检索结果-内蒙古大学图书馆

Characteristic model-based control of aerial manipulator for improved interaction stability

Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

来源：评论

学校读者我要写书评

暂无评论

Global-state-Free Obstacle Avoidance for Quadrotor control in Air-Ground Cooperation

引用

IEEE Robotics and Automation Letters 2025年第7期10卷 6688-6695页

作者： Zhang, Baozhe Chen, Xinwei Chen, Qingcheng Xu, Chao Gao, Fei Cao, Yanjun Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber- Systems and Control Hangzhou310027 China Zhejiang University Huzhou Institute Huzhou313000 China Shanghai Institute of Special Equipment Inspection & Technical Research Shanghai200062 China

CoNi-MPC [1] provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation. However, its lack of environmental information poses significant challenges for obstacle avoidance. To address this issue, we propose a novel obstacle avoidance algorithm, Cooperative Non-inertial frame-based Obstacle Avoidance (CoNi-OA), designed explicitly for UAV-UGV cooperative scenarios without reliance on global state estimation or obstacle prediction. CoNi-OA uniquely utilizes a single frame of raw LiDAR data from the UAV to generate a modulation matrix, which directly adjusts the quadrotor's velocity to achieve obstacle avoidance. This modulation-based method enables real-time generation of collision-free trajectories within the UGV's non-inertial frame, significantly reducing computational demands (less than 5 ms per iteration) while maintaining safety in dynamic and unpredictable environments. The key contributions of this work include: (1) a modulation-based obstacle avoidance algorithm specifically tailored for UAV-UGV cooperation in non-inertial frames without global states;(2) rapid, real-time trajectory generation based solely on single-frame LiDAR data, removing the need for obstacle modeling or prediction;and (3) adaptability to both static and dynamic environments, thus extending applicability to featureless or unknown scenarios. © 2016 IEEE.

关键词： Quadrotors Collision avoidance Dynamics Autonomous aerial vehicles Trajectory Laser radar Air to ground communication Real-time systems Modulation Dynamical systems

来源：评论

学校读者我要写书评

暂无评论

Small Signal Stability-Guaranteed Moving Target Defense Against Load Redistribution Attack On IoT-based Smart Grid

引用

IEEE Internet of Things Journal 2025年第11期12卷 17413-17429页

作者： Wang, Bingdong Zhang, Zhenyong Wang, Mufeng Liu, Mengxiang Ye, Rui Deng, Ruilong Zhang, Xin Guizhou University State Key Laboratory of Public Big Data College of Computer Science and Technology Guiyang550025 China China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Guizhou Power Grid Co. Ltd. Intelligent Operation Center China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou313000 China

Moving target defense (MTD) is a promising approach to defend against load redistribution attacks on the internet-of-things (IoT)-based smart grid networks by probing the distorted state estimates with the distributed flexible AC transmission system. However, existing studies mainly focus on optimizing the performance of MTD and ignore the safety effect of it on the system’s operation. In this paper, we fill this gap by deeply analyzing the effect of MTD on the small signal stability and aim to alleviate the negative impact and guarantee its defending performance simultaneously. Firstly, the stability is formally described using the eigenvalue sensitivity. The relationship between the MTD-induced perturbation (MTDper) and the stability criteria is derived. Secondly, a new indicator is proposed to measure the effectiveness of MTDper. Thirdly, a constrained optimization problem is formulated to compute the bound of MTDper for guaranteeing the small signal stability. In addition, a surprising finding is that the stability margin can be improved and enhanced by optimizing the value of MTDper without losing the MTD’s effectiveness. Finally, we evaluate the performance of MTDper and its impact on the small signal stability with extensive simulations on the IEEE 30-bus, 39-bus, and 68-bus test power systems. © 2014 IEEE.

关键词： Constrained optimization

来源：评论

学校读者我要写书评

暂无评论

Adaptive Power Regulation control for Floating Wind Turbines with Guaranteed Transient Performance

引用

IEEE Transactions on Automation Science and Engineering 2025年 22卷 15588-15598页

作者： Gong, Yingjie Meng, Wenchao Geng, Hua Yang, Qinmin Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Tsinghua University Beijing National Research Center for Information Science and Technology Department of Automation Beijing100084 China Huzhou Industrial Control Technology Research Institute Huzhou313000 China

