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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cong, B.L. Chen, Z. Liu, X.D. Beijing Institute of Technology Beijing100081 China Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9783902823625

This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve highperformance attitude control in the absence of disturbance and parameter variation. The proposed control law uses small feedback gains to suppress the control torque at large attitude error, and increases those gains with the convergence of attitude error to accelerate the system response. The overshooting phenomenon is also avoided by imposing a restriction on the parameter selection. Then, the integral sliding mode control technique is employed to improve the robustness, where the Lyapunov-based control law is used as the equivalent control part. Theoretical analysis and simulation results verify the effectiveness of the proposed strategy. © IFAC.

关键词： control theory

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Event-based Cubature Kalman Filter for Smart Grid Subject to Communication Constraint

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IFAC-PapersOnLine 2017年第1期50卷 49-54页

作者： Li S. Li Z. Li J. Wang Q. Song Z. Chen Z. Sheng Y. Liu X. Liu Y. School of Automation and Key Laboratory for Intelligent Control Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China Department of control science and engineering Harbin Institute of Technology Harbin 150001 China

Accurate real-time estimation plays an important role in smart grids. Although various filtering algorithms, such as unscented Kalman filter (UKF), have been proposed for phasor measurement unit (PMU), they occupy huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are applied. In order to relief this burden, the event-based cubature Kalman filter (EBCKF) is proposed based on event-based schemes in this paper. The event-based strategy guarantees that only the observations containing innovational information are transmitted, and cubature Kalman filter (CKF), which is based on the spherical cubature integration, provides more accurate estimation than UKF. Besides, the design-oriented communication rate is provided corresponding to the event-based strategy design. 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. © 2017

关键词： communication rate dynamic state estimation Event-based cubature Kalman filter (EBCKF) IEEE 39-bus phasor measurement unit (PMU)

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Modeling of hysteresis in piezoelectric actuator using linear play operator adaptive filter

Modeling of hysteresis in piezoelectric actuator using linea...

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16th Annual Conference and 5th International Conference on Chinese Society of Micro-Nano Technology, CSMNT 2014

作者： Xiong, Rui Liu, Xiangdong Shan, Fengmin Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Automation College Beijing Institute of Technology Beijing China

ISBN: (纸本)9783038354628

Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear play operators (LPO) adaptive hysteresis model is introduced in this paper. LPO operators are used to replace delay operators of adaptive transversal filter to compose a new serial structure of adaptive transversal filter model, and LMS (Least Mean Square) algorithm is used to adjust the weight values. As hysteresis loop of piezoelectric actuator is asymmetric and LPO operator is symmetric, a modified LPO (MLPO) adaptive filter is proposed for asymmetric hysteresis effect. At last, the two LPO filters are applied to model hysteresis characteristic of Piezoelectric actuator, and the modeling effect is verified via a micro-positioning system experiment platform based on Piezoelectric actuator. Experimental results show that the modified LPO filters can achieve better accurate hysteresis modeling. © (2015) Trans Tech Publications, Switzerland.

关键词： Hysteresis

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Distributed Group Coordination of Random Communication Constrained Cyber-Physical systems Using Cloud Edge Computing

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical systems 2024年 2卷 196-205页

作者： Ren, Hongru Long, Yinren Ma, Hui Li, Hongyi Guangdong University of Technology School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangzhou510006 China Guangdong University of Technology School of Mathematics and Statistics Guangzhou510006 China Southwest University College of Electronic and Information Engineering Chongqing Key Laboratory of Generic Technology and System of Service Robots Chongqing400715 China

This paper studied the distributed group coordinated control problem of cyber-physical systems (CPSs) with multi-agent architecture. We build the distributed networked multi-group agent systems (NMGASs) with nonlinear and unknown dynamics via cloud edge computing. The common and challenging situations of random communication constraints in CPSs are considered, including network-induced delay, packet dropout, and packet disorder, which are treated as round-trip time (RTT) delay. To actively compensate for RTT delay and achieve coordination among all agents, a data-driven cloud edge predicted control strategy is designed. This strategy only needs to obtain the I/O measurement data of the systems, and can automatically carry out adaptive learning, which has more extensive application scenarios compared to model-based control methods. Theoretical analysis yields the conditions of simultaneous stability and consensus of the closed-loop systems with the proposed strategy. Finally, the practical examples are provided to illustrate the effectiveness of the proposed strategy. © 2023 IEEE.

关键词： Edge computing

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Parameter-dependent H2state estimation for nonlinearl systems 34

Parameter-dependent H2state estimation for nonlinearl system...

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34th Chinese control Conference, CCC 2015

作者： Yu, Yin Li, Zhen Liu, Xiangdong Liu, Bing School of Automation Beijing Institute of Technology Beijing China Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9789881563897

The state estimation of general nonlinear systems is investigated through a parameter-dependent approach. This paper adopts the polytopic approximation for the nonlinear systems, which facilitates the application of analytical approaches for resultant convex-bounded linear systems into the given nonlinear systems. The design of a high performance H2state estimator is firstly determined by solving a convex optimization problem constrained by relaxed linear matrix inequalities (LMIs). The tensor product (TP) model transformation is then adopted to obtain the polytopic linearization. Specifically, A new process is presented to correct the result of the TP model transformation such that a necessary condition to solve the state estimation problem is assured. Finally, a numerical simulation is performed to illustrate the design process and verify the performance. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： linear matrix inequalities (LMIs) Nonlinear state estimation parameter-dependent H2 filter tensor product (TP) model transformation

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Adaptive robust dynamic surface control of DC torque motors with true parameter estimates

Adaptive robust dynamic surface control of DC torque motors ...

