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IEEE International Conference on Mechatronics and Automation

作者： Chao Jia Jiaqi Wei Enzeng Dong Xuewei Gao Haocheng He Tianjin Key Laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology Tianjin China College of Electrical and Electronic Engineering Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, a discrete-time sliding mode control method for multi-cylinder hydraulic presses is proposed, which can be applied exactly for computer real-time discrete control in practical engineering. Proposed method bases on discrete-time multi-cylinder hydraulic press model and adopts the design method of the distributed controller. First, the expected virtual force is designed according to the overall output demand, and the discrete-time sliding mode controller is designed to obtain the virtual force. Then the virtual force is separated by control allocation method to obtain the desired output force of each cylinder, finally, the second discrete-time sliding mode controller is designed to control the actual output force of each cylinder. The simulation results show that the proposed method has a good effect on output and leveling control of multi-cylinder hydraulic press and solves its problems of non-linear control and redundancy in discrete-time model.

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Model Reference Scheduling and control Co-design with Random Delay

Model Reference Scheduling and Control Co-design with Random...

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IEEE International Conference on Mechatronics and Automation

作者： Shunli Zhao Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology Tianjin China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Networked control system is drawing more attention in the past few years. A study of model reference scheduling and control co-design with random time delay is proposed in the paper. For the model reference scheduling, the bigger errors between the system states and the ideal states should be firstly dealt with. However, the design of the ideal dynamics can be realized by the different ways. A pole placement method is used to design the controller gain for the ideal dynamics in the paper. Finally, the effectivity is demonstrated by a numerical example.

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Output Regulation for Quadrotor UAV by Event-Triggered Mechanism

Output Regulation for Quadrotor UAV by Event-Triggered Mecha...

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Chinese control Conference (CCC)

作者： Shixing Che Qiang Gao Yuehui Ji Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical and Electronic Engineering Tianjin University of Technology

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

To accomplish the stable tracking of the quadrotor, an attitude controller based on output regulation and event triggered control (ETC) is proposed to save communication and computing resources effectively. Aiming at the problems of asymptotically tracking and rejecting disturbances, a dynamic compensator, i.e., an internal model is designed to convert the output regulation problem of the quadrotor system into the robust stabilization problem of the augmented system. The state-based event triggered control law (ETCL) and the event triggered mechanism (ETM) that exclude the Zeno phenomenon are adopted to solve the stabilization problem. The stability and boundedness of all signals in the control system are proved by Lyapunov method. Finally, simulation results verify the effectiveness of the controller in providing satisfactory tracking performance and saving communication resources.

关键词： Attitude control Unmanned aerial vehicles Mathematical model Computational modeling Observers Vehicle dynamics Stability analysis

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Model Reference Scheduling and Resilient control Co-design with Modulation

Model Reference Scheduling and Resilient Control Co-design w...

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Chinese control and Decision Conference, CCDC

作者： Shunli Zhao Yuehui Ji Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology Tianjin China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

The medium access constraint that only permits limit nodes to gain access to the network is a research focus in the field of networked control systems. A co-design of the model reference scheduling and the resilient control with the modulation is proposed in the paper. The co-design scheme can deal with several representative problems in networked control systems, such as time delays from modulation, the medium access constraint and the perturbation of the controller. Finally, the effectivity of the co-design scheme proposed is demonstrated through a numerical example.

关键词： Delay effects Modulation Perturbation methods Symmetric matrices Networked control systems Delays

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Output Regulation for Quadrotor UAV by Event-Triggered Mechanism

Output Regulation for Quadrotor UAV by Event-Triggered Mecha...

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第三十九届中国控制会议

作者： Shixing Che Qiang Gao Yuehui Ji Tianjin Key Laboratory for Control Theory ＆ Applications in Complicated Systems School of Electrical and Electronic EngineeringTianjin University of Technology

To accomplish the stable tracking of the quadrotor, an attitude controller based on output regulation and event triggered control（ETC） is proposed to save communication and computing resources effectively. Aiming at the problems of asymptotically tracking and rejecting disturbances, a dynamic compensator, i.e., an internal model is designed to convert the output regulation problem of the quadrotor system into the robust stabilization problem of the augmented system. The state-based event triggered control law（ETCL） and the event triggered mechanism（ETM） that exclude the Zeno phenomenon are adopted to solve the stabilization problem. The stability and boundedness of all signals in the control system are proved by Lyapunov method. Finally, simulation results verify the effectiveness of the controller in providing satisfactory tracking performance and saving communication resources.

关键词： quadrotor UAV attitude control output regulation event triggered control

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Role of strategy update rules in the spatial memory-based mixed strategy games

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The European Physical Journal B 2021年第1期94卷 1-11页

作者： Zhang, Fan Wang, Juan Gao, Hongyu Li, Xiaopeng Xia, Chengyi Tianjin Key Laboratory for Control Theory and Complicated Industry Systems Tianjin University of Technology Tianjin People’s Republic of China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin People’s Republic of China Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology Tianjin University of Technology Tianjin People’s Republic of China Engineering Research Center of Learning-Based Intelligent System Ministry of Education Tianjin People’s Republic of China

Based on a continuous mixed strategy game model considering the memory mechanism and the uncertainty of individual decision-making, we explore the influence of several different update rules on the spatial cooperation behavior. Here, we mainly investigate the role of the Moran-like process, Fermi rule and replicator dynamics in the evolution of cooperation. Meanwhile, we further compare the evolution of cooperation when the memory mechanism and individual uncertainty are taken into account. In particular, memory length M and strategy adjustment factor $$\delta $$ can promote the cooperation behavior in different ways. Extensive Monte Carlo simulations indicate that the Moran-like process can generally drive the expansion of cooperative clusters faster and finally achieve the highest frequency of cooperation although the Fermi update rule performs better under the same condition. Moreover, the replicator dynamics create the worst scenario as far as the evolution of cooperation is concerned. Therefore, the level of cooperation strongly depends on the strategy update rules; these findings may be helpful to understand and analyze the evolutionary process of cooperation in many real-world natural and social systems.

