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Trajectory Planning Based on Spatio-Temporal Map with Collision Avoidance Guaranteed by Safety Strip

IEEE Transactions on Intelligent Transportation systems 2022年第2期23卷 1030-1043页

作者： Zhang, Ting Fu, Mengyin Song, Wenjie Yang, Yi Wang, Meiling State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Trajectory planning for the unmanned vehicle in the complex environment has always been a challenging task. Planned trajectory with the corresponding target velocity or acceleration sequence must be collision-free guaranteed and as comfortable as possible on the premise of obeying the traffic rules and interaction with other dynamic social vehicles. To meet this requirement, this paper proposes a framework for trajectory planning based on spatio-Temporal map. Due to the time layer architecture in the map, the trajectory can be generated with velocity and acceleration simultaneously, and the whole trajectory is constrained within a 'safety strip', resulting in an efficient and safety guaranteed trajectory. The framework is composed of three sections: rough search, fine optimization and safety strip-based collision avoidance. For rough search, we propose an improved A∗ algorithm implemented in the discrete time layer to find out the suboptimal states efficiently. In fine optimization, the B-spline curve is exploited to connect the searched states into a continuous trajectory. And the optimal control points of B-spline are further grouped into several segments, forming the safety strip which is actually the distribution space of the planned trajectory. If necessary, an adjustment will be applied to keep the strip away from the collision zone, making the entire trajectory completely collision-free. Experiments on both public dataset and self-driving simulator show that the proposed framework can adapt to different kinds of complex traffic scenes well. © 2000-2011 IEEE.

关键词： Collision avoidance

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Data-Driven control and Transfer Learning Using Neural Canonical control Structures

Data-Driven Control and Transfer Learning Using Neural Canon...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Lukas Ecker Markus Schöberl Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Linz Austria

An indirect data-driven control and transfer learning approach based on a data-driven feedback linearization with neural canonical control structures is proposed. An artificial neural network auto-encoder structure trained on recorded sensor data is used to approximate state and input transformations for the identification of the sampled-data system in Brunovsky canonical form. The identified transformations, together with a designed trajectory controller, can be transferred to a system with varied parameters, where the neural network weights are adapted using newly collected recordings. The proposed approach is demonstrated using an academic and an industrially motivated example.

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Data-driven nonlinear predictive control for feedback linearizable systems

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IFAC-PapersOnLine 2023年第2期56卷 617-624页

作者： Mohammad Alsalti Victor G. Lopez Julian Berberich Frank Allgöwer Matthias A. Müller Leibniz University Hannover Institute of Automatic Control 30167 Hannover Germany University of Stuttgart Institute for Systems Theory and Automatic Control 70550 Stuttgart Germany

We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy output data along with a set of basis functions that approximate the unknown nonlinearities. Despite the noisy output data as well as the mismatch caused by the use of basis functions, we show that the proposed multi-step robust data-driven nonlinear predictive control scheme is recursively feasible and renders the closed-loop system practically exponentially stable. We illustrate our results on a model of a fully-actuated double inverted pendulum.

关键词： Data-based control Nonlinear predictive control Data-driven predictive control Feedback linearization

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Resilient Formation control Based on Watermarks for Networked Quadrotors under Deception Attacks

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IEEE Transactions on Vehicular technology 2025年第6期74卷 8839-8850页

作者： Zhan, Weiwei Miao, Zhiqiang Zeng, Jianxin Chen, Yanjie Wu, Zheng-Guang He, Wei Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China Fuzhou University School of Mechanical Engineering and Automation Fuzhou350108 China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha410082 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China University of Science and Technology Beijing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence Beijing100083 China

This article addresses the problem of formation control of networked UAVs under deception attacks. A lightweight resilient formation control framework based on watermarks is proposed to achieve the desired formation configuration without extra monitoring attack status. Since deception attacks are covert, the shared information is watermarked before transmission to establish the protocol among networked UAVs. To facilitate the resilient formation controller design, a decoder is first developed to decipher the inverse transformation of deception attacks, where the watermark is the criterion for approximating the inverse transformation. The Gauss error function is introduced to eliminate some unrealistic input commands under deception attacks, obtaining the predefined input performance. Then, a resilient formation controller is developed to guarantee the global boundedness of all signals within the inner-loop and outerloop system, while the formation error converges to a small neighborhood of zero by solving the linear matrix inequality. Two challenging deception attack examples in simulations and experiments are conducted to verify the effectiveness and performance of the proposed resilient formation control framework. © 1967-2012 IEEE.

