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Attitude Tracking control for Rigid Spacecraft with Arbitrary Convergence Time

Journal of systems Science & Complexity 2024年第6期37卷 2579-2594页

作者： XU Yu-Tian WU Ai-Guo Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Department of Automation Harbin Institute of Technology(Shenzhen)Shenzhen 518055China HIT Wuhu Robot Technology Research Institute Wuhu 241060China

In this paper,attitude tracking control with arbitrary convergence time for rigid spacecraft is ***,a novel time-varying sliding function is proposed to achieve free-will arbitrary time convergence when the system states reside on the sliding *** such a sliding function,an attitude tracking controller is designed to guarantee that the states of the closed-loop system converge to the sliding surface within a predetermined time in the presence of external *** free-will arbitrary time convergences of the closed-loop system and sliding function are illustrated by numerical simulations.

关键词： Attitude tracking free-will arbitrary time stability rigid spacecraft sliding mode control

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Robust Bounded-H8 control for High-Order Fully Actuated systems Based on FAS Approaches 3

Robust Bounded-H8 Control for High-Order Fully Actuated Syst...

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3rd Conference on Fully Actuated System theory and Applications, FASTA 2024

作者： Hu, Liyao Duan, Guangren Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9798350373691

This paper investigates the robust bounded-H8 stabilization for a class of high-order fully actuated systems (FASs) with time-varying uncertainty and disturbance. Based on the FAS approaches and the H8 control, a robust bounded-H8 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-H8 performance. A simulation example is provided to demonstrate the effectiveness of the proposed control method. © 2024 IEEE.

关键词： Robust control

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Implementation and Application of Solvers for Simulation and Execution of control Algorithms in NCSLab 6

Implementation and Application of Solvers for Simulation and...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Su, Jiuzheng Lei, Zhongcheng Hu, Wenshan Liu, Guo-Ping Wuhan University Department of Artificial Intelligence and Automation Wuhan China Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen China

ISBN: (纸本)9798350353594

In order to solve the problems of high dependency and low flexibility caused by calling three-party services during simulation and experiments, this paper uses the NCSLab (Networked control System laboratory) as an application platform to implement the functions of multiple ordinary differential equation solvers, which are used for real-time simulation and experimentation of control algorithm. This paper mainly integrates the common ordinary differential equation solving methods and NCSLab platform, and verifies the support of NCSLab platform for different solving methods through the actual simulation process. © 2024 IEEE.

关键词： Networked control systems

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Optimal Cooperative Secondary control for Islanded DC Microgrids via a Fully Actuated Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 405-417页

作者： Yi Yu Guo-Ping Liu Yi Huang Peng Shi IEEE Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055China School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China School of Electrical and Mechanical Engineering the University of AdelaideSA 5005Australia Research and Innovation Centre Obuda University1034 BudapestHungary

DC-DC converter-based multi-bus DC microgrids(MGs) in series have received much attention, where the conflict between voltage recovery and current balancing has been a hot topic. The lack of models that accurately portray the electrical characteristics of actual MGs while is controller design-friendly has kept the issue active. To this end, this paper establishes a large-signal model containing the comprehensive dynamical behavior of the DC MGs based on the theory of high-order fully actuated systems, and proposes distributed optimal control based on this. The proposed secondary control method can achieve the two goals of voltage recovery and current sharing for multi-bus DC MGs. Additionally, the simple structure of the proposed approach is similar to one based on droop control, which allows this control technique to be easily implemented in a variety of modern microgrids with different configurations. In contrast to existing studies, the process of controller design in this paper is closely tied to the actual dynamics of the MGs. It is a prominent feature that enables engineers to customize the performance metrics of the system. In addition, the analysis of the stability of the closed-loop DC microgrid system, as well as the optimality and consensus of current sharing are given. Finally, a scaled-down solar and battery-based microgrid prototype with maximum power point tracking controller is developed in the laboratory to experimentally test the efficacy of the proposed control method.

