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Fractional-order PID servo control based on decoupled visual model

INTERNATIONAL JOURNAL OF ADAPTIVE control AND SIGNAL PROCESSING 2019年第8期33卷 1265-1280页

作者： Liu, Weipeng Bian, Gui-Bin Rahman, Muhammad Rameez Ur Zhang, Haojie Chen, Haiyong Wu, Wanqing Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China Hebei Univ Technol Sch Artificial Intelligence Tianjin 300130 Peoples R China Minist Educ Engn Res Ctr Intelligent Rehabil & Detecting Tech Tianjin 300130 Peoples R China Hebei Univ Technol Hebei Control Engn Technol Res Ctr Tianjin 300130 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen Peoples R China Chinese Acad Sci Inst Biomed & Hlth Engn Shenzhen Inst Adv Technol Shenzhen Peoples R China

A decoupled visual model and a fractional PID controller are designed aiming at the problem of the view distortion in the fillet weld welding process. Firstly, the intersection point coordinates of two laser stripes are selected as the image characteristics, and the decoupled visual model is designed to the tracking control of the fillet weld seam so that the control value in two directions is decoupled, reducing the difficulty of control. In addition to this, the image may produce distortion in the dynamic tracking process, causing nonlinearity and coupling in two directions. To solve this problem, the fractional-order PID controller is designed so that the adjustment range and the control ability are improved better than the traditional PID controller. Some experiments verify that the desired performance can be achieved by using the proposed methods.

关键词： fillet weld tracking fractional PID control initial positioning visual servo

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Blockchain-based Social Manufacturing for Customization Production 3rd

Blockchain-based Social Manufacturing for Customization Prod...

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3rd IFAC Workshop pn Cyber-Physical and Human systems (CPHS)

作者： Shang, Xiuqin Chen, Xi Niu, Lulu Xiong, Gang Shen, Zhen Dong, Xisong Shen, Zhengchao Liu, Chao Xi, Bangwen Chinese Acad Sci Res Ctr Precis Sensing & Control Inst Automat Beijing 100190 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat Beijing 100190 Peoples R China Beijing Univ Posts & Telecommun Beijing 100876 Peoples R China Alstom Beizhong Power Beijing Co Ltd Beijing 100040 Peoples R China Syst Integrat Elect Hangzhou Co LTD HETZ 5811 Rd Hangzhou 310018 Peoples R China

This paper proposes the social manufacturing based on Blockchain, which realizes precise and efficient customization through smart contract and distributed accounting. It is a new manufacturing mode of service-oriented, distributed and collab.rative customization. This paper proposes the definition of SM based on Blockchain. In the process of using to Blockchain, it can form a strong trust relationship, so that multiple nodes / roles in SM can save the complete copy of the whole database, rather than a centralized permission / role. Secondly, the Blockchain-based SM system is developed for customized manufacturing. Finally, its application case and the optimization results are given. In SM, it is the key that how to transform customized manufacturing actions into socialized actions of manufacturing resources through internet communities and interconnect Socialized Manufacturing Resources (SMRs) in upstream and downstream. In this paper, the smart contract relationship is established based on Blockchain between SMRs to build credit mechanism in SM, Which can ensure the effective circulation and association of SMRs. Copywright (C) 2020 The Authors.

关键词： Social Manufacturing Blockchain Optimization SM Resources

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A Regularized Variable Projection Algorithm for Separable Nonlinear Least-Squares Problems

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IEEE TRANSACTIONS ON AUTOMATIC control 2019年第2期64卷 526-537页

作者： Chen, Guang-Yong Gan, Min Chen, C. L. Philip Li, Han-Xiong Fuzhou Univ Coll Math & Comp Sci Fuzhou 350116 Fujian Peoples R China Fuzhou Univ Fujian Prov Key Lab Network Comp & Intelligent In Fuzhou 350116 Fujian Peoples R China Minist Educ Key Lab Spatial Data Min & Informat Sharing Fuzhou 350116 Fujian Peoples R China Fuzhou Univ Ctr Discrete Math & Theoret Comp Sci Fuzhou Fujian Peoples R China Univ Macau Dept Comp & Informat Sci Fac Sci & Technol Macau 99999 Peoples R China Dalian Maritime Univ Dalian 116026 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100080 Peoples R China City Univ Hong Kong Dept Syst Engn & Engn Management Hong Kong Peoples R China Cent South Univ State Key Lab High Performance Complex Mfg Changsha 410083 Hunan Peoples R China

