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7th Asian Conference on Artificial Intelligence Technology, ACAIT 2023

作者： Xu, Ruizhe Xu, Yihang Wu, Yongbao Liu, Jian Xue, Lei Southeast University Key Laboratory of Measurement And Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9798350359145

This paper studies the control system of multiple stepper motors. Four stepper motors are selected to design the vector control system for the actual application scenario of the unmanned surface vehicles. This paper designs a PWM wave-based motor control algorithm taking into account the characteristics of stepper motors. We proposes a closed-loop control algorithm incorporating magnetic encoders. The system applies CAN bus to realize the communication among stepper motors, enabling distributed cooperative control four stepper motors of the unmanned surface vehicles. In this paper, the multiple stepper motor system is modeled and finally simulated and experimentally verified to achieve cooperative vector control of multiple stepper motors for surface vehicles. © 2023 IEEE.

关键词： Vectors

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On the optimality of uniform velocity-deceleration separation scheme for tethered satellite systems

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control Theory and Technology 2024年第4期22卷 503-516页

作者： Peng Yu Ji-Feng Zhang Shuping Tan Jin Guo Yanlong Zhao School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China Key Laboratory of Knowledge Automation for Industrial Processes Ministry of EducationBeijing100083China Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing100190China Beijing Institute of Control Engineering Beijing100094China

For mitigating the libration angle fluctuation of the tethered satellite system,this paper discusses how to make the uniform velocity-deceleration separation scheme achieve the best ***,a judgment condition is established to determine the tether state by comparing the tether length and the relative distance of the sub-satellite and the parent *** on the tethered satellite system dynamics equation and Clohessy-Wiltshire equation,dynamic models are given for four cases of tether ***,the influence of the uniform velocity-deceleration separation scheme on the libration angle is analyzed by taking the libration angle at the separation ending time and the mean absolute value of the libration angle as index ***,the optimality problem of the uniform velocity-deceleration separation scheme is formulated as an optimization problem with constraints,and an approximate solution algorithm is given by combining the back propagation neural network and Newton-Raphson method of multiple initial ***,the effectiveness of the proposed method is verified by a numerical simulation.

关键词： Tethered satellite systems Libration angle Uniform velocity-deceleration separation Neural network

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Social Radars: Finding Targets in Cyberspace for Cybersecurity

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 279-282页

作者： Lili Fan Changxian Zeng Yutong Wang Jiaqi Ma Fei-Yue Wang School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Dalian Minzu UniversityDalian 116600China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Department of Civil and Environmental Engineering University of CaliforniaLos AngelesCA 90024 USA IEEE State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

INSPIRED by the insight from American political scientist Lasswell, who summarized the environmental role in societal surveillance [1], Schramm coined the term “social radar” [2] as it resembles the activities of radar in collecting and processing information, playing a crucial role in helping humans perceive changes in the internal and external environment and promptly adjusting adaptive behaviors.

关键词： prompt summarized insight

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Relaxed Stability Criteria for Time-Delay systems:A Novel Quadratic Function Convex Approximation Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 996-1006页

作者： Shenquan Wang Wenchengyu Ji Yulian Jiang Yanzheng Zhu Jian Sun College of Electrical and Electronic Engineering Changchun University of TechnologyChangchun 130012China the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying *** introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic *** developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular ***,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre *** a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay ***,the superiority of our results is illustrated through three numerical examples.

关键词： Equivalent reciprocal combination technique quadratic function convex approximation approach stability timevarying delay

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Multi-modal fusion for robust hand gesture recognition based on heterogeneous networks

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Science China(Technological Sciences) 2023年第11期66卷 3219-3230页

作者： ZOU YongXiang CHENG Long HAN LiJun LI ZhengWei School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Hand gesture recognition has become a vital subject in the fields of human-computer interaction and rehabilitation *** paper presents a multi-modal fusion for hand gesture recognition(MFHG)model,which uses two heterogeneous networks to extract and fuse the features of the vision-based motion signals and the surface electromyography(s EMG)signals,*** extract the features of the vision-based motion signals,a graph neural network,named the cumulation graph attention(CGAT)model,is first proposed to characterize the prior knowledge of motion coupling between finger *** CGAT model uses the cumulation mechanism to combine the early and late extracted features to improve motion-based hand gesture *** the s EMG signals,a time-frequency convolutional neural network model,named TF-CNN,is proposed to extract both the signals'time-domain and frequency-domain *** improve the performance of hand gesture recognition,the deep features from multiple modes are merged with an average layer,and then the regularization items containing center loss and the mutual information loss are employed to enhance the robustness of this multi-modal ***,a data set containing the multi-modal signals from seven subjects on different days is built to verify the performance of the multi-modal *** experimental results indicate that the MFHG can reach 99.96%and 92.46%accuracy on hand gesture recognition in the cases of within-session and cross-day,respectively.