Floating offshore wind turbines (FOWTs) hold significant potential for developing wind energy in deep-sea areas. However, they are prone to additional motions, heavy workloads, and undesirable fluctuations under combined wind-wave loads. To tackle these issues, this paper presents a novel adaptive blade pitch control strategy with guaranteed transient performance for FOWTs operating in above-rated wind speed regions. This strategy effectively suppresses platform pitch motion to enhance system stability while maintaining the power output at its rated value. Specifically, this method initiates by defining a filtered regulation error to solve the non-affine nature of its model. An adaptive blade pitch controller is subsequently proposed, integrating an online learning approximator to cope with the unknown dynamics caused by unmeasurable external environmental inputs and model uncertainties. To further mitigate approximation errors, a nonlinear robust control law with adaptive gains is employed, enhancing the robustness and adaptive capabilities of the controller. Superior to the traditional adaptive controllers, a significant advantage of this strategy is its ability to quantify and ensure regulatory performance within predefined constraints during both transient and steady-state stages, thereby achieving high-performance control in power regulation. Finally, simulation studies are conducted using the OpenFAST software to show the capability of the presented blade pitch controller, which guarantees stable power generation with guaranteed transient performance. © 2004-2012 IEEE.

关键词： Robust control

来源：评论

学校读者我要写书评

暂无评论

MMH-FE:AMulti-Precision and Multi-Sourced Heterogeneous Privacy-Preserving Neural Network Training Based on Functional Encryption

引用

Computers, Materials & Continua 2025年第3期82卷 5387-5405页

作者： Hao Li Kuan Shao Xin Wang Mufeng Wang Zhenyong Zhang The State Key Laboratory of Public Big Data College of Computer Science and TechnologyGuizhou UniversityGuiyang550025China Key Laboratory of Computing Power Network and Information Security Ministry of EducationShandong Computer Science CenterQilu University of Technology(Shandong Academy of Sciences)Jinan250014China China Industrial Control Systems Cyber Emergency Response Team Beijing100040China

Due to the development of cloud computing and machine learning,users can upload their data to the cloud for machine learning model ***,dishonest clouds may infer user data,resulting in user data *** schemes have achieved secure outsourced computing,but they suffer from low computational accuracy,difficult-to-handle heterogeneous distribution of data from multiple sources,and high computational cost,which result in extremely poor user experience and expensive cloud computing *** address the above problems,we propose amulti-precision,multi-sourced,andmulti-key outsourcing neural network training ***,we design a multi-precision functional encryption computation based on Euclidean ***,we design the outsourcing model training algorithm based on a multi-precision functional encryption with multi-sourced ***,we conduct experiments on three *** results indicate that our framework achieves an accuracy improvement of 6%to 30%.Additionally,it offers a memory space optimization of 1.0×2^(24) times compared to the previous best approach.

关键词： Functional encryption multi-sourced heterogeneous data privacy preservation neural networks

来源：评论

学校读者我要写书评

暂无评论

Knowledge As Not Only Justified True Beliefs in Vision

引用

IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 297-299页

作者： Wenbo Zheng Fei-Yue Wang IEEE School of Computer Science and Artificial Intelligence Wuhan University of Technology Sanya Science and Education Innovation Park of Wuhan University of Technology the State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences

COMPUTATIONAL knowledge vision [1] is emphasized as a novel perspective or field in this paper. It first proposes the visual hierarchy and its connection to knowledge, stating that knowledge is a justified true belief. To further the previous research, we concisely summarize our recent works and suggest a new direction that knowledge is also a thought framework in vision.

关键词： Computational modeling Visualization Artificial intelligence Data models Visual perception Visual databases Training data

来源：评论

学校读者我要写书评

暂无评论

Improving aircraft nose wheel steering stability based on control continuation method

引用

Science China(Technological Sciences) 2025年第3期68卷 258-277页

作者： Qiaozhi YIN Dexu KONG Jiawei WANG Hong NIE Xiaohui WEI National Key Laboratory of Helicopter Aeromechanics Nanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016China Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle Nanjing210016China AVIC Nanjing Engineering Institute of Aircraft Systems Nanjing211106China

Aircraft steering instability during the taxiing process sometimes occurs resulting from the unstable bifurcation phenomena of the nonlinear steering dynamic system,which may lead to severe *** this study,the control parameter design of an aircraft nose wheel steering control system based on the control continuation method is proposed to reduce the number of unstable bifurcation points and enlarge the system stable region area in a certain parameter ***,the aircraft turning performance can be improved ***,a nonlinear aircraft rollout dynamic model is constructed,and the aircraft ground steering bifurcation characteristics are obtained under the open-loop steering control ***,the bifurcation performances under three closed-loop nose wheel steering controllers based on the feedback control method are compared,and the control parameter of the quadratic nonlinear controller with a better bifurcation control effect is selected as a second bifurcation parameter to analyze the directional system stability via two-parameter bifurcation ***,the influence of a crosswind on the aircraft ground steering bifurcation performance is studied for various control parameter ***,the control effects of a traditional proportional-integral-derivative(PID)nose wheel steering control law and the designed feedback controller are compared and ***,a semi-physical experiment of the aircraft nose wheel steering system is carried out,and different control parameter values are selected for test verification,which can further verify the control effect of the designed nonlinear feedback *** results indicate that the feedback control method is unable to vary the system bifurcation types,but appropriate control parameter design can effectively shrink the system instability region and even eliminate the unstable Hopf bifurcation points under some specific working conditions,improving the aircraft ground turning stability re