Separable nonlinear least-squares (SNLLS) problems arise frequently in many research fields, such as system identification and machine learning. The variable projection (VP) method is a very powerful tool for solving such problems. In this paper, we consider the regularization of ill-conditioned SNLLS problems based on the VP method. Selecting an appropriate regularization parameter is difficult because of the nonlinear optimization procedure. We propose to determine the regularization parameter using the weighted generalized cross-validation method at every iteration. This makes the original objective function changing during the optimization procedure. To circumvent this problem, we use an inequation to produce a consistent demand of decreasing at successive iterations. The approximation of the Jacobian of the regularized problem is also discussed. The proposed regularized VP algorithm is tested by the parameter estimation problem of several statistical models. Numerical results demonstrate the effectiveness of the proposed algorithm.

关键词： Data fitting regularization separable nonlinear least squares (SNLLS) variable projection (VP) weighted generalized cross validation (WGCV)

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Blockchain-based Social Manufacturing for Customization Production

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IFAC-PapersOnLine 2020年第5期53卷 53-58页

作者： Xiuqin Shang Xi Chen Lulu Niu Gang Xiong Zhen Shen Xisong Dong Zhengchao Shen Chao Liu Bangwen Xi the Research Center of Precision Sensing and Control the state key laboratory for management and control of complex systems & Beijing engineering research center of intelligent systems and technology institute of automation Chinese Academy of Sciences Beijing 100190 China Beijing University of Posts and Telecommunications Beijing 100876 China Alstom Beizhong Power (Beijing) Co. Ltd. Beijing 100040 China the System Integration Electronics (Hangzhou)Co. LTD No. 58 No. 11 Road Foxconn Qiantang Tech-Industrial Area HETZ Hangzhou 310018 China

关键词： Social Manufacturing Blockchain Optimization SM Resources

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A Continuous-Time Algorithm for Distributed Optimization Based on Multiagent Networks

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2019年第12期49卷 2700-2709页

作者： He, Xing Huang, Tingwen Yu, Junzhi Li, Chaojie Zhang, Yushu Southwest Univ Natl & Local Joint Engn Lab Intelligent Transmiss Coll Elect & Informat Engn Chongqing 400715 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Texas A&M Univ Qatar Dept Math Doha 23874 Qatar RMIT Univ Sch Elect & Comp Engn Melbourne Vic 3001 Australia Deakin Univ Sch Informat Technol Geelong Vic 3125 Australia

Based on the multiagent networks, this paper introduces a continuous-time algorithm to deal with distributed convex optimization. Using nonsmooth analysis and algebraic graph theory, the distributed network algorithm is modeled by the aid of a nonautonomous differential inclusion, and each agent exchanges information from the first-order and the second-order neighbors. For any initial point, the solution of the proposed network can reach consensus to the set of minimizers if the graph has a spanning tree. In contrast to the existing continuoustime algorithms for distributed optimization, the proposed model holds the least number of state variables and relaxes the strongly connected weighted-balanced topology to the weaker case. The modified form of the proposed continuous-time algorithm is also given, and it is proven that this algorithm is suitable for solving distributed problems if the undirected network is connected. Finally, two numerical examples and an optimal placement problem confirm the effectiveness of the proposed continuous-time algorithm.

关键词： Continuous-time algorithm distributed optimization multiagent network

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Parallel intelligence： toward lifelong and eternal developmental AI and learning in cyber-physical-social spaces

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Frontiers of Computer Science 2018年第3期12卷 401-405页

作者： Fei-Yue WANG Jun Jason ZHANG Xiao WANG The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Electrical Engineering Wuhan University Wuhan 430072 China Qingdao Academy of Intelligent Industries Qingdao 266109 China

Dear editor, Fundamentally, there are only two main approaches so far in artificial intelligence （AI）： reasoning-oriented formal logic approach and function-oriented computational intelligence approach, so called Neats vs. Scuruffies, which is a reflection of the historical fight between two schools of thought for formalism and empiricism respectively in the field of AI that is continuing even today.

