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检索条件"机构=The Key Lab of Industrial Computer Control Engineering of Hebei Province"

共 321 条记录，以下是11-20 订阅

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An Improved Fault-Tolerant control and Stabilization for Positive Polynomial Fuzzy Systems

An Improved Fault-Tolerant Control and Stabilization for Pos...

引用

2024 IEEE International Conference on control Science and Systems engineering, ICCSSE 2024

作者： Wang, Ziguang Meng, Aiwen Wang, Mingxuan Li, Zhiquan Yanshan University Key Laboratory of Industrial Computer Control Engineering of Hebei Province Hebei China College of Electronic and Information Engineering Hebei University Hebei China

ISBN: (纸本)9798331517199

This paper presents an improved analysis method to design a fault-tolerant controller for positive polynomial fuzzy systems based on static output feedback as well as actuator faults. Firstly, inspired by the property of fault matrix, a new approach of controller design is presented, and some constraint conditions are introduced to guarantee the stability conditions and posi-tivity conditions to be convex simultaneously. Furthermore, by comparing with the existing methods, this method not only can eliminate the binding to the input matrix B, but also is able to provide a wider range of stability region. Besides, to enhance the relaxation of the stability analysis, we introduce the up-to-date Taylor series membership functions (TSMFs) approximation method such that the information embedded in the membership functions and the state boundary information can be taken into the stability conditions. As a result, on the strength of Lyapunov stability theory, the stability analysis is performed via sum-of-squares (SOS) approach. Finally, a simulation example is given to illustrate the effectiveness and reliability of the proposed method. © 2024 IEEE.

关键词： Fuzzy systems

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Fault Tolerant control Based on GA-DRE for a Manipulator with Actuator Fault 43

Fault Tolerant Control Based on GA-DRE for a Manipulator wit...

引用

43rd Chinese control Conference, CCC 2024

作者： Qiu, Jiongzhi Fang, Yiming Zhao, Donliang Liu, Le Shao, Nuan Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Hebei University of Environmental Engineering Department of Environmental Engineering Qinhuangdao China

ISBN: (纸本)9789887581581

To solve the trajectory tracking control problem of a rigid manipulator system in the case of unexpected actuator failure, considering the uncertainty of system parameters and bounded disturbance, an adaptive fault-tolerant tracking control strategy is proposed in this paper. Firstly, an adaptive strategy is designed to estimate and compensate the effects of actuator failure and system uncertainty, and the dynamic regression matrix is extended and mixed to improve the accuracy of parameter estimation without persistency of excitation (PE), which will enhance the trajectory tracking performance. Then, in the framework of sliding mode fault-tolerant control, combined with standard Gradient Adaptive and Dynamic Regressor Extension (GA-DRE) parameter estimation technology, a composite adaptive fault-tolerant controller is designed. Finally, theoretical analysis and numerical simulation results show that the proposed method can perform accurate parameter estimation in a finite time under the premise of matching the new conditions based on DRE additional terms, and the trajectory tracking errors of the expected positions and velocities of each joint of the manipulator can asymptotically converge to zero. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Sliding mode control

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Motion control of Underactuated Mechanical System via Singular Perturbations 41

Motion Control of Underactuated Mechanical System via Singul...

引用

第41届中国控制会议

作者： ZHOU Zhen GENG Chenchen CUI Ruogeng XIAO Jinzhuang WANG Hongbin College of Electronic Information Engineering Hebei University Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this work,a novel two-time-scale control structure is proposed to perform the motion control problem of the underactuated mechanical *** allows us to analyze the system dynamics in each time scale ***,the underactuated mechanical system is divided into the actuated and the unactuated parts,since that the singular perturbations theorem could be applied ***,in order to facilitate the different speed of convergence,a small positive constant is designed in the auxiliary control variable of actuated *** the low gains can make sure that the actuated states can converge to the desired position in its domain ***,the PD controller with high gains in contrast could have a fast speed,meanwhile the reference trajectory is settled for the unactuated ***,the final controller constructed by incorporating the characteristics of system model has a low *** results on the underactuated system are given to verify the efficacy of the strategy.

关键词： Underactuated mechanical systems Decoupled control Singular perturbations Motion cotrol

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A TCN-Transformer Model of Acceleration Prediction for Preceding Vehicle in CACC Systems 8

A TCN-Transformer Model of Acceleration Prediction for Prece...