关键词： aircraft taxiing dynamics and stability nose wheel steering control system control continuation steering bifurcation characteristics quadratic feedback control

来源：评论

学校读者我要写书评

暂无评论

Observer-based stabilization for discrete nonlinear semi-Markov jump singularly perturbed models with mode-switching delay

引用

Science China(Information Sciences) 2025年第4期68卷 389-390页

作者： Wenhai QI Runkun LI Ju H.PARK Zheng-Guang WU Huaicheng YAN School of Engineering Qufu Normal University Department of Electrical Engineering Yeungnam University Institute of Cyber-Systems and Control Zhejiang University Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education East China University of Science and Technology

Semi-Markov jump systems(S-MJMs) not only characterize hybrid systems but also address the limitations of Markov jump systems(MJMs) [1–3]. Due to their ability to exhibit multi-time-scale features, singularly perturbed models(SPMs) effectively model practical systems influenced by multiple time-scale phenomena [4]. In this study, the observer-based output feedback controller is asynchronous with the original system due to the time delay in the controller mode switching. A nonlinear plant with singularly perturbed parameters(SPPs) is represented using an interval type-2(IT2) fuzzy model [5].

关键词：

来源：评论

学校读者我要写书评

暂无评论

Doppler Shift-Compensated FMCW Algorithm for Centimeter-Level Acoustic Single-Anchor Positioning of Moving Targets in Narrow Spaces.

引用

IEEE Sensors Journal 2025年第11期25卷 20195-20208页

作者： Cui, Weimeng Xi, Yuzhang Liu, Guangyao Jia, Naizheng Hu, Peixuan Li, Shuyu Wang, Zhi Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Zhejiang University Huzhou Institute Huzhou313000 China

This paper proposes a novel Doppler shift-compensated Frequency Modulated Continuous Wave (DSC-FMCW) algorithm for achieving high-precision Time of Arrival (TOA) estimation of moving targets based on acoustics. In this algorithm, the stationary speaker transmits a mixed signal with upchirp and downchirp components, received by the moving microphone. Measurements are then compensated using the DSC-FMCW method. We then apply this algorithm to achieve two-dimensional positioning of moving targets in narrow spaces, using only one external speaker. In this method, a mirror-image speaker concept is introduced, where the primary reflection from the opposite wall is treated as coming from the mirror-image speaker, while reflections from the floor and ceiling are excluded as multipath signals. Additionally, considering the inability to synchronize the microphone and speaker, we leverage the characteristics of narrow spaces and the Doppler effect to achieve precise clock synchronization by estimating the absolute distance from a reference position to the speaker. Experiments show that the DSC-FMCW algorithm outperforms existing methods, achieving high accuracy in both open and multipath-affected scenarios at a target speed of 1.5 m/s, with mean errors of 0.0219 m and 0.0418 m, respectively. Additionally, experiments in a 1.735 m × 6.5 m corridor demonstrate an average error of 0.0446 m and a 95th percentile error of 0.0872 m. The proposed algorithm shows strong accuracy and robustness. © 2001-2012 IEEE.

关键词： Doppler effect

来源：评论

学校读者我要写书评

暂无评论

FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations

arXiv

引用

arXiv 2025年

作者： Lin, Junxiao Ji, Shuhang Wu, Yuze Wu, Tianyue Han, Zhichao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system’s dual-task requirement: generating manipulation forces while simultaneously counteracting gravity. These competing demands create dynamic coupling effects during physical interactions. Furthermore, rotor-induced airflow disturbances critically undermine operational reliability. Although fully-actuated unmanned aerial vehicles (UAVs) alleviate dynamic coupling effects via six-degree-of-freedom (6-DoF) force-torque decoupling, existing implementations fail to address the aerodynamic interference between drones and environments. They also suffer from oversized designs, which compromise maneuverability and limit their applications in various operational scenarios. To address these limitations, we present FLOAT Drone (FuLly-actuated cOaxial Aerial roboT), a novel fully-actuated UAV featuring two key structural innovations. By integrating control surfaces into fully-actuated systems for the first time, we significantly suppress lateral airflow disturbances during operations. Furthermore, a coaxial dual-rotor configuration enables a compact size while maintaining high hovering efficiency. Through dynamic modeling, we have developed hierarchical position and attitude controllers that support both fully-actuated and underactuated modes. Experimental validation through comprehensive real-world experiments confirms the system’s functional capabilities in close-proximity operations. Copyright © 2025, The Authors. All rights reserved.

关键词： Drones

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：