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Motion optimization for a robotic fish based on adversarial structured control

Motion optimization for a robotic fish based on adversarial ...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Yan, Shuaizheng Wang, Jian Wu, Zhengxing Yu, Junzhi Tan, Min Institute of Automation CAS State Key Lab Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728163215

This paper proposes a task-based control optimization method for the robotic fish. It is essentially an adversarial structured control consisting of a global control module and a local compensation control module. In detail, the global control module emulates an optimized central pattern generator with Evolutionary Strategy, while the local control module produces targeted compensation control signals with Soft Actor-Critic. The linear summation of two control laws works for the final robotic fish control. Considering that the evolutionary computation optimization algorithms generally have the defect of falling into the local optimum, we propose a method of antagonistic training to improve the optimization performance. The effectiveness of the designed controller is validated by simulation on agents in Mujoco. Noticeably, the simulation results demonstrate that the proposed method teaches the agent fish to move to any target point with a low energy consumption, which lays a good foundation for application of reinforcement learning in real robotic fish control. © 2019 IEEE.

关键词： Fish

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Design and yaw control of a two-motor-actuated biomimetic robotic fish

Design and yaw control of a two-motor-actuated biomimetic ro...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Du, Sheng Wu, Zhengxing Yu, Junzhi Institute of Automation CAS State Key Lab Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728163215

This paper addresses the design and control of a novel tuna-inspired robotic fish able to realize both fast swimming and high maneuverability. A two-stage transmission mechanism is proposed, aiming at reducing the volume and mass of caudal peduncle. Benefited by it, both volumes and mass of moving parts can be reduced to allow higher swing frequency. At the same time, two joints driven by two motors ensure the flexibility of steering. The robotic fish achieves a maximum speed up to 1.65 body lengths per second (BL/s) and a minimum turning radius less than 0.35 body lengths (BL), based on the open-loop control designed by Central Pattern Generator (CPG) method. Furthermore, a yaw control is proposed to maintain course angle at high swimming speed, and simulation in Automatic Dynamic Analysis of Mechanical systems (ADAMS) software reveals the effectiveness. The results show that the proposed yaw control method can regulate the fluctuation of anterior body to desired range but without compensation of sideways drift. © 2019 IEEE.

关键词： Fish

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3-D motion analysis and implementation of a developed gliding robotic dolphin

3-D motion analysis and implementation of a developed glidin...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Wang, Jian Wu, Zhengxing Liu, Jincun Tan, Min Yu, Junzhi Institute of Automation CAS State Key Lab Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728163215

This paper investigates the three-dimensional (3-D) maneuverability of a gliding robotic dolphin through analyzing the horizontal and vertical motions. Concretely, in order to improve the performance in the horizontal plane, the gliding robotic dolphin is developed with a rudder installed on its belly, and the 3-D full-state dynamic model is derived briefly. By setting two typical body and/or caudal fin (BCF)-based and three typical median and/or paired fin (MPF)-based turning patterns, the turning performances are revealed and analyzed. With regard to the vertical plane, a novel finite state machine framework is proposed to realize the vertical downward action. Finally, extensive experiments involving the turning and vertical motions are conducted to illustrate and analyze the 3-D maneuverability, which provides valuable guidance for the real-world applications of the gliding robotic dolphin. © 2019 IEEE.

关键词： Motion analysis

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Mobile Energy Transfer in Internet of Things

arXiv

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arXiv 2020年

作者： Zhang, Qingqing Wang, Gang Giannakis, Georgios B. Liu, Qingwen Chen, Jie College of Electronic and Information Engineering Tongji University Shanghai201800 China Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN 55455 United States State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Tongji University Shanghai200092 China

—Internet of things (IoT) is powering up smart cities by connecting all kinds of electronic devices. The power supply problem of IoT devices constitutes a major challenge in current IoT development, due to the poor battery endurance as well as the troublesome cable deployment. The wireless power transfer (WPT) technology has recently emerged as a promising solution. Yet, existing WPT advances cannot support free and mobile charging like Wi-Fi communications. To this end, the concept of mobile energy transfer (MET) is proposed, which relies critically on an resonant beam charging (RBC) technology. The adaptive (A) RBC technology builds on RBC, but aims at improving the charging efficiency by charging devices at device preferred current and voltage levels adaptively. A mobile ARBC scheme is developed relying on an adaptive source power control. Extensive numerical simulations using a 1,000mAh Li-ion battery show that the mobile ARBC outperforms simple charging schemes such as the constant power charging, the profile-adaptive charging, and the distance-adaptive charging in saving energy. Copyright © 2020, The Authors. All rights reserved.

关键词： Energy transfer

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