关键词： Inverse transforms

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Two-tier control structure design methodology applied to heat exchanger networks

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Chinese Journal of Chemical Engineering 2022年第7期35卷 231-244页

作者： Siwen Gu Lei Zhang Yu Zhuang Weida Li Jian Du Cheng Shao Institute of Chemical Process Systems Engineering School of Chemical EngineeringDalian University of TechnologyDalian 116024China Jiangsu Collaborative Innovation Center for Cultural Creativity School of Photoelectric EngineeringChangzhou Institute of TechnologyChangzhou 213032China Institute of Advanced Control Technology School of Control Science and EngineeringDalian University of TechnologyDalian 116024China

Because of its paramount importance in the successful industrial control strategy of a given heat exchanger network(HEN),the control structure designs for providing appropriate manipulated variable(MV)and controlled variable pairings have received considerable ***,quite frequently HENs with such control structures face the problem of hard constraints,typically holding the HENs at less controlled operating *** both the MV pairings and the above control pairings should be considered to design a control *** paper investigates the systematic incorporation of the two pairings,and presents a methodology for designing such two-tier control *** is developed based on the sequential strategy,coupling an indirect-tier with direct-tier control structure design,wherein the intention is realized in the former stage and the latter is implemented for further *** MV identification and pairing are achieved through variations in heat load of heat exchangers to design the indirect-tier control *** the direct-tier control structure is followed the relative gain array pairing *** the proposed methodology,on the one hand,it generates an explicit connection between the MV pairings and the HEN configuration,and the quantitative interaction measure is improved to avoid the multiple solutions to break the relationship among all the control pairings into individuals;on the other hand,a two-tier control structure reveals control potentials and control system design requirements,this may avoid complex and economically unfavourable control and HEN *** application of proposed framework is illustrated with two cases involving the dynamic simulation analysis,the quantitative assessment and the random test.

关键词： Heat exchanger networks(HENs) controllability Two-tier control structure Manipulated variable pairing control pairing

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Multi-mode High-precision Fault Diagnosis control System Manage Method 3

Multi-mode High-precision Fault Diagnosis Control System Man...

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3rd International Conference on Computing, Communication, Perception and Quantum technology, CCPQT 2024

作者： Wen, Yudi Wang, Jing Zhang, Ying Quality Manage Department Beijing Aerospace Automatic Control Institute Beijing China Projects Executive Office Equipment Integrated Logistics Support Center China Academy of Launch Vehicle Beijing China National Key Laboratory of Science and Technology on Aerospace Intelligent Beijing Aerospace Automatic Control Institute Peking University Beijing China

ISBN: (纸本)9798331528386

The high-precision fault diagnosis management method in multi-mode control systems was studied. Three typical power conversion circuits were selected to use full convolutional network (FCN), residual network (RESNET) and self-attention network (TRANSFORMER) for fault diagnosis algorithm research, and a fault diagnosis management method verification platform was built based on this. The algorithm model was built using Python in the Pytorch environment on a computer with 16GB RAM and a 3060 graphics card. The switching power supply circuit based on Tps53355 was analyzed by Pspice sensitivity, and 6 devices with the greatest impact on the output were obtained. The Adam optimizer was used, the total number of epochs trained was 60, and the mini-batch size was fixed to 64. The simulation verification showed that this model can achieve the system engineering management requirements: the fault detection accuracy is not less than 91%, the false alarm rate of lightweight power warning is not higher than 1.05%, and under multiple faults, no less than 3 composite faults can be identified. © 2024 IEEE.

