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5th International Conference on Intelligent Robotics and Applications, ICIRA 2012

作者： Mo, Lei Xu, Bugong Key Laboratory of Autonomous Systems and Network Control South China University of Technology Ministry of Education Guangzhou 510641 China

ISBN: (纸本)9783642335082

Wireless sensor and actuator networks (WSANs) combine a large number of sensor nodes and a lower number of actuator nodes that are connected with wireless medium, providing distributed sensing and executing appropriate tasks to the events monitored in a special region of interest. The design of coordination mechanisms among nodes is considered in this paper. First, we formulate the mathematical models for WSANs system. Then, a strategy is proposed to assign proper tasks to actuators based on the characteristics of current events. Finally, according to system requirements, a distributed PID neural network control scheme is adopted to take coordinated actions of actuators on the given tasks. The simulations demonstrate the effectiveness of our proposed methods. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Actuators

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ADRC Combined with IMC for Non-Minimum Phase systems 42

ADRC Combined with IMC for Non-Minimum Phase Systems

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42nd Chinese control Conference, CCC 2023

作者： Li, Xiangyang Deng, Xindi Tian, Senping Ai, Wei Ministry of Education School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Network Control South China University of Technology Guangzhou510641 China

ISBN: (纸本)9789887581543

The integrated control method, active disturbance rejection control (ADRC) combined with internal model control (IMC), is proposed for non-minimum phase systems. The ADRC combined with IMC is to reduce the influence of zeros on right half plant (RHP), system uncertainty and outer disturbance. An improved IMC is put in the inner loop and ADRC is adopted in the outer loop. In order to enhance the system's stability, an approximate zero phase error model of controlled plant (ZPEM) is used as the internal model in the IMC control loop where the feedback of the inner loop is the dynamic weighted filter sum of the real output and the ZPEM output. The theoretical analysis and simulations verify effectiveness of the proposed method for non-minimum phase systems. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Disturbance rejection

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Output feedback stabilization of networked control systems with uncertain transition probability matrix

Output feedback stabilization of networked control systems w...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Qiu, Li Zhong, Xiaopin Li, Shanbin Xu, Bugong Shenzhen Key Laboratory of Urban Rail Transit College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China Key Laboratory of Autonomous Systems and Network Control School of Control Science and Engineering South China University of Technology Guangzhou 510640 China

ISBN: (纸本)9783902823458

In this paper, the output feedback stabilization problem for a class of discrete-time networked control systems (NCSs) with uncertain transition probability matrix and random packet dropouts are investigated. Random packet dropouts occurring in the sensor-to-controller (S-C) and controller-to-actuator (C-A) are modeled as Markov chain. The resulting closed-loop systems are modeled as discrete-time Markovian jump linear systems (MJLSs) with uncertain transition probability matrix. Su±cient conditions for existence of a output feedback controller which guarantees the stochastic stability of NCS are established based on stochastic Lyapunov function and linear matrix inequality approach. A simulation example illustrates the validity and feasibility of the results. Copyright © 2013 IFAC.

关键词： networked control systems

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On a novel tracking differentiator design based on iterative learning in a moving window

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control Theory and Technology 2023年第1期21卷 46-55页

作者： Xiangyang Li Rafal Madonski Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Network Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510641China Energy and Electricity Research Center Jinan UniversityZhuhai 519070China Department of Electrical and Computer Science Cleveland State UniversityClevelandOH 44115USA

Differential signals are key in control engineering as they anticipate future behavior of process variables and therefore are critical in formulating control laws such as proportional-integral-derivative(PID).The practical challenge,however,is to extract such signals from noisy measurements and this difficulty is addressed first by *** in the form of linear and nonlinear tracking differentiator(TD).While improvements were made,TD did not completely resolve the conflict between the noise sensitivity and the accuracy and timeliness of the *** two approaches proposed in this paper start with the basic linear TD,but apply iterative learning mechanism to the historical data in a moving window(MW),to form two new iterative learning tracking differentiators(IL-TD):one is a parallel IL-TD using an iterative ladder network structure which is implementable in analog circuits;the other a serial IL-TD which is implementable digitally on any computer *** algorithms are validated in simulations which show that the proposed two IL-TDs have better tracking differentiation and de-noise performance compared to the existing linear TD.

