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

作者： He, Yuzhe Wu, Yanjuan Wang, Caiwei Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Binshui Xidao 391 Tianjin China

ISBN: (纸本)9798350320831

In this paper, to improve the recognition accuracy of Densenet-121, we combine Densenet-121 with SVM to generate a new network Densenet-121-SVM. In this paper, the two datasets are combined to generate a new dataset named Mixed-dataset, which has four plants, namely: Lettuce, Chili, Chinee apple, and Lantana, and this dataset is used to train the network. Finally, the recognition accuracies of SVM, Densenet121 and Densenet-121-SVM are 84.144%, 96.211% and 98.181%, respectively, and it can be seen that the accuracy of Densenet-121-SVM is improved by 14% and 1.97% compared to SVM and Densenet-121, respectively. © 2023 IEEE.

关键词： Lettuce

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Linear active disturbance rejection control of phase-shifted full-bridge converter based on improved particle swarm optimization algorithm 20

Linear active disturbance rejection control of phase-shifted...

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

作者： Wang, HongSen Wu, YanJuan Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Binshui Xidao 391 Tianjin China

ISBN: (纸本)9798350320831

In order to improve the dynamic performance and disturbance suppression ability of conventional PID control phase shift full-bridge converter, LADRC based on improved particle swarm optimization is proposed. The voltage loop transfer function of phase-shifted full-bridge converter is derived based on the state space average method. Secondly, LESO and LSEF are designed to estimate and compensate the external disturbance and internal uncertainty in real time. Finally, the advantages of linear active disturbance rejection controller are verified by simulation experiments. The experimental results show that the controller has better disturbance suppression performance and dynamic performance than the traditional PID controller. © 2023 IEEE.

关键词： controllers

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Output Regulation for Multi-Quadrotor by Event-Triggered Mechanism

Output Regulation for Multi-Quadrotor by Event-Triggered Mec...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Che, Shixing Gao, Qiang Ji, Yuehui Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China

ISBN: (纸本)9789811581540

To accomplish the stable tracking of the multi-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., a novel internal model is designed to convert the output regulation problem of the multi-quadrotor system into the robust stabilization problem of augmented system. The designed internal model studies the desired state and desired input for each quadrotor which depends on the sampled signal of the adjacent quadrotor and itself. To this end, a novel distributed event triggered mechanism (DETM) that exclude Zeno phenomenon and a novel distributed event triggered control law (DETCL) are adopted. The stability and boundedness of all signals in the multi-quadrotor system are proved by Lyapunov method. At last, numerical simulation verify the availability of the controller in providing satisfactory tracking response and saving control energy. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Attitude control

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Real-time scheduling strategy for electric vehicles based on sliding window transmission optimization 20

Real-time scheduling strategy for electric vehicles based on...

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

作者： Cong, Peizhi Wu, Yanjuan Wang, Caiwei Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Binshui Xidao 391 Tianjin China

ISBN: (纸本)9798350320831

In order to reduce the impact of electric vehicle(EV) charging load on the power grid, a real-time optimal scheduling scheme for charging and discharging Evs is proposed. Firstly, the objective is to reduce charging costs and network loss costs, aiming to minimize the total cost of EVs at the current time. An EV dispatching model is established, the grid node acceptance capacity performance is analyzed by constructing a network loss sensitivity index, and the EV charging and discharging strategy is obtained in real time based on the time-of-use tariff of the grid load by means of a tide calculation and a sliding window variable speed optimization algorithm as well as a second-order convex optimization calculation method. Finally, the proposed strategy is verified to be effective in reducing the charging cost and network loss cost, and has good real-time flexible dispatching performance, using an improved IEEE 39-node distribution network as an example. © 2023 IEEE.

关键词： Electric vehicles

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Research on Sign Language Gesture Division and Gesture Extraction in Complex Background

Research on Sign Language Gesture Division and Gesture Extra...

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2022 International Conference on Computer Vision, Application, and Algorithm, CVAA 2022

作者： Tian, Yifan Han, Fangfang Zhu, Minfeng Xu, Xiaoliang Li, Yadong School of Electrical Engineering and Automation China Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems China

ISBN: (纸本)9781510664036

Sign language plays an important role in information transmission and emotional communication between deaf-mute people and the outside world. With the development of artificial intelligence technology, the recognition, translation and generation of sign language based on digital image processing have attracted worldwide attention. In the field of sign language recognition, effective hand division and gesture extraction are the first and key steps, which directly affect the accuracy of sign language recognition. In this paper, a hand information extraction method based on depth image processing is proposed to solve the problem of sign language gesture extraction in complex background. For sign language speakers,hands are at the front of their bodies, so the depth images of sign language speakers can be collected by depth camera, and the complex background can be removed and hand information can be extracted by segmenting different color objects in the depth images. In this paper, the D435i camera of Inter is used to capture the depth image of the sign language speaker, and the HSV color space model based on the digital image is used for threshold processing of the fusion of hue components and brightness components to achieve the division of the hand position;through median filtering and mathematical morphology of digital image, division noise is removed and interference is reduced. Through skeleton extraction algorithm, the gesture gesture can be obtained. Experiments show that the proposed acquisition scheme and algorithm flow in this paper can effectively realize hand position division and gesture extraction in complex background conditions, and provide a good foundation for subsequent gesture recognition and expression. © 2023 SPIE.