引用

8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Tang, Wenzhao Tang, Wenbin Jiao, Xiaohong Zhang, Yahui Zhang, Dongxue Hebei Key Laboratory of Industrial Computer Control Engineering Yanshan University Hebei Province Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9798331504892

This study establishes an acceleration prediction model of the preceding vehicle tailored for cooperative adaptive cruise control (CACC) systems that address the common challenges posed by V2V communication delays or no communication from the preceding vehicle. The designed model integrates a temporal convolutional network (TCN) with the Transformer architecture block to create a sophisticated mechanism for temporal data analysis. This integration leverages the strengths of TCN in capturing spatial features and the multi-attention mechanism of Transformers to enhance the recognition of long-term dependencies in the time series of data. The synergy between these techniques not only effectively narrows the identification gap between short-term and long-term dependencies but also helps to process spatial information for accurate time-series prediction, significantly improving prediction accuracy. Simulations using the NGSIM dataset confirm the model's prediction performance over the traditional model. Further, the potential of the method to solve the communication delay problem is verified, highlighting the effectiveness of TCN and Transformer multi-attention mechanism in improving the CACC capability. © 2024 IEEE.

关键词： Adaptive cruise control

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Hierarchical Energy Management Strategy of Hybrid Electric Truck Fleet under Connected Environment 43

Hierarchical Energy Management Strategy of Hybrid Electric T...

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43rd Chinese control Conference, CCC 2024

作者： Lu, Qizhe Tang, Wenbin Pang, Zitong Zhang, Yahui Jiao, Xiaohong Yanshan University School of Electrical Engineering Qinhuangdao066004 China Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Hebei Province Qinhuangdao066004 China Yanshan University School of Mechanical Engineering Qinhuangdao066004 China

ISBN: (纸本)9789887581581

Considering the slow-moving and energy-consuming issues that tend to occur when truck fleets drive, this paper proposes a hierarchical energy management strategy (EMS) for the hybrid electrical truck (HET) fleet, including speed planning and energy management. The speed threshold range that allows the whole fleet to pass through the traffic light is computed in the upper-layer speed planning. Within the model predictive control framework, a multi-objective optimization function is constructed for speed planning to find the optimum solution. In the lower-layer energy management, an offline model is established for power allocation between the Integrated Starter Generator and the Electric Motor and gear shift selection of automated manual transmission to reduce the dimensionality of the control variables. Then, an adaptive equivalent consumption minimum strategy (A-ECMS) is designed based on the fleet's optimal speed provided. In the offline part, the transformation relationship between the co-state and equivalence factor is established based on Pontryagin's minimum principle (PMP), and PMP obtains the globally optimal control sequence in the historical driving cycle to train a back-propagation neural network (BPNN). The BPNN model predicts the current optimal co-state in the online part, transformed into a real-time optimal equivalence factor to guide the A-ECMS online application. The simulation results indicate that the fuel economy of the proposed EMS is comparable to that of the global optimization method PMP and superior to that of Fixed EF-ECMS and PI-ECMS. Additionally, it enables the HET fleet to pass through traffic lights without stopping, thereby ensuring queue continuity and improving the passage efficiency of the fleet. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Predictive control systems

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A Novel A-ESO Composited Non-Recursive control Methodology for Complex High-Order Disturbed Nonlinear Systems 42

A Novel A-ESO Composited Non-Recursive Control Methodology f...

引用

42nd Chinese control Conference, CCC 2023

作者： Zhang, Cong Liu, Shiji Liu, Shuang School of Electrical Engineering Yanshan University Hebei Qinhuangdao066004 China Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Hebei Qinhuangdao066004 China

ISBN: (纸本)9789887581543

This paper mainly focuses on a disturbance rejection control methodology for a series of mismatched and matched disturbed complex systems. Firstly, a novel finite-time arbitrary-order extended state observer (A-ESO) is proposed to accurately estimate the system states, disturbances, and their corresponding order derivatives. And then, a novel concise nonrecursive control ideology utilizing all the estimations of A-ESO is proposed to strictly guarantee finite-time stability and convergence of the whole closed-loop system. Significantly, compared with the existing nonrecursive control methods, the essential characteristic is that all the estimation information is utilized to construct the composite controller. This will be tremendously conducive to cost-saving and promoting practical implementations. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Disturbance rejection

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MPC-Based Trajectory Tracking control Strategy Incorporating Autonomous Lane-Changing Mechanism for Intelligent Vehicles 8

MPC-Based Trajectory Tracking Control Strategy Incorporating...