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作者： Li, Zhiping Chen, Jie Gan, Minggang Fang, Hao Zhang, Guozhu Beijing Institute of Technology and Education Ministry Key Laboratory of Complex Systems Intelligent Control and Decision School of Automation Beijing China

ISBN: (纸本)9781424474264

This paper presents an adaptive robust dynamic surface control (ARDSC) algorithm for the position control of DC torque motors which are modeled as third-order nonlinear systems with parametric and nonlinear uncertainties. Based on the dynamic surface control (DSC) approach, the "explosion of terms" problem in the normal adaptive robust control (ARC) is avoided, which enhances the practicability of the controller. Furthermore, besides theoretically proving that the tracking error is uniformly ultimate bounded or asymptotically converge to zero in presence of parametric uncertainties only, the true estimates of the unknown parameters are achieved by designing a novel adaptation law, which improves the system performance and can be used in system monitor and diagnosis on-line as byproducts. Finally, the comparative simulation results illustrate that the proposed algorithm is very effective. © 2010 AACC.

关键词： Position control

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay systems 42

Two Degree of Freedom Active Disturbance Rejection Control S...

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42nd Chinese control Conference, CCC 2023

作者： Shan, Xiyuan Cai, Tao School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the Smith predictor and the active disturbance rejection control (ADRC). The feedforward part of controller is used to track the set point, the feedback part of controller (ADRC) is used to suppress interferences and the Smith predictor is used to correct time delay. The proposed control design is easy to tune parameters and has been proved to effectively control systems with large time delay. The bounded input bounded output (BIBO) stability of closed-loop system is verified. Finally, numerical simulations show the effectiveness and practicality of the proposed design. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Time delay

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An online drilling rate of penetration(ROP) optimization method 41

An online drilling rate of penetration(ROP) optimization met...

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第41届中国控制会议

作者： Tuo Wang Chao Gan Weihua Cao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drilling rate of penetration(ROP) optimization is crucial due to its vital role in increasing the drilling efficiency and decreasing the non-productive *** existing methods seldom pay attention to updating model parameter during drilling,which is actually important for ROP optimization under dynamical and uncertain downhole *** this paper,an online drilling ROP optimization method is proposed via three stages(drilling data pre-processing,online ROP modelling and online optimal operational parameters optimization).In the first stage,drilling data is pre-processed by resampling and Savitzky-Golay *** this,support vector regression and moving-window strategy are introduced together to establish an online ROP model in the next ***,particle swarm optimization algorithm is applied in the online ROP optimization framework to obtain the optimal operational parameters in the last *** results indicated the effectiveness of the proposed method.

关键词： Rate of penetration Drilling optimization Online optimization Moving-window strategy

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A Co-regularization Facial Emotion Recognition Based on Multi-Task Facial Action Unit Recognition 41

A Co-regularization Facial Emotion Recognition Based on Mult...

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第41届中国控制会议

作者： Chinonso Paschal Udeh Luefeng Chen Sheng Du Min Li Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Facial emotion recognition helps feed the growth of the future artificial intelligence with the development of emotion recognition,learning,and analysis of different angles of a human face and head *** worlds recent pandemic gave rise to the rapid installment of facial recognition for fewer applications,while emotion recognition is still within the experimental *** current challenges encountered with facial emotion recognition(FER) are the difference between background *** todays world shows us that humans soon need robotics in the most significant role of human perception,attention,memory,decision-making,and human-robot interaction(HRI) needs *** merging the head pose as a combination towards the FER to boost the robustness in understanding emotions using the convolutional neural networks(CNN).The stochastic gradient descent with a comprehensive model is adopted by applying multi-task learning capable of implicit parallelism,inherent and better global optimizer in finding better network *** executing a multi-task learning model using two independent datasets,the experiment with the FER and head pose learning multi-views co-regularization frameworks were subsequently merged with validation accuracy.

关键词： head pose facial expression convolution neural network deep learning emotion recognition

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Detection and Positioning of Workpiece Grinding Area in Dark Scenes with Large Exposure 1

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Guo, Zhentao Zhao, Guiyu Bian, Jinyue Ma, Hongbin School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. However, the problem of workpiece grinding area detection and positioning is difficult to be solved in dark scenes with large exposure. This paper proposes a method that fuses technologies such as processing of the image, coordinate and point cloud, which can accurately detect and locate the workpiece grinding area. Firstly, A method based on YOLOv7 and improved image preprocessing is used to detect labels of the grinding area. Secondly, A model for the prediction of the coordinates based on multiple linear regression was used to predict the coordinates of missing labels for the same grinding area. Finally, Data processing of the point cloud and transformation of the system of coordinates are used to achieve the acquisition of the coordinates of positioning vertices in the grinding area and conversion from the camera coordinate system to the world coordinate system. We used several sets of data for evaluation in our experiments, and the experimental results show that our proposed method can effectively detect the workpiece grinding area. At the same time, our method can also predict the coordinates of missing labels, which provides a more stable and reliable guarantee for industrial production. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multiple linear regression

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