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IEEE International Conference on control Science and systems Engineering (CCSSE)

作者： Zhibin Hu Jun Hu Junhua Du Yuna Zhao Department of Mathematics Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China

In this paper, the distributed state and fault fusion filtering problem is discussed for a class of multi-sensor networked systems (MSNSs) with randomly occurring quantized measurements (ROQMs). A series of random variables obeying the Bernoulli distribution are adopted to depict the phenomenon of the ROQMs and the fault signal is assumed to appear with an unknown constant type. The aim of this paper is to provide the state and fault fusion filtering algorithm by using the inverse covariance intersection fusion method. Moreover, a proper filter gain is designed by minimizing the local upper bound of filtering error covariance. Finally, the effectiveness of the presented fusion method is verified by using an illustrative example.

关键词： Upper bound Quantization (signal) Filtering Filtering algorithms systems engineering and theory Numerical simulation control systems

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A Causal Fusion Inference Method for Industrial Alarm Root Cause Analysis Based on Process Topology and Alarm Event Data

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Journal of Beijing Institute of Technology 2022年第4期31卷 371-381页

作者： Pan Zhang Wenkai Hu Xiangxiang Zhang Jianqi An School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

Modern industrial systems are usually in large scale,consisting of massive components and variables that form a complex system *** to the interconnections among devices,a fault may occur and propagate to exert widespread influences and lead to a variety of *** the root causes of alarms is beneficial to the decision supports in making corrective alarm *** data-driven methods for alarm root cause analysis detect causal relations among alarms mainly based on historical alarm event *** improve the accuracy,this paper proposes a causal fusion inference method for industrial alarm root cause analysis based on process topology and alarm events.A Granger causality inference method considering process topology is exploited to find out the causal relations among *** topological nodes are used as the inputs of the model,and the alarm causal adjacency matrix between alarm variables is obtained by calculating the likelihood of the topological Hawkes *** root cause is then obtained from the directed acyclic graph(DAG)among alarm *** effectiveness of the proposed method is verified by simulations based on both a numerical example and the Tennessee Eastman process(TEP)model.

关键词： roots cause analysis causality inference process topology alarm events

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Data-Driven Dynamics Modeling of Miniature Robotic Blimps Using Neural ODEs With Parameter Auto-Tuning

arXiv

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arXiv 2024年

作者： Zhu, Yongjian Cheng, Hao Zhang, Feitian State Key Laboratory of Turbulence and Complex Systems the Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China

Miniature robotic blimps, as one type of lighter-than-air aerial vehicles, have attracted increasing attention in the science and engineering community for their enhanced safety, extended endurance, and quieter operation compared to quadrotors. Accurately modeling the dynamics of these robotic blimps poses a significant challenge due to the complex aerodynamics stemming from their large lifting bodies. Traditional first-principle models have difficulty obtaining accurate aerodynamic parameters and often overlook high-order nonlinearities, thus coming to their limit in modeling the motion dynamics of miniature robotic blimps. To tackle this challenge, this letter proposes the Auto-tuning Blimp-oriented Neural Ordinary Differential Equation method (ABNODE), a data-driven approach that integrates first-principle and neural network modeling. Spiraling motion experiments of robotic blimps are conducted, comparing the ABNODE with first-principle and other data-driven benchmark models, the results of which demonstrate the effectiveness of the proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Airships

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Dynamic State Estimation for Power System with Communication Constraint Using Event-Triggered Cubature Kalman Filter

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Journal of Beijing Institute of Technology (English Edition) 2021年第ZK期30卷 129-140页

作者： Wei, Minfeng Xu, Min Zhang, Fengdi School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

Accurate dynamic state estimation plays an important role in power systems. Although various filtering algorithms, such as unscented Kalman filter (UKF) and particle filter (PF), have been proposed based on phasor measurement units (PMUs), they occupy a huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are widely applied in smart grids. In order to relieve this communication burden, the event-triggered cubature Kalman filter (ETCKF) is proposed based on the stochastic event-triggered schedule in this paper, which guarantees that only the measurements containing innovational information are transmitted and has advantages over other event-triggered schedules, such as the deterministic event-triggered schedule, since it can maintain the Gaussian property of the conditional distribution of the system state. Based on the developed nonlinear event-triggered schedule, the cubature Kalman filter (CKF), using the third-degree spherical-radial cubature rule, further provides more accurate estimation than UKF and has lower computational complexity than PF. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2020 Journal of Beijing Institute of Technology

关键词： Phasor measurement units

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The Autonomous Right of Way: Smart Governance for Smart Mobility With Intelligent Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第8期9卷 5243-5246页

作者： Fei-Yue Wang Wuhan Institute of Industrial Innovation and Development Hubei China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

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Quantized impulsive consensus of nonlinear Leader-following multi-agent systems 41

Quantized impulsive consensus of nonlinear Leader-following ...

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第41届中国控制会议

作者： Gang Li Xiaowei Jiang Le You Xianhe Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education School of Electrical Engineering and Automation Hubei Normal University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This work looks into the quantized impulsive consensus challenges of nonlinear leader-following multi-agent *** graph theory,principle of differential dynamics,logarithmic quantizer,matrix theory,and the Lyapunov function,among other things,are used to investigate the key discoveries on *** appropriate consensus protocols which contain quantized all agents' relative state information and quantized a part of agents' relative state *** the sake of reducing communication consumption and energy,we combine two control strategies and design two control protocols according to the characteristics of quantized control and impulsive *** a series of deductions,we find that under quantized impulsive control,multi-agent systems can achieve consensus as long as certain sufficient conditions are ***,the simulation example demonstrates the validity and correctness of this papers theoretical approach.