关键词： leap motion s EMG multi-modal graph neural network hand gesture recognition

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Geometric attitude tracking control of quadrotor UAVs with adaptive extended state observers

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ISA Transactions 2025年 160卷 289-297页

作者： Wang, Liping Chen, Jiapeng Huang, Yuyuan Zhu, Yongbin Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology Guangzhou510640 China

This paper studies a geometric attitude tracking control problem of quadrotor unmanned aerial vehicles (UAVs) with adaptive extended state observers (AESOs). Through coordinate transformation, the error dynamic of AESO can be transformed into a canonical form which is easier to analyze by linear time-varying theory. In the presence of unknown disturbances and system uncertainties, the estimated error and stability of AESO can be analyzed. Simultaneously, a geometric tracking controller is developed on SO(3) with AESOs which guarantees that the error exponentially converges to a bounded set related to the estimated error. Some examples and a flight test are given to verify the availability of the control scheme. © 2025

关键词： Unmanned aerial vehicles (UAV)

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Adaptive Multi-Dimensional Taylor Network Tracking control for Stochastic Nonlinear systems with Full-State Constraints and Input Saturation 8

Adaptive Multi-Dimensional Taylor Network Tracking Control f...

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8th International Conference on Robotics and automation engineering, ICRAE 2023

作者： Zheng, Xiao-Yi Yan, Hong-Sen Ministry of Education School of Automation Southeast University Key Laboratory of Measurement Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9798350327656

In this study, an adaptive tracking controller using multi-dimensional Taylor network (MTN) is presented for state-constrained nonlinear stochastic systems with saturated input, in which MTN is implemented to model the unknown nonlinear functions. Firstly, the barrier Lyapunov function (BLF) and backstepping technique are combined under a unified framework to eliminate the impact of full-state constraints. Then, the effect raised by saturated input is solved by introducing an appropriate auxiliary system. Furthermore, by employing the Lyapunov stability theorem, the designed adaptive controller could ensure that all closed-loop signals are bounded in probability, the output signal can track the desired signal successfully, the tracking error is bounded by the expected bound, and the system state constraints are never violated. Finally, the efficiency of the suggested control methodology is confirmed by providing an example. © 2023 IEEE.

关键词： Lyapunov functions

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An Adaptive Event-Triggered Secondary Regulation Strategy for Microgrids with Loss of Effectiveness Actuator Faults 49

An Adaptive Event-Triggered Secondary Regulation Strategy fo...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Qiu, Xuechao Wang, Xiangyu Niu, Dan Wang, Xiangyu School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9798350331820

In this paper, an adaptive event-triggered secondary regulation strategy is investigated for microgrids with loss of effectiveness actuator faults. In order to deal with unknown loss of effectiveness actuator faults, a distributed secondary regulation strategy is proposed, which achieves voltage and frequency regulations, as well as power sharing. Meanwhile, to save system resources and relieve the communication burden, an adaptive event-triggered mechanism is designed. Finally, some simulation results are given to validate the proposed strategy, which indicates that the proposed strategy reduces the controller updates and increases the reliability of system. © 2023 IEEE.

关键词： Actuators

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Data-driven output regulation control for constrained linear systems

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Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Research and application of composite stochastic resonance in enhancement detection

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Chinese Physics B 2024年第1期33卷 264-273页

作者：高蕊焦尚彬薛琼婕 School of Automation and Information Engineering Xi'an University of TechnologyXi'an 710048China School of Electronic and Electrical Engineering Baoji University of Arts and SciencesBaoji 721016China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an 710048China

Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combining the Woods–Saxon(WS) model and the improved piecewise bistable model. The model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation, all the parameters in the new model have no coupling characteristics. Under α stable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has higher noise utilization and better detection ***, the new model is applied to image denoising, the results showed that under the same conditions, the output peak signal-to-noise ratio(PSNR) and the correlation number of NCSR method is higher than that of other commonly used linear denoising methods and improved piecewise SR methods, the effectiveness of the new model is verified.

关键词： Woods–Saxon improved piecewise model composite stochastic resonance(SR) image denoising

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