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2023 Jiangsu Annual Conference on automation, JACA 2023

作者： He, Xianghui Huang, Saijin Li, Guanjun Li, Haoyuan Wang, Xiangyu School of Automation Southeast University No. 2 Si Pai Lou Nanjing Jiangsu210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Jiangsu Engineering Technology Research Center for Energy Storage Conversion Application China Electric Power Research Institute Nanjing Jiangsu210003 China

ISBN: (纸本)9781839539848

This paper derives an efficient control algorithm to deal with the output voltage tracking control problem of threephase inverters with multiple disturbances (including parametric perturbations of filter, abrupt disturbances caused by load switching and harmonic disturbances brought by unbalanced loads and nonlinear loads). This accomplishment is realized through the long prediction horizon finite-control-set model predictive control (FCS-MPC) and the integration of a composite disturbance observer (CDO) and a disturbance preview model into the sphere decoding algorithm (SDA). This integration facilitates the estimation and prediction of future disturbance behaviors within the inverter system, which addresses the poor disturbance-rejection limitations inherent in conventional SDA approaches employed in previous studies. The algorithm also improves the dynamic performances of the output voltage. Simulations studies are illustrated to demonstrate the feasibility and effectiveness of the proposed control algorithm. Based on the presented results, the algorithm achieves good disturbance rejection capability and maintains small tracking error. © The Institution of Engineering & Technology 2023.

关键词： Disturbance rejection

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Cyber-physical -social systems for smart cities: An overview 1

Cyber-physical -social systems for smart cities: An overview

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Anwar, Noreen Xiong, Gang Lu, Wanze Ye, Peijun Zhao, Hongxia Wei, Qinglai Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China The Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation The Cloud Computing Center Chinese Academy of Sciences China School of Artificial Intelligence and Automation Beijing University of Technology Beijing100124 China

ISBN: (纸本)9781665433372

Cyber-physical social systems (CPSS) include cyberspace, physical space, and social space. Since the introduction of CPSS, human relationships with machinery and the physical world have altered as a new paradigm. Recent estimates indicate that approximately 60 percent of the world's population will live in cities by 2030. Large, dense cities can be highly productive, innovative, and very green per capita, hence ideal for our future. However, the huge influx of new people poses enormous challenges to their administrations. Smart cities are becoming a reality, therefore, to achieve higher efficiency, optimum use of resources, management and to strengthen several features of modern towns, several elements of modern cities are automated and integrated into Information and Communications Technology (ICT). Cities and infrastructure are growing all over the world, in providing end-users with increased performance, comfort, visibility and convenience, the Smart Cities concept is critical. This paper will discuss smart cities and the CPSS concept intensively with some of its key technologies, challenges, and further development by using CPSS. © 2021 IEEE.

关键词： Smart city

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Trajectory control of Multi-Axis Robotic Arms Based on Physics-Informed Neural Networks and Nonlinear Model Predictive control

Trajectory Control of Multi-Axis Robotic Arms Based on Physi...

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Chinese automation Congress (CAC)

作者： Yiqing Wang Changqing Xia Xi Jin Chi Xu Yanzhu Zhang School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Multi-axis robotic arms are extensively utilized in intelligent manufacturing scenarios, with trajectory control in flexible scenarios constituting a primary challenge. Physics-Informed Neural Networks (PINNs) represent advanced methods that integrate physical laws with data-driven approaches. Despite their outstanding performance in integrating theory and data, research on their application for controlling robotic arms in complex scenarios remains limited. This paper establishes a nonlinear dynamic model based on the physical relationships between the axes of robotic arms. In the absence of prior data, Sobol sequence random sampling is employed to generate data, which are subsequently trained using PINNs. Considering system noise, the Extended Kalman Filter (EKF) is utilized to predict the next state in noisy environments, and Nonlinear Model Predictive control (NMPC) is implemented to control the robotic arm for trajectory tracking, achieving real-time control. Simulation results demonstrate that the proposed Discrete Physics-Informed Predictive control (DPIPC) method exhibits smaller position and velocity errors with less fluctuation compared to the method in the reference, indicating superior control capabilities.

