School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081P.R.China

Coordination between unmanned aerial vehicles(UAVs)and unmanned ground vehicles(UGVs)has received increasing attention in recent *** list of successful applications of UAV-UGV coordination systems is growing and demonstrates that UAV-UGV coordination can provide real-world solutions that other types of coordination cannot *** paper systematically reviews the advances in UAV-UGV coordination systems during the period of 2015-2020 and offers a comprehensive investigation and analysis of the recent ***,the essential elements in the UAV-UGV coordination systems are analyzed,and four key functional roles are *** close collaboration among functional roles can achieve the UAV-UGV coordination on perception,task,and *** the perspective of functional roles,UAV-UGV coordination systems can be further classified into eight *** functional-role-based category pro-vides novel insights into analyzing various patterns of UAV-UGV *** paper also discusses the challenges related to UAV-UGV coordination.

关键词： UAV-UGV coordination systems air-ground collaboration unmanned aerial vehicle unmanned ground vehicle

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Study on a Two-layer Path Planning Method of Spherical Multi-robot 20

Study on a Two-layer Path Planning Method of Spherical Multi...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Chenqi Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system. © 2023 IEEE.

关键词： Multipurpose robots

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High-order Fully Actuated Approach for Output Position control of Two Mass systems based on Extended State Observer

High-order Fully Actuated Approach for Output Position Contr...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Ping Li Guang-Ren Duan Bi Zhang Yuzhong Wang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.

关键词： Robust control Uncertain systems Simulation Position control Observers control systems Stability analysis

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Observer-Based control for Fully Actuated systems with Time-Varying Delays: A Fully Actuated System Approach

Observer-Based Control for Fully Actuated Systems with Time-...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Zhijun Chen Shiyu Zhang Guangren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Inspired by the fully actuated system (FAS) approach, this paper proposes an observer-based control method for a class of FASs with time-varying delays. Firstly, an observer-based controller is designed and the corresponding augmented system is derived. The uniformly exponential stability of the augmented system is then demonstrated by means of Lyapunov stability analysis. Finally, the effectiveness of the proposed method is demonstrated by the simulation of the thermoacoustic instability system. The parameters to be designed for the controller are determined using a parametric approach which provides a rich degree of design freedom.

关键词： Observers control systems Stability analysis Mathematical models Delays control theory Adaptive control

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Robust Bounded-H∞ control for High-Order Fully Actuated systems Based on FAS Approaches

Robust Bounded-H∞ Control for High-Order Fully Actuated Sys...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Liyao Hu Guangren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper investigates the robust bounded-H ∞ stabilization for a class of high-order fully actuated systems (FASs) with time-varying uncertainty and disturbance. Based on the FAS approaches and the H ∞ control, a robust bounded-H ∞ controller is designed, which guarantees that the system state and its derivatives of each order are globally bounded. Furthermore, a combined disturbance, composed of part time-varying uncertainty and disturbance, is given. With the help of the combined disturbance, the impact of the uncertainty and the disturbance on system output can be attenuated simultaneously, because the closed-loop high-order FAS has the bounded-H ∞ performance. A simulation example is provided to demonstrate the effectiveness of the proposed control method.

关键词： Uncertainty control systems Robustness Time-varying systems

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