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Application of Improved Canny Algorithm in Image of Surgical Instruments

Application of Improved Canny Algorithm in Image of Surgical...

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IEEE International Conference on Mechatronics and Automation

作者： Hongli Liu Kuan Lu Lei Shao Ji Li Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Binshui Xidao Xiqing District Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to improve the inventory efficiency of surgical instruments, a vision system needs to be installed. The edge detection of the image of surgical instruments is an important step to inventory surgical instruments. However, due to the wide variety of surgical instruments and the different sizes, it is necessary to improve the existing edge detection algorithm to satisfy the actual needs. Canny algorithm has been successfully applied in many computer vision systems, but it needs to be set manually when selecting high-low thresholds, it has poor adaptability and relies on human experience, so it cannot be directly applied to edge detection of surgical instruments. In this paper, based on the study of the traditional Canny algorithm, an improved Canny operator edge detection algorithm is proposed which shows the ability to autonomously select the threshold. Experimental results show that the improved Canny algorithm can effectively retain the true edge information, make the edges more continuous, and effectively achieve the edge detection of surgical instruments compared with the traditional Canny algorithm and the multi-scale morphology algorithm.

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Remaining Useful Life Prediction of Lithium-Ion Batteries Using Multi-model Gaussian Process

Remaining Useful Life Prediction of Lithium-Ion Batteries Us...

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IEEE International Conference on Prognostics and Health Management (ICPHM)

作者： Li, Meng Sadoughi, Mohammadkazem Shen, Sheng Hu, Chao School of Electrical and Electronic Engineering and Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin China

ISBN: (纸本)9781538683576

This paper presents a multi-model Gaussian process (MMGP) approach for predicting the RUL of lithium-ion batteries. The proposed MMGP approach incorporates multiple candidate capacity fade models, as the trend functions of a Gaussian process (GP) model, to capture the multi-stage capacity fade trend of the batteries. First, the hypothetical capacities at a predefined number of future cycles are predicted at the current cycle based on the offline data using similarity-based extrapolation. Then, the active fade model is selected by comparing the hypothetical capacities with the GP model-projected capacities using each candidate fade model and the active model is employed as the trend function of the GP model. Finally, the distribution of the RUL is estimated by determining when the projected capacity curves using the GP model down-cross a pre-defined capacity threshold. The MMGP approach was used for the RUL prediction of eight lithiumion battery cells that show multi-stage capacity fade behavior when cycled with a daily current rate (i.e., C/24). The capacities of these cells initially degrade rapidly, followed by a reduced fade rate and then a faster linear fade rate. The RUL prediction results suggest that the proposed MMGP approach can adaptively select proper trend functions for the GP model at different capacity fade stages throughout the lifetime, as well as adapting the models to accommodate variations in the capacity fade performance among different cells.

关键词： Lithium-ion battery Capacity Remaining useful life Prognostics Multiple fade models

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Fire Detection Method Based on Deep Residual Network and Multi-Scale Feature Fusion

Fire Detection Method Based on Deep Residual Network and Mul...

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Chinese Automation Congress (CAC)

作者： Zehao Xiao Enzeng Dong Shengzhi Du Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China Tshwane University of Technology Pretoria South Africa

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Fire can cause serious damage to the natural environment and social economy, if it is not intervened early. Therefore, an effective fire detection method is significant and helpful. In this paper, a fire detection method based on deep learning is proposed to detect fire and smoke. Firstly, the residual network structure is applied to extract depth feature of the image. The problem of shallow features easily disappearing is solved with improved ResNet-50. A network composed of multiple BiFPN modules is established for multi-scale feature fusion and enhancement. Intersection over Union and cross entropy are applied to predict the scope and category of boundary boxes. Finally, the prediction results are obtained by comparing the confidence of the bounding box. Experimental results show that this method performs better in running time and accuracy than the existing detection networks. The feasibility of this method is verified in the field of fire detection.

关键词： Feature extraction Real-time systems Training Convolution Semantics Object detection Residual neural networks

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Energy Consumption Data Prediction Analysis based on EEMD-ARMA Model 17

Energy Consumption Data Prediction Analysis based on EEMD-AR...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Li, Ji Jiang, Xudong Shao, Lei Liu, Hongli Chen, Chao Wang, Gang Du, Dongdong Tianjin University of Technology Tianjin Key Laboratory for Control Theory Applications in Complicated Systems Binshui Xidao 391 Tianjin300384 China Tianjin Co. Ltd Tianjin Economic and Technological Development Zone No.2 Bohai Road Binhai New Area Tianjin China Institute of Data Management and Application China Academy of Industrial Internet Beijing100020 China

ISBN: (纸本)9781728164151

Energy consumption data prediction model based on EEMD-ARMA prediction model is used to predict the nonlinear and non-stationary characteristics of industrial energy consumption data, which leads to the difficulty of data prediction and low prediction accuracy. This paper improves empirical mode decomposition (empirical mode decomposition, EMD) by ensemble empirical mode decomposition (ensemble empirical mode decomposition, EEMD) and predicts energy consumption by combining auto regressive sliding average model (auto regressive and moving average model, ARMA). Finally, the historical data of a certain system is selected as a sample, and the comparative analysis of EMD-ARMA and EEMD-ARMA prediction results is used to verify that the EEMD-ARMA algorithm used is more accurate than the prediction algorithm, and its prediction results have certain reference value for the control of energy consumption data in enterprises. © 2020 IEEE.

关键词： Empirical mode decomposition

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