关键词： Fluctuations Trajectory tracking Simulation Noise Neural networks Manipulators Real-time systems Trajectory Manufacturing Predictive control

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Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin

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Science China(Information Sciences) 2021年第1期64卷 215-226页

作者： Jincun LIU Zhenna LIU Junzhi YU State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking University Department of Electrical and Automation Shandong Labor Vocational and Technical College State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper investigates the three-dimensional(3-D) path following control problem for an underactuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established,followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-ofsight(LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity,intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.

关键词： robotic dolphin path following 3-D LOS guidance law decoupling motion

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Temperature control System of Thermoelectric Cooler Based on Improved ADRC

Temperature Control System of Thermoelectric Cooler Based on...

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Chinese control and Decision Conference, CCDC

作者： Xiyuan Shan Tao Cai Zhicheng Zong Hongbo Mu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Aiming at the problems containing complex working conditions, modeling difficulties and long-time delay of thermoelectric cooler temperature control system, an improved ADRC control method combining ADRC and Smith predictor is proposed in this paper. ADRC deals with the disturbances and uncertain dynamics in the system, SP compensates the time delay to improve the control performance. Compared with the traditional PID controller, the proposed control method has faster response speed and stronger anti-disturbance ability, meanwhile, overcomes the dependence of Smith predictor on object parameters to a certain extent. Through simulation and experimental verification, a good control effect is obtained, which provides a positive guidance of the related application of thermoelectric cooler.

关键词： Robust control Employee welfare Delay effects Simulation Perturbation methods Predictive models control systems

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An Improved Active Disturbance Rejection control Method for Crane System

An Improved Active Disturbance Rejection Control Method for ...

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Chinese control and Decision Conference, CCDC

作者： Yubo Sun Xiyuan Shan Zhicheng Zong School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

In order to improve the dynamic performance of the underdriven crane system, an improved linear active disturbance rejection controller (LADRC) based on the new error was proposed. The improved LADRC takes the error value between the disturbance and its observed value multiplied by a coefficient as the basis for adjusting the linear extended state observer (LESO). The improved method has two advantages. Firstly, the new error can prevent the traditional LESO from choosing larger parameter adjustment disturbances, which will limit the performance of the observer. Secondly, the pole can be configured by adjusting the coefficient to obtain better dynamic characteristics. Finally, the effectiveness of the proposed method is verified by simulation and experiment. The proposed method can effectively restrain the swing of the payload and it is robust to system parameters perturbation as well.

关键词： Robust control Couplings Adaptation models Cranes Uncertainty Perturbation methods Bandwidth

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GAT-Net: A Network using Grid Attention and Transformer for Dynamic Facial Expression Recognition

GAT-Net: A Network using Grid Attention and Transformer for ...

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Chinese control and Decision Conference, CCDC

作者： Wenxin Dai Yaping Dai Kaoru Hirota Shuai Shao School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Dynamic facial expression recognition (DFER) in the wild has received widespread attention recently. There are complex factors such as face occlusion and pose variation in the wild. Facial expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature representation. This paper proposes an end-to-end DFER network GAT-Net based on the grid attention module and Transformer, which improves the robustness and accuracy of DFER in the wild. Specifically, GAT-Net is divided into two components: spatial feature extraction and temporal feature processing. The grid attention module of the spatial feature extraction component guides the network to pay attention to the local salient features of the face, which reduces the interference of field occlusion and non-frontal poses. The Transformer in the temporal feature processing component guides the network to learn the temporal relationship of high-level semantic features and the global representation of facial expression features. These two components balance the subtle competition between local features and global feature representations of facial expressions. The ablation experiment has proved the effectiveness of the grid attention module and Transformer. Experiments demonstrate that our GAT-Net outperforms state-of-the-art methods on DFEW and AFEW benchmarks with accuracies of 67.53%, and 50.14% respectively.