关键词： Tracking differentiator(TD) Iterative learning Iterative learning tracking differentiator(IL-TD) Active disturbance rejection control(ADRC)-Two-dimensional system(2-D system)

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H∞Performance Realization and Switching controller Design 34

H∞Performance Realization and Switching Controller Design

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34th Chinese control Conference, CCC 2015

作者： Wei, Xie Kone, Penantcha College of Automation Science and Technology South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Network Control South China University of Technology Ministry of Education Guangzhou China

ISBN: (纸本)9789881563897

This paper deals with switching controller design that includes several linear time-invariant (LTI) controllers-all of them capable of stabilizing a specific LTI plant-in such a way that the H∞control performance of the closed-loop system is guaranteed for any switching sequence. It is shown that it is possible to find realizations for these controller transfer matrices so that the closed-loop system remains H∞control performance under arbitrary switching. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： H∞ performance realization Random switching Realization theory Switching control

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Variable weight based clustering approach for load balancing in wireless sensor networks 4th

Variable weight based clustering approach for load balancing...

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4th International Conference on Geo-Informatics in Resource Management and Sustainable Ecosystem, GRMSE 2016

作者： Liu, Xuxun Xin, Hongyan College of Electronic and Information Engineering South China University of Technology Guangzhou510641 China Key Laboratory of Autonomous Systems and Network Control Ministry of Education South China University of Technology Guangzhou510641 China

ISBN: (纸本)9789811039652

Uneven clustering is one of the feasible methods for energy hole avoidance in a wireless sensor network (WSN). Usually all weight in clustering and routing, such as residual energy of a sensor, distance between different nodes, and so on, are invariable all the time. In fact, with the running of the network, the relative importance of all factors makes the change. A variable weight based clustering approach (VWCA) is composed in this paper for energy hole avoidance in WSNs. The characteristics of the paper are to adjust the weight of residual energy of a sensor and the distance between different nodes. Simulation results show that VWCA does better in energy hole avoidance among all sensor nodes and achieves an obvious improvement on the network lifetime. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Sensor nodes

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Graph Data Augmentation based on Adaptive Graph Convolution for Skeleton-based Action Recognition 9

Graph Data Augmentation based on Adaptive Graph Convolution ...

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9th IEEE International Conference on Computer Science and network Technology, ICCSNT 2021

作者： Yu, Lubin Tian, Lianfang Du, Qiliang School of Automation Science And Engineering South China University And Technology Guangzhou China Zhuhai China Key Laboratory of Marine Environmental Survey Technology And Application Ministry of Natural Resources Guangzhou China Key Laboratory of Autonomous Systems Network Control of Ministry of Education Guangzhou China

ISBN: (纸本)9781665443647

Recently, action recognition based on graph data has received widespread attention. Graph convolutional neural networks need a large amount of graph data support. Therefore, graph data augmentation has significant research value. Existing graph data augmentation methods are generally based on graph structure or graph node features to add or remove graph edges, leading to problems in generality and effectiveness. To improve the above issues, this paper utilizes adaptive graph convolution to design an algorithm that obtains the optimal graph connection for graph data augmentation as graph convolution proceeds, which greatly improves the generalization and effectiveness. The results on NTU-RGBD and Kinetics-Skeleton datasets for skeleton-based action recognition prove that our proposed method reveals better results than existing methods. © 2021 IEEE.

关键词： Convolution

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Experimental Research of Vehicle-Platoon Coordination control Based on TORCS Platform

Experimental Research of Vehicle-Platoon Coordination Contro...

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第35届中国控制会议

作者： Zhixiang Xu Jiemei Jiang Yonggui Liu The Key Laboratory of Autonomous Systems and Network Control Ministry of Educationthe College of Automatic Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781509009107

This paper is an experimental research of vehicle-platoon coordination control based on TORCS platform(The Open Racing Vehicle Simulator).First,the experiment platform is established according to research ***,an experiment method is used to find out the practical algorithms of team coordination ***,the combination of PD control algorithm and the algorithm that the parameters of the differentiation element change along with the derivation of distance between two vehicles is able to control a vehicle platoon successfully.

关键词： Platoon control PD control Algorithm TORCS Vehicle Simulation Platform

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Consensus of Vehicle Platoon with the Hidden Layer Against Stochastic Noise

Consensus of Vehicle Platoon with the Hidden Layer Against S...

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第三十八届中国控制会议

作者： Ziyuan Li Yonggui Liu the Key Laboratory of Autonomous Systems and Network Control Ministry of Education School of Automatic Science and Engineering South China University of Technology

This paper concerns the consensus of the second order vehicle platoon system in presence of stochastic noise. The control protocol is designed to achieve the desired control objective under the predecessor-follower topology. The control objectives include: speeds of all vehicles in the platoon reach the consensus and the spacings between adjacent vehicles approach to be identical. Firstly, the necessary and sufficient conditions are obtained to reach consensus in the noise-free case. Then, the stochastic consensus of the platoon with the hidden layer is analyzed by using the knowledge of stochastic differential equation(SDE). The conditions of control parameters are derived to ensure the almost sure exponential consensus of the platoon. Finally,simulation experiments show the effectiveness of the proposed results.

关键词： Vehicle platoon Hidden layer Consensus Stochastic noise Stochastic differential equation

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