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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Junpeng Mai Hanzhao Shao Shaojie Liu Yuanzhuo Zhang Liangming Chen Huijuan Feng School of System Design and Intelligent Manufacturing and Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen P. R. China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen P. R. China Department of Mechnical and Energy Engineering Southern University of Science and Technology Shenzhen P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper aims to analyze the motion behavior of an origami robot with a coupled bar-hinge mechanism. By disassembling the planar six-hinge mechanism into two planar four-hinge mechanisms with coupled motion, this paper derives the kinematics of the planar six-hinge mechanism based on the algebraic differential kinematics of the planar four-hinge motions. The rotational angle change and the moving step length of the origami robot are further calculated. Finally, the theoretical motion model is verified with the motion simulation data of the planar six-hinge mechanism origami robot in SolidWorks and the experimental data of the physical model. This verification proves the feasibility of the theoretical analysis, simulation model, and physical model.

关键词： Solid modeling Analytical models Prototypes Kinematics Three-dimensional printing Mathematical models Data models

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A Cyclic Small Phase Theorem

arXiv

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arXiv 2023年

作者： Chen, Chao Chen, Wei Zhao, Di Chen, Jianqi Qiu, Li KU Leuven Leuven3001 Belgium The Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing100871 China The Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong

This paper introduces a brand-new phase definition called the segmental phase for multi-input multi-output linear time-invariant systems. The underpinning of the definition lies in the matrix segmental phase which, as its name implies, is graphically based on the smallest circular segment covering the matrix normalized numerical range in the unit disk. The matrix segmental phase has the crucial product eigen-phase bound, which makes itself stand out from several existing phase notions in the literature. The proposed bound paves the way for stability analysis of a cyclic feedback system consisting of multiple subsystems. A cyclic small phase theorem is then established as our main result, which requires the loop system phase to lie between −π and π. The proposed theorem complements a cyclic version of the celebrated small gain theorem. In addition, a generalization of the proposed theorem is made via the use of angular scaling techniques for reducing conservatism. Copyright © 2023, The Authors. All rights reserved.

关键词： Linear time-invariant system

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Chinese Automation Congress (CAC)

作者： Yumin Lang Jiande Wu Xun Lang Wanke Yu Chuanyan Yang Hongye Su Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) of these RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data.

关键词： Power filters Noise reduction Process control Market research Information filters Noise measurement Oscillators Spectral analysis Monitoring Signal to noise ratio

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Quantification of Valve Stiction in control Loops Using Adaptive Differential Evolution Algorithm

Quantification of Valve Stiction in Control Loops Using Adap...

引用

Chinese Automation Congress (CAC)

作者： Dong Yang Xun Lang Jiande Wu Wanke Yu Songhua Liu Lei Xie Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Accurately and promptly quantifying stiction is crucial for valve maintenance in industrial settings and ensuring the stability of control loop performance. However, current Hammerstein-based stiction quantification methods overlook valve dynamics, potentially leading to inaccurate quantification. Therefore, this paper proposes a novel stiction quantification method based on an adaptive differential evolution algorithm. In addition to considering the impact of valve dynamics on stiction, the proposed method demonstrates a certain level of robustness against the interference of unknown noise. Finally, the effectiveness of the proposed method is demonstrated through a series of simulations and industrial case studies.

关键词： Adaptation models Heuristic algorithms Noise Interference Valves Stability analysis Robustness Data models Maintenance Classification algorithms

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A Sub-mother UAV System Capable of Autonomous Aerial Docking

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年

作者： Li, Gang Lu, Yi He, Bin Pang, Tao Cheng, Bin Zhang, Pengpeng College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai200120 China Shanghai Sunshine Rehabilitation Center Shanghai201613 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai200120 China East China Institute of Computing Technology Shanghai201822 China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China College of Electronic and Information Engineering Tongji University Shanghai China

Completing the docking between two multi-rotor unmanned aerial vehicles (UAVs) in the air has great significance for expanding the application scenarios of multiple UAVs and improving their endurance capability. In this regard, this paper first designs a safe and autonomous docking scheme and constructs a sub-mother UAV *** address the issue of unstable flight in downwash airflow, this paper designs a high-performance control method suitable for the sub-mother UAV system based on Incremental Nonlinear Dynamic Inversion (INDI) and achieves robust attitude control with strong disturbance rejection capability. A UWB-based Ortho-UWB 3D positioning method is proposed in this paper with orthogonal installation, which, after being integrated with visual methods, enables high-precision 3D relative positioning during the docking process of the sub-mother UAV ***, the paper designs a complete docking process for the sub-mother UAVs and incorporates safety constraints into the docking process to ensure the safety of the docking process for both UAVs. Experiments of successfully docking the sub UAV to the mother UAV from bottom to top prove the feasibility and effectiveness of this scheme. © 2024 IEEE.

关键词： Disturbance rejection

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Adaptive Pseudo Inverse control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic systems

引用

IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 916-928页

作者： Xiuyu Zhang Ruijing Jing Zhiwei Li Zhi Li Xinkai Chen Chun-Yi Su School of Automation Engineering Northeast Electric Power Universityand also with Jilin Province International Research Center of Precision Drive and Intelligent ControlJilin 132012China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China Department of Electronic and Information Systems Shibaura Institute of TechnologySaitama 337-8570Japan Department of Mechanical and Industrial Engineering Concordia UniversityQCMontreal H3B 1R6Canada

This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control(DSC)***"pseudo inverse"means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is *** main contributions are summarized as:1)to our best knowledge,it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult;2)by designing the saturated-type hysteresis pseudo inverse compensator,the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis;3)by combining DSC technique with the tracking error transformed function,the"explosion of complexity"problem in backstepping method is overcome and the prespecified tracking performance is *** of stability and experimental results on the hardware-inloop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.