关键词： DC microgrids distributed control high-order fully actuated system approach linear quadratic regulator microgrid modeling secondary control

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A Multi-Frequency Information Graph Representation for Graph Classification

A Multi-Frequency Information Graph Representation for Graph...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Li, Da Wang, Liting Lin, Zhiyun Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China Peng Cheng Laboratory Shenzhen518066 China

ISBN: (纸本)9798350386226

This paper proposes a novel graph classification method to tackle the categorization of complex and irregularly structured graphs, demonstrating state-of-the-art performance on several benchmarks. This method is predicated on the principle of graph signal decomposition. Although significant research has been conducted on frequency decomposition for node classification tasks, its application to graph classification has not been extensively explored. To this end, we introduce an innovative graph classification framework known as the Multi-Frequency Graph Convolutional Network (MFGCN). The MFGCN framework operates by capturing both high-frequency and low-frequency information within graph data at various hierarchical levels, thereby enriching the graph representation, which is crucial for classification tasks. Subsequently, these multi-frequency graph representations are processed using 3D convolutional layers, followed by fully connected layers to perform the classification. We have conducted a theoretical analysis on the extraction of high and low-frequency signals from graph signals. To validate the efficiency of our MFGCN framework, we evaluated it against six benchmark datasets: COLLAB, MUTAG, IMDB-BINARY, PROTEINS, IMDB-MULTI, and D&D. Our results demonstrate a marked improvement in graph classification accuracy when compared to the most advanced existing methods. © 2024 IEEE.

关键词： Graph neural networks

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A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

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Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： Guang-Ren DUAN Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

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Leveraging large language models for comprehensive locomotion control in humanoid robots design

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Biomimetic Intelligence & Robotics 2024年第4期4卷 48-63页

作者： Shilong Sun Chiyao Li Zida Zhao Haodong Huang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Inteligent Morphing Mechanisms and Adaptive Robotics Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen 518055China

This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot *** reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward *** address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function *** using user-provided prompts,LLMs generate and optimize code,reducing the need for manual *** approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot *** results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.

关键词： Humanoid robots Large language models Locomotion control Reinforcement learning

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On the leader-following exponential consensus of discrete-time linear multi-agent systems over jointly connected switching networks

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control theory and Technology 2023年第3期21卷 469-477页

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055GuangdongChina Shenzhen Research Institute The Chinese University of Hong KongShenzhen 518057GuangdongChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ***,the leader-following exponential consensus was further established using the so-called Krasovskii-LaSalle theorem for a class of discrete-time linear switched *** this method involves some advanced concepts such as the weak zero-state detectability of some limiting *** this paper,we offer a simpler solution to the leader-following exponential consensus problem for general discrete-time linear multi-agent systems over jointly connected switching *** converting the solvability of the problem to the establishment of the exponential stability for a class of discrete-time linear switched systems,we first show that this class of linear switched systems is uniformly completely ***,we further conclude that the uniform complete observability for this class of linear switched systems implies the exponential stability for the same class of linear switched systems,thus leading to the solution of the leader-following exponential consensus ***,our approach also gives rise to an explicit characterization of the exponential convergence rate of the leader-following consensus problem.

关键词： Leader-following consensus Exponential stabilization-Linear switched systems Discrete-time systems

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Additive manufacturing of high-quality tritium breeding pebbles using ceramic precursors

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Journal of the European Ceramic Society 2024年第7期44卷 4719-4730页

作者： Su, Fang Li, Yuzeng Xing, Huanhuan Liu, Yu Liu, Zhiyuan Liu, Changyong Jiang, Cho-Pei Chen, Zhangwei Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen University Shenzhen518060 China College of Mechanical & Electrical Engineering National Taipei University of Technology Taipei10608 Taiwan State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an710049 China

In this study, the fabrication of advanced lithium orthosilicate (Li4SiO4) ceramic tritium breeding pebbles through photopolymerization using ceramic precursors (i.e., SiO2 and Li2CO3) is reported for the first time. The pebbles exhibit excellent mechanical and physical properties. Through optimization of manufacturing parameters and a geometrical correction model to compensate printing deviations, the printing accuracy of the pebbles was enhanced. The resulting pebbles had a diameter of approximately 1 mm, a sphericity of 1.01, a uniformly distributed pore structure, a phase purity > 95%, and a satisfying relative density reaching 91.39%. The average crush load 25.7 ± 0.3 N, surpassed that achieved by previously reported methods. Furthermore, the thermal conductivity was enhanced compared to that of solid-phase synthesized Li4SiO4 powder, facilitating the tritium release process for fusion applications. This study may serve as a guidance for designing appropriate ceramic breeders, providing a cost-effective approach applicable to produce other high-precision ceramic components with complex compositions. © 2024 Elsevier Ltd

关键词： Lithium compounds

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Data-Driven control of Distributed Event-Triggered Network systems

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 351-364页

作者： Xin Wang Jian Sun Gang Wang Frank Allgower Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the Institute for Systems Theory and Automatic Control University of StuttgartStuttgart 70550Germany the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional *** the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is ***,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input ***,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.

关键词： Data-driven control distributed event-triggered network system(ETS) linear matrix inequalitie(LMI) looped-functional stability

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