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第41届中国控制会议

作者： Hongyin Wei Kailin Xu Jianming Zhang Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control TechnologyZhejiang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,an enhanced seagull optimization algorithm based on a double group evolutionary mechanism(DSOA) is proposed for photovoltaic(PV) cell parameter *** the DSOA,a double group search strategy and time-based mutation strategy are added to the population renewal mechanism of the conventional *** performance of DSOA on standard benchmark functions is surprising;it was good at accuracy and exploitation,also convergence *** with SOA and the other two classical intelligent optimization algorithms,the performance of DSOA is comprehensively *** is adopted to estimate PV cell *** simulation results demonstrate that estimated currents of circuit model based on DSOA have high similarity to the measured value of the photovoltaic cell.

关键词： Photovoltaic(PV) parameter estimating seagull optimization algorithm intelligent optimization algorithms

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A novel motion coordination method for variable-sized multi-mobile robots

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Frontiers of Information technology & Electronic Engineering 2023年第4期24卷 521-535页

作者： Zichao XING Xingkai WANG Shuo WANG Weimin WU Ruifen HU State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and *** an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system ***,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more *** methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion *** zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the *** paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of *** features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint *** proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for *** analysis and experimental results show that the proposed algorithm is effective and efficient.

关键词： Multi-mobile robot system Collision avoidance Deadlock avoidance Glued nodes Motion coordination

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Review of Clustering technology and Its Application in Coordinating Vehicle Subsystems

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Automotive Innovation 2023年第1期6卷 89-115页

作者： Caizhi Zhang Weifeng Huang Tong Niu Zhitao Liu Guofa Li Dongpu Cao Chongqing Automotive Collaborative Innovation Centre The State Key Laboratory of Mechanical TransmissionsChongqing UniversityChongqing 400044China State Key Laboratory of Industrial Control Technology Institute of Cyber‑Systems and ControlZhejiang UniversityHangzhou 310027China School of Vehicle and Mobility Tsinghua UniversityBeijingChina

Clustering is an unsupervised learning technology,and it groups information(observations or datasets)according to similarity *** clustering algorithms is a hot topic in recent years,and this area develops rapidly with the increasing complexity of data and the volume of *** this paper,the concept of clustering is introduced,and the clustering technologies are analyzed from traditional and modern ***,this paper summarizes the principles,advantages,and disadvantages of 20 traditional clustering algorithms and 4 modern ***,the core elements of clustering are presented,such as similarity measures and evaluation *** that data processing is often applied in vehicle engineering,finally,some specific applications of clustering algorithms in vehicles are listed and the future development of clustering in the era of big data is *** purpose of this review is to make a comprehensive survey that helps readers learn various clustering algorithms and choose the appropriate methods to use,especially in vehicles.

关键词： Unsupervised learning Clustering Similarity measures Vehicle

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Distributed event-triggered adaptive control for second-order nonlinear uncertain multi-agent systems

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Chinese Journal of Aeronautics 2021年第10期34卷 237-247页

作者： Ming XIAO Zhitao LIU Hongye SU The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is *** dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected *** event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between *** on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control *** presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is ***,the update frequency of the controllers and the load of communication burden are vastly *** obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.

关键词： Adaptive distributed control structure Event-triggered control Multi-agent systems Second-order nonlinear models

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Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-Varying control Barrier Functions 49

Obstacle Avoidance for Unicycle-Modelled Mobile Robots with ...

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49th Annual Conference of the IEEE industrial Electronics Society, IECON 2023

作者： Huang, Jihao Liu, Zhitao Zeng, Jun Chi, Xuemin Su, Hongye Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou China Cruise Llc United States

ISBN: (纸本)9798350331820

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike previous works, our proposed approach can control both linear and angular velocity to avoid collision with obstacles, overcoming the limitation of confined control performance due to the lack of control variable. To ensure that the robot reaches its destination, we also design a control Lyapunov function (CLF). Our safety-critical controller is formulated as a quadratic program (QP) optimization problem that incorporates CLF and CBFs as constraints, enabling real-time application for navigation and dynamic collision avoidance. Numerical simulations are conducted to verify the effectiveness of our proposed approach. © 2023 IEEE.