关键词： Power supply circuits

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A Novel Zero Common-Mode Voltage Modulation Strategy for Dual Three-Phase PWM Inverter Based on Unified Voltage Modulation 4

A Novel Zero Common-Mode Voltage Modulation Strategy for Dua...

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4th International Conference on Energy, Power and Electrical Engineering, EPEE 2024

作者： Kan, Jinpeng Meng, Yongqing Li, Changyi Chen, Wenjie Li, Fengjiao Shi, Yixin Xi'an Jiaotong University School of Electrical Engineering Xi'an China Avic Xi'an Flight Automatic Control Research Institute Department of Computer and Electronic Systems Engineering Xi'an China

ISBN: (纸本)9798331518066

Power electronic switching devices and pulse width modulation (PWM) not only improves the performance of motor drive systems, but also brings about common-mode voltage (CMV) issues, that challenging the normal operation of the system. This article proposes a zero common-mode voltage modulation strategy based on unified voltage modulation for a 60° Y-connected six-phase permanent magnet synchronous motor system driven by a dual three-phase inverter. The theoretical basis and zero common-mode implementation scheme of unified modulation are analyzed, and the effectiveness of the proposed zero common-mode voltage modulation strategy is finally verified through simulation. © 2024 IEEE.

关键词： Pulse width modulation

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Online Prediction Product control based on Information-aware Weight and Error Compensation 3

Online Prediction Product Control based on Information-aware...

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3rd International Conference on Computing, Communication, Perception and Quantum technology, CCPQT 2024

作者： Gao, Jie Wang, Jing Zhang, Ying Quality Manage Department Beijing Aerospace Automatic Control Institute Beijing China Projects Executive Office Equipment Integrated Logistics Support Center China Academy of Launch Vehicle Beijing China National Key Laboratory of Science and Technology on Aerospace Intelligent Beijing Aerospace Automatic Control Institute Peking University Beijing China

ISBN: (纸本)9798331528386

This paper applies the information-aware weight method to the field of engineering where the validity of the data characteristics of the prediction object fluctuates or changes rapidly within a limited range. It clarifies the relationship between point similarity and regional similarity, so that the online prediction algorithm has a more acute data characteristic perception ability in the process of responding to data characteristic changes, and can control the life and performance of the product in real time. The error compensation algorithm is based on the relevant theory of the prediction ability solidification after the prediction model training and the use of prior error to approximate the posterior error in the prediction process of the online extreme learning machine derivative algorithm. By establishing a mapping relationship between the input data and the prediction error of the IPW-OSELM algorithm, an error compensation algorithm is formed. Starting from the cost function theory, the IPW-OSELM algorithm effectively integrates multiple parameters such as forgetting factor, regularization parameter and information-aware weight, which improves the overall performance of the WE-OSELM algorithm online prediction and can effectively manage large systems. © 2024 IEEE.

关键词： Prediction models

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Active Damping control Used for Servo System of Satellite Payload with Deteriorating Friction 26

Active Damping Control Used for Servo System of Satellite Pa...

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26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Li, Jialin Chen, Zhen Hu, Hengzai Liu, Xiangdong School of Automatic Beijing Institute of Technology Key Laboratory of Drive and Control of Servo Motion System Ministry of Industry and Information Technology Beijing China

ISBN: (纸本)9798350317589

Due to the non-volatile property, the molybdenum disulfide solid lubrication is widely used in various bearings of spacecraft. Spot flaking of the lubricating material appearing at the end of life will cause the deterioration of friction characteristic and degrade the positioning performance of high precision satellite servo system. To solve this problem, the control model of the servo system based on permanent magnet synchronous machine (PMSM) including friction model is built, and the influence on servo system performance with variation of friction characteristic is investigated in this paper. And then, an active damping control strategy is proposed to improve the precision and speed of response of servo system in the case of deteriorating friction characteristic, and compared with the conventional PI control strategy. Finally, the effectiveness of the active damping control strategy is verified by the simulations and the experimental results on the PMSM driver of the DQ-1 satellite payload. © 2023 IEEE.

关键词： Friction

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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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