关键词： Morphology

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Research on Hearing-Impaired EEG Emotion Recognition Based on Deep Residual Shrinkage Networks 42

Research on Hearing-Impaired EEG Emotion Recognition Based o...

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42nd Chinese control Conference, CCC 2023

作者： Cheng, Meiyi Gao, Qiang Bai, Zhongli Chen, Yirui Liu, Yang Song, Yu School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300382 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300382 China

ISBN: (纸本)9789887581543

With the development of affective computing and computer science, electroencephalogram (EEG) based emotion recognition has attracted much more attention. In this paper, we collected EEG signals from fifteen healthy people and fifteen hearing-impaired people when they were watching five kinds of emotional pictures (fear, anger, sadness, happiness and neutral). The collected EEG signals are preprocessed to remove artifacts by independent component analysis (ICA). Then the differential power spectral density, entropy, and wavelet entropy features were extracted (PSD, DE, WE). The Deep Residual Shrinkage Networks (DRSNs) were composed of residual building units (RBU s) and an attention mechanism was used to capture the representative features, and then made a classification. The classification results prove that using DE as a feature for classification is better than other features, with an average accuracy being 76.35% and 80.47% for the hearing-impaired group and the normal group, respectively. Moreover, from the brain topography, we found that there are certain differences in brain function between hearing-impaired and healthy people. © 2023 Technical Committee on control theory, Chinese Association of Automation.

关键词： Electroencephalography

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Path Tracking Motion control Method Of Tracked Robot Based On Improved LQR control 41

Path Tracking Motion Control Method Of Tracked Robot Based O...

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第41届中国控制会议

作者： Jianyun Ni Yong Wang Hao Li Helei Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electronic Engineering and Automation Tianjin University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In order to enhance the trajectory tracking control performance of tracked mobile robot,an improved LQR lateral motion control method is ***,the robot tracking error kinematics model is constructed by using Lagrange function method,and the linear quadratic regulator controller(LQR) and feedforward controller of the tracked mobile robot are ***,the parameters of LQR controller are analyzed,the Q and R weight coefficient matrix of LQR controller is optimized,and the fast rolling optimization algorithm of lateral tracking control based on path tracking error is *** this way,the improvement of the LQR controller is realized,and the adaptability and control accuracy of the controller and the dynamic performance of the system are ***,test the designed controller through Matlab/Simulink *** simulation results show that the improved LQR controller can track the target path well,and can control the distance deviation and heading deviation in a small range.

关键词： Tracked Mobile Robot LQR Path Tracking Motion control

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Extended State Observer-Backstepping control for Grid-Tied PV System 37th

Extended State Observer-Backstepping Control for Grid-Tied P...

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37th Annual Conference on Power System and Automation in Chinese Universities, CUS-EPSA 2022

作者： Xu, Zhao Ji, Yuehui Liu, Junjie The School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems Tianjin300384 China

ISBN: (纸本)9789819914388

As a distributed energy source, the photovoltaic system will affect the stability of the power grid in the grid connected operation mode. To meliorate the control effect of the inverter and the power quality of the grid connected photovoltaic microgrid, a control strategy based on the backstepping method is designed for the grid connected inverter of the photovoltaic system. Firstly, the dynamic model of the photovoltaic system is given, and the unmodeled parts are appended. Secondly, on the basis of backstepping method, the unmodeled amount is compensated by extended state observer, and an arbitrary-order fixed-time differentiator is employed to solve the "computational complexity" problem. Finally, the stability of the system is proved by the Lyapunov theory. The simulation results verify the advanced property of the proposed controller. © 2023, State Grid Electric Power.

关键词： Power quality

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Simulation of Triboelectric Nanogenerator Output Characteristics of Different Resistance Loads 25

Simulation of Triboelectric Nanogenerator Output Characteris...

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Xu, Liang Zhang, Xiuzhe Du, Xiuke Yue, Xiaolong Zhao, Xiande Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin China Beijing Academy of Agriculture and Forestry Sciences Key Laboratory of Agricultural Sensors Ministry of Agriculture Rural Affairs Research Center of Intelligent Equipment Beijing China

ISBN: (纸本)9798350366600

With the increasing demand for green energy, triboelectric nanogenerators (TENG) have the potential to harvest energy from the environment in a small size range to power microelectronic devices. Still, its performance is affected by impedance matching problems. In this study, the effect of impedance matching on the performance of the TENG was investigated. The generator output power is simulated by Simulink software, and the theoretical usability of TENG was demonstrated by driving the load. Firstly, a mathematical model of the TENG was developed to consider its operating principle, and the transferred charge and voltage-current output under different impedance conditions were simulated. Then, the effect of impedance matching on the output of the TENG on its generator was analyzed by adjusting the impedance of the TENG with the external circuit. The results show that by adjusting the impedance value, the generator can be made to work in a more efficient operating region, which helps to promote the development of TENG technology. © 2024 IEEE.

关键词： Triboelectricity

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Tracking control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots

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Journal of Bionic Engineering 2023年第1期20卷 323-337页

作者： Chunying Li Shuxiang Guo Jian Guo Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China

During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or *** this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was ***,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and ***,the Lyapunov theory was adopted to verify the stability and the Slide Mode control(SMC)method is used to verify the robustness of the control *** addition,a series of simulations were conducted to evaluate the effectiveness of proposed control *** tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control ***,a series of experiments in real environment were performed to verify the performance of the control *** simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.

关键词： Path following Obstacle avoidance Bioinspired.Spherical underwater robot(SUR) Lyapunov theory

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