关键词： Lyapunov functions

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Invariant EKF based state Estimator for Quadruped Robots 42

Invariant EKF based State Estimator for Quadruped Robots

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Zhuqing Li, Zhang Chen, Yong Wang, Dongqi Yu, Jiyu Xiong, Rong Wang, Yue Zhejiang University State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Hangzhou310027 China Research Institute of Nuclear Power Operation Wuhan China

ISBN: (纸本)9789887581543

Quadruped robots have gained much attention in recent years due to their potential ability to handle various kinds of terrain. To control the quadruped robots to perform tasks, high frequency (up to 400Hz) state estimation is demanded. In this paper, we introduce an accurate and efficient state estimator by incorporating IMU measurements and quadruped robot joint encoder measurements. To be specific, we utilize the IMU measurements to propagate the state, while the joint encoder measurements are used to derive the foot position of the robot to update the state. The whole process is based on an invariant EKF, which is proved in this paper to be able to preserve the correct observability of the system. Moreover, based on the estimated state, the inclination of the terrain with respect to the horizontal plane can be calculated, which is useful for downstream control. Experiments are conducted to validate the effectiveness of our proposed state estimator. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： state estimation

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state estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research Institute of Intelligent Control and Systems Harbin Institute of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of Control Science and Engineering Dalian University of Technology State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

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An Improved A-Star Algorithm Based on Dynamic Congestion control 4

An Improved A-Star Algorithm Based on Dynamic Congestion Con...

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4th International Conference on Advances in Computer technology, Information Science and Communications, CTISC 2022

作者： Lin, Zeyu Feng, Ligen Chen, Xinyu Wu, Weimin Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (数字)9781665458726

ISBN: (纸本)9781665458726

Automatic guided vehicles (AGV) are widely used in warehousing systems, flexible manufacturing systems and other fields. The path planning for AGV is often a huge challenge. And the path planning methods described in the existing literature are often not good at avoiding congestion. In this paper, we propose an improved A-star algorithm based on dynamic planning that senses the presence of congestion in the map and avoids congestion by increasing the congestion weights. Compared with existing methods, it is able to significantly improve efficiency. © 2022 IEEE.

关键词： Automatic guided vehicles

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Optimal Velocity control of Spherical Robots Based on Offset-free Linear Model Predictive control

Optimal Velocity Control of Spherical Robots Based on Offset...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Hu, Tao Guan, Xiaoqing Lin, Boyu Wang, Yixu Liu, Yifan Wang, You Li, Guang Institute of Cyber Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9781665481090

Since the sensors of spherical robots rotate with the longitudinal axis, an efficient velocity controller must also account for robot's attitude. Therefore, this paper proposed an optimal velocity controller for spherical robots based on the offset-free linear model predictive control (LMPC), which controls the velocity while considering robot's attitude, motor's current and other variables. The prediction model of LMPC was generated by linearizing and discretizing the dynamic model and introducing the disturbance model. Then the kalman filter (KF) was used to estimate the states and disturbance. After that, combined with LMPC, the offset-free tracking of different velocities under different terrains was achieved by fully considering velocity, attitude and current in the target function. Finally, a series of physical experiments show that the proposed controller ensures fast convergence, strong stability and no bias, while the velocity changes more smoothly, the attitude changes less and the current output is more stable. © 2022 IEEE.

关键词： Model predictive control

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Nonlinear MPC-Based control Framework for Quadruped Robots: Touch-Down in Complex Terrain 42

Nonlinear MPC-Based Control Framework for Quadruped Robots: ...

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42nd Chinese control Conference, CCC 2023

作者： Yu, Jiyu Li, Zhang Chen, Yong Wang, Dongqi Zhang, Rui Zhang, Zhuqing Xiong, Rong Wang, Yue Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou310027 China Research Institute of Nuclear Power Operation WuHan430030 China

ISBN: (纸本)9789887581543

Quadruped robots show potential beyond that of wheeled robots for walking over complex terrain thanks to the bionic leg design, and to take advantage of this, we propose a control framework for a quadruped robot to achieve touch-down in a designated area, aiming to help the robot overcome the challenge in complex terrains. We incorporate a foot placement constraint into a nonlinear model predictive control (MPC) framework guided by global localization, enabling the robot to touch-down in the specified area while maintaining balance. Furthermore, a whole full-body controller is utilized to track the optimized trajectory generated by the MPC. Both simulation and hardware experiments demonstrate the effectiveness of our proposed control framework. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Model predictive control

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