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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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Few-shot object detection via class encoding and multi-target decoding

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IET cyber-systems and Robotics 2023年第2期5卷 1-14页

作者： Xueqiang Guo Hanqing Yang Mohan Wei Xiaotong Ye Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

The task of few‐shot object detection is to classify and locate objects through a few annotated *** many studies have tried to solve this problem,the results are still not *** studies have found that the class margin significantly impacts the classification and representation of the targets to be *** methods use the loss function to balance the class margin,but the results show that the loss‐based methods only have a tiny improvement on the few‐shot object detection *** this study,the authors propose a class encoding method based on the transformer to balance the class margin,which can make the model pay more attention to the essential information of the features,thus increasing the recognition ability of the ***,the authors propose a multi‐target decoding method to aggregate RoI vectors generated from multi‐target images with multiple support vectors,which can significantly improve the detection ability of the detector for multi‐target *** on Pascal visual object classes(VOC)and Microsoft Common Objects in Context datasets show that our proposed Few‐Shot Object Detection via Class Encoding and Multi‐Target Decoding significantly improves upon baseline detectors(average accuracy improvement is up to 10.8%on VOC and 2.1%on COCO),achieving competitive *** general,we propose a new way to regulate the class margin between support set vectors and a way of feature aggregation for images containing multiple objects and achieve remarkable *** method is implemented on mmfewshot,and the code will be available later.

关键词： Class Margin Few-Shot Object Detection Multi-Target Transformer

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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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Fixed-time-synchronized control: a system-dimension-categorized approach

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Science China(Information Sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

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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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Formal management-specifying approach for model-based safety assessment

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Journal of systems Engineering and Electronics 2023年第6期34卷 1589-1601页

作者： XU Changyi DUAN Yiman ZHANG Chao School of Control Science and Engineering Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of EducationDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

In the field of model-based system assessment,mathematical models are used to interpret the system ***,the industrial systems in this intelligent era will be more *** management operations will be dynamically set,and the system will be no longer static as it is initially ***,the static model generated by the traditional model-based safety assessment(MBSA)approach cannot be used to accurately assess the *** mainly exists three ***:huge and complex behaviors make the modeling to be trivial manual;Dynamic:though there are thousands of states and transitions,the previous model must be resubmitted to assess whenever new management arrives;Unreusable:as for different systems,the model must be resubmitted by reconsidering both the management and the system itself at the same time though the management is the *** by solving the above problems,this research studies a formal management specifying approach with the advantages of agility modeling,dynamic modeling,and specification design that can be ***,three typical managements are specified in a series-parallel system as a demonstration to show the potential.

关键词： model-based safety assessment(MBSA) management availability reliability maintainability continuous time Markov chain.

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TCPP: A Benchmark Platform for Traffic Congestion Prediction with Multi-source Auxiliary Data

TCPP: A Benchmark Platform for Traffic Congestion Prediction...

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2024 China Automation Congress, CAC 2024

作者： Zhou, Yusong Zhang, Xinmin Jiang, Xiaoyu Song, Zhihuan State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Zhejiang China Huzhou Institute of Industrial Control Technology Zhejiang Huzhou China

ISBN: (纸本)9798350368604

With rapid urbanization, traffic congestion has become a challenge to efficient urban transportation. To address this challenge, we develop a novel traffic congestion prediction platform (TCPP) which is a unified benchmark tool for traffic congestion prediction with multi-source auxiliary data. By combining data integration, model selection and evaluation modules, TCPP provides a standardized framework for researchers to compare and evaluate different models and datasets. Meanwhile, through a comprehensive and detailed configuration syntax, TCPP allows users to flexibly schedule tasks and execute multiple tasks continuously and uninterruptedly. In addition, two datasets collected from California highways are enriched with multi-source weather data and temporal features. We evaluate the performance of TCPP on these two datasets and demonstrate its effectiveness in predicting traffic congestion. The results demonstrate that TCPP can contribute to future research on traffic congestion prediction and the development of intelligent transportation systems and urban traffic management. © 2024 IEEE.

关键词： Traffic congestion

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