关键词： Multi-agent systems Leader-following Quantized impulsive consensus

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A Pilot Study on Coupling Behaviors of Limb Movements and Brain Activation Based on EEG and fNIRS Synchronization Information

A Pilot Study on Coupling Behaviors of Limb Movements and Br...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Tang, Xi Li, Qingge Tang, Yao Tian, Lan Zheng, Yue Li, Xiangxin Jiang, Naifu Shang, Peng Li, Guanglin Peng, Liang Fang, Peng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems The Shenzhen Engineering Laboratory of Neural Rehabilitation Technology Shenzhen518055 China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China

ISBN: (纸本)9798350327182

Motion is one of the basic physiological functions of human beings. However, many brain diseases such as stroke may cause different degrees of motor dysfunctions for patients. As a commonly used rehabilitation method, active and passive exercise training may enhance patients' neuromuscular functions and recover their motor abilities. It is known that limb movements are strongly coupled with brain activation but there is currently insufficient exploration on the coupling behaviors from the perspective of informatics. In this study, the coupling relationship between limb movements and brain activation was preliminarily studied based on three healthy subjects. Electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) signals were synchronously collected during lower limb movements, and time-frequency analysis (TFA) and transfer entropy (TE) analysis were performed to quantitatively study the brain activation behaviors. In the experiments, a desynchronization phenomenon of μ rhythm in EEG was observed during exercise states, and the experimental results demonstrate the activation rule of motor and prefrontal cortexes upon limb movements. Calculations show that there exists a bidirectional flow of information between EEG and cerebral oxygen metabolism signals, but with a difference between different directions. This work may support the rehabilitation for patients with motor dysfunctions with a guidance of quantitative indicators and also benefit the exploration on neuroscience. © 2023 IEEE.

关键词： Electroencephalography

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Multiple AMR Rigid Formation control With Collision Avoidance Based On MADDPG 41

Multiple AMR Rigid Formation Control With Collision Avoidanc...

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第41届中国控制会议

作者： Kaiqi Wu Qing Wang YongBao Wu Jian Liu Lei Xue The College of Software Engineering Southeast University SEU-Monash Joint Graduate school Southeast University School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Recently,the formation control of multiple autonomous mobile robots(AMRs) have gained significant attention,and autonomous mobile robots(AMRs) have applied to all aspects of our ***-agent reinforcement learning is used to solve the autonomously sequential decision-making problem of agents in a common environment with competition or ***,we present a utility function and a reward function to achieve formation control with collision avoidance for a rigid AMRs system,and build a simulation environment to meet environmental requirements based on MPE.

关键词： Formation control Reinforcement learning Rigid system Collision avoidance

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MFANet: Mixed Feature Attention Network for Port Lane Detection 42

MFANet: Mixed Feature Attention Network for Port Lane Detect...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Jinwei Su, Jinya Yi, Dewei Yang, Jun Ministry of Education The School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China University of Aberdeen Department of Computing Science AberdeenAB24 3UE United Kingdom

ISBN: (纸本)9789887581543

With the advancement of industrial automation and artificial intelligence technology, unmanned port autonomy has gained increasing attention. Port automatic driving technology is a critical component of unmanned autonomous systems, enabling rubber tire gantry cranes (RTGs) to autonomously navigate by detecting port lanes and implementing control commands. In this study, a deep learning-based method is proposed for detecting port lanes in complex port scenes. The method employs the Inception module and attention mechanism to enhance lane feature extraction, and a structural loss is introduced to explicitly constrain the detection results and incorporate the prior characteristics of port lanes. A novel Mixed Feature Attention Network (MFANet) is proposed to implement the method for port lane detection. Experimental results demonstrate that MFANet effectively improves the accuracy of port lane detection while maintaining high computational efficiency. Furthermore, the performance of MFANet is evaluated in a real-world application scenario. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Computational efficiency

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Chaos Suppression of Power System Based on Finite-time Adaptive Sliding Mode control 20

Chaos Suppression of Power System Based on Finite-time Adapt...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Wang, Hongjun Li, Shuyi Zhao, Hui Yue, Youjun Tianjin University of Technology Key Laboratory of Control Theory and Application for Complex Systems in Tianjin Binshui Xidao Extension 391 Tianjin300384 China Tianjin Agricultural University College of Engineering and Technology 22 Jinjing Road Tianjin300384 China

ISBN: (纸本)9798350320831

Under certain conditions, the power system will produce chaotic oscillation, which may impact the safety and stability of the power grid. Under the action of inductive load, the power system will generate a certain amount of reactive power. Excessive reactive power will lead to the deviation of the voltage phase angle of the power system. Usually, reactive compensation equipment is used to absorb the reactive power in the power system and adjust the voltage phase angle. In this article, the dynamics analysis of chaotic oscillation of the second-order power system model (SOPSM) is firstly carried out, and a global adaptive sliding mode controller based on finite time is designed by comprehensively using backstepping, fixed-time controller and adaptive sliding mode control methods (ASM), which not only realizes the suppression of chaotic oscillation of the power system, but also reduces the computational burden and improves the convergence speed of the system, Finally, MATLAB/Simulink numerical simulation shows that the designed controller can quickly restore the power system from chaotic state to equilibrium state, thus verifying the effectiveness and efficiency of the controller. © 2023 IEEE.

关键词： Sliding mode control

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