引用

8th CAA International Conference on Vehicular control and Intelligence, CVCI 2024

作者： Zhang, Dongxue Liu, Huiwen Jiao, Xiaohong Zhang, Ting Yanshan University Hebei Key Laboratory of Industrial Computer Control Engineering Hebei Province Qinhuangdao066004 China School of Vehicle and Mobility Tsinghua University Beijing China

ISBN: (纸本)9798331504892

Navigating the intricate traffic environment, lane-changing has emerged as a frequent and essential driving maneu-ver for intelligent vehicles. However, it is challenging to guarantee the safety of the intelligent vehicle and the trajectory tracking accuracy against the external environment during lane-changing. Considering these challenges to overcome, the model predictive control (MPC)-based trajectory tracking strategy incorporating an autonomous lane-changing mechanism is proposed in this paper. The autonomous lane-changing mechanism considering lane-changing intention is proposed to ensure that the intelligent vehicle generates safe lane-changing decisions and trajectories. Subsequently, the MPC strategy that considers the physical char-acteristics of the intelligent vehicle is proposed to guarantee the accuracy and smoothness of trajectory tracking. The validation of its effectiveness and advantages is established on the PreScan and MATlab/Simulink co-simulation platforms. © 2024 IEEE.

关键词： Predictive control systems

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An Improved Artificial Potential Field Method for Formation control and Obstacle Avoidance of the Multi-Agents Systems

An Improved Artificial Potential Field Method for Formation ...

引用

2023 China Automation Congress, CAC 2023

作者： Yan, Yubiao Li, Jianxiong Dong, Haibo Gao, Chongyi Fang, Yiming Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China Tangshan University Department of Electromechanical Engineering Tangshan China

ISBN: (纸本)9798350303759

Obstacle avoidance is a significant research content in multi-agents formation control. The obstacle avoidance of multi-agents systems is investigated in this paper, and an improved artificial potential field method (IAPF) is proposed to avoid unknown obstacles in multi-agent formation. Aiming at improving the efficiency of formation avoidance and solving the non-reachable and local minima problems, the dynamic sub-target algorithm is proposed. The proposed method enables the multi-agent system (MASs) to avoid obstacles smoothly and quickly and complete formation tasks in complex environments by tracking dynamic sub-target as well, in which the position and motion direction of adjacent agents are taken into account in the selection of a sub-target for the formation efficiency. In addition, a variable potential field range is defined to ensure the safety of the formation. Finally, several simulation results verify the superiority and effectiveness of the proposed approach. © 2023 IEEE.

关键词： Multi agent systems

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Energy Efficiency Maximization for Hybrid Access Femtocell Networks via Incentive Mechanism and Power control Strategy 13

Energy Efficiency Maximization for Hybrid Access Femtocell N...

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent Systems, CYBER 2023

作者： Liu, Xuelin Wang, Weimin Liu, Zhixin School of Control Science and Engineering Dalian University of Technology Dalian116023 China School of Electrical Engineering Yanshan University Qinhuangdao066004 China Key Lab of Industrial Computer Control Engineering of Hebei Province Hebei Province Qinhuangdao066004 China

ISBN: (纸本)9798350315196

Femtocell network has a great development space in increasing coverage and capacity of wireless network. In order to meet the quality of service (QoS) requirements of MUEs in MBS coverage, we propose a seed channel incentive mechanism in the two-tier femtocell network, where the MBS provides sub-channels to FBSs to motivate them to serve for the MUEs within the MBS coverage. To maximize the energy efficiency of femtocell layer after hybrid access, the optimization problem is modeled. The combined method of worst-case, Dinkelbach and continuous convex approximation is developed to make the optimization problem solvable. In addition, in order to realize the practical application of the proposed scheme, an optimization algorithm combining sub-channel and power allocation is developed. The numerical results show that the proposed algorithm is effective in improving the energy efficiency of the femtocell layer. © 2023 IEEE.

关键词： Femtocell

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Event-Triggered Robust Model Predictive control for Multi-Agent Systems Under Hybrid Attacks 42

Event-Triggered Robust Model Predictive Control for Multi-Ag...

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42nd Chinese control Conference, CCC 2023

作者： Yin, Yongxin Li, Jianxiong Gao, Chongyi Fang, Yiming Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tangshan University Department of Electromechanical Engineering Tangshan063002 China

ISBN: (纸本)9789887581543

In this paper, the consensus control problem for multi-agent systems (MASs) suffering hybrid attacks is discussed, in which the hybrid attacks include randomly occurring deception attacks on system dynamic behavior and denial-of-service attacks (DoS). An event-triggered robust model predictive control (RMPC) method is presented to achieve the consensus of MASs under hybrid attacks. It can be proved that the consensus errors can be asymptotic with prescribed H∞ performance, the sufficient condition for stability can be given in terms of linear matrix inequalities (LMIs), and the controller gains are obtained by solving an optimization problem involving some LMIs. Employing the event-triggered mechanism with maximum trigger interval, not only can not only save computation time and facilitate the efficiency of the shared resources but also can effectively be responsible for the negative impact of cyber-attacks on system performance. Finally, simulation results are given to illustrate the validity and effectiveness of the proposed method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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