关键词： Face recognition Semantics Interference Benchmark testing Transformers Feature extraction Robustness

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Application of machine learning method in optical molecular imaging: a review

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Science China(Information Sciences) 2020年第1期63卷 5-20页

作者： Yu AN Hui MENG Yuan GAO Tong TONG Chong ZHANG Kun WANG Jie TIAN CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular ImagingThe State Key Laboratory of Management and Control for Complex SystemsInstitute of Automation Chinese Academy of Sciences Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of MedicineBeihang University University of Chinese Academy of Sciences

Optical molecular imaging(OMI) is an imaging technology that uses an optical signal, such as near-infrared light, to detect biological tissue in organisms. Because of its specific and sensitive imaging performance, it is applied in both preclinical research and clinical surgery. However, it requires heavy data analysis and a complex mathematical model of tomographic imaging. In recent years, machine learning(ML)-based artificial intelligence has been used in different fields because of its ability to perform powerful data processing. Its analytical capability for processing complex and large data provides a feasible scheme for the requirement of OMI. In this paper, we review ML-based methods applied in different OMI modalities.

关键词： optical molecular imaging machine learning artificial intelligence

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Temporal-difference spatial sampling and aggregating graph neural network for crowd flow forecasting 1

Temporal-difference spatial sampling and aggregating graph n...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Bu, Xiaojie Wei, Zebing Li, Zhishuai Wang, Xiao Chen, Yuanyuan Song, Yunquan Lv, Yisheng College of Science China University of Petroleum Qingdao China Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Institute of Automation Chinese Academy of Sciences Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing China Qingdao Academy of Intelligent Industries Qingdao China College of Science China University of Petroleum Qingdao China Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing China

ISBN: (纸本)9781665433372

With the development of traffic demand management, crowd flow forecasting arouse increasing interest. In order to tackle this spatial-temporal prediction problem, GNN (Graph Neural Networks) have been recently employed to model spatial dependencies, and usually spatial graphs are constructed based on geodetic distances or direct connections between nodes. However, it might be insufficient for spatial graphs to model real dependencies because they neglect spatial-temporal correlations. In this paper, a novel Temporal-Difference Spatial Sampling and Aggregating graph neural network (TDSSA) is proposed to model spatial-temporal dependencies. Firstly, a new sub-sparse spatial-temporal graph is constructed to represent spatial-temporal relationships among different nodes, then a TDSSA block is designed to extract features by spatial sampling and aggregating, and difference is utilized in TDSSA blocks to exploit temporal trend and increase robustness. Experiments show that the proposed method outperforms baseline methods. © 2021 IEEE.

关键词： Graph neural networks

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Distance- And velocity-based collision avoidance for time-varying formation control of second-order multi-agent systems

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IEEE Transactions on Circuits and systems II: Express Briefs 2021年第4期68卷 1253-1257页

作者： Pang, Zhong-Hua Zheng, Chang-Bing Sun, Jian Han, Qing-Long Liu, Guo-Ping Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology Beijing100144 China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China School of Software and Electrical Engineering Swinburne University of Technology MelbourneVIC3122 Australia Department of Artificial Intelligence and Automation Wuhan University Wuhan430072 China

This brief addresses the time-varying formation control problem with collision avoidance for second-order multi-agent systems. By taking both distances and velocities between agents into account, a novel collision avoidance scheme is proposed on the basis of conventional distance-based artificial potential field methods. Compared with the latter, the proposed scheme can more accurately determine possible collision situations and thus significantly reduce possible collision areas, which consequently not only can reduce energy consumption, but also has as few adverse effects on formation maintenance as possible. Then a time-varying formation control protocol is designed so as to achieve zero steady-state position and velocity formation tracking errors without collision. Finally, theoretical analysis, numerical demonstration, as well as comparative simulation are provided to verify the effectiveness of the proposed method. © 2004-2012 IEEE.

关键词： Multi agent systems

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