关键词： Adaptive dynamic surface control adaptive pseudo inverse control asymmetric and saturated hysteresis robust control

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Effective-aggregation Graph Convolutional Network for Imbalanced Classification

Effective-aggregation Graph Convolutional Network for Imbala...

引用

IEEE International Conference on Networking, Sensing and control

作者： Kefan Wang Jing An Qi Kang Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China the Department of Electrical and Electronic Engineering Shanghai Institute of Technology Shanghai China the Department of Control Science and Engineering Tongji University Shanghai China

ISBN: (纸本)9781665472449

Classification is a common task and can be achieved by learning a predictive model from a labeled training dataset. However, the imbalanced data distribution makes the model tend to favor the majority class, which reduces the classification performance. Unlike traditional classification models, graph convolutional networks (GCNs) can extract useful feature information from unlabeled data. In this paper, a novel framework for imbalanced classification named effective-aggregation graph convolutional network (EGCN) is proposed. First, a graph generator constructs graph-structured data using both labeled and unlabeled data. Then, an aggregation control unit (ACU) is performed to improve the effectiveness of aggregation. ACU uses local estimation density to limit the aggregation of inter-class edges from a local perspective, and it enhances the aggregation of the minority class from a global perspective based on the imbalance ratio. Finally, the prediction results are obtained by a graph convolutional network. Experimental results on several real-world datasets show that EGCN has promising performance.

关键词： Training Learning systems Scalability Distributed databases Optimization methods Predictive models Feature extraction

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Learning-based Rigid Tube Model Predictive control

arXiv

引用

arXiv 2023年

作者： Gao, Yulong Yan, Shuhao Zhou, Jian Cannon, Mark Abate, Alessandro Johansson, Karl H. Department of Electrical and Electronic Engineering Imperial College London United Kingdom Department of Mathematics University of Stuttgart Germany Department of Electrical Engineering Linköping University Sweden Department of Engineering Science University of Oxford United Kingdom Department of Computer Science University of Oxford United Kingdom Division of Decision and Control Systems KTH Royal Institute of Technology Sweden

This paper is concerned with model predictive control (MPC) of discrete-time linear systems subject to bounded additive disturbance and mixed constraints on the state and input, whereas the true disturbance set is unknown. Unlike most existing work on robust MPC, we propose an algorithm incorporating online learning that builds on prior knowledge of the disturbance, i.e., a known but conservative disturbance set. We approximate the true disturbance set at each time step with a parameterised set, which is referred to as a quantified disturbance set, using disturbance realisations. A key novelty is that the parameterisation of these quantified disturbance sets enjoys desirable properties such that the quantified disturbance set and its corresponding rigid tube bounding disturbance propagation can be efficiently updated online. We provide statistical gaps between the true and quantified disturbance sets, based on which, probabilistic recursive feasibility of MPC optimisation problems is discussed. Numerical simulations are provided to demonstrate the effectiveness of our proposed algorithm and compare with conventional robust MPC algorithms. © 2023, CC BY.

关键词： Model predictive control

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IEEE Transactions on Instrumentation and Measurement 2024年 1-1页

作者： Wu, Jin Wang, Chaoqun Li, Chong Jiang, Yi Zhang, Chengxi Huang, Yulong Qi, Yuhua Xue, Bohuan Jiao, Jianhao Fan, Rui Zhang, Wei Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China School of Control Science and Engineering Shandong University Jinan China Department of Automation and Measurement Ocean University of China Qingdao China Department of Electrical Engineering City University of Hong Kong Hong Kong China School of Internet of Things Jiangnan University Wuxi China Department of Automation Harbin Engineering University Harbin China School of Systems Science and Engineering Sun Yat-Sen University China College of Electronics and Information Engineering Tongji University Shanghai China

Similarity transformation problems are important in robotic instrumentation and computer vision based measurements since in many cases the information of visually observed scene scale is unknown and must be restored for accurate 3-dimensional reconstruction. In existing solvers, the scale is often considered as a scalar, i.e., isotropic, which may be invalid for anisotropic-scale setups. This paper exploits some mathematical coincidences that will lead to efficient solution to these problems. Possible further applications also include hand-eye calibration and structure-from-motion. We revisit pose estimation problems within the framework of similarity transformation, the one that considers scale-stretching, rotation and translation simultaneously. Two major problems are taken into account, i.e., the scale-stretching point-cloud registration and perspective-n-points (PnP). It has been found out that these two problems are quite similar. Moreover, we solve the anisotropic-scale registration problem that is important and is a remaining unsolved one in previous literatures. To compute the globally optimal solution of these non-convex problems, algebraic solution is obtained to compute all local minima using computationally efficient methods. The designed algorithm is deployed for robotic-arm pose estimation. We also extend the algorithm for solving the problem of robust magnetometer calibration. Visual pose experiments verify the superiority of the proposed method compared with representatives, including P3P, Lambda-Twist P3P and EPnP, which can be reproduced by repository in https://***/zarathustr/APnP. IEEE

关键词： Calibration

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Secrecy Outage Probability Analysis for Downlink RIS-NOMA Networks with On-Off control

arXiv

引用

arXiv 2024年

作者： Pei, Yingjie Yue, Xinwei Yi, Wenqiang Liu, Yuanwei Li, Xuehua Ding, Zhiguo Key Laboratory of Information and Communication Systems Ministry of Information Industry Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Electrical Engineering Princeton University Princeton United States School of Electrical and Electronic Engineering The University of Manchester Manchester United Kingdom

Reconfigurable intelligent surface (RIS) has been regarded as a promising technology since it has ability to create the favorable channel conditions. This paper investigates the secure communications of RIS assisted non-orthogonal multiple access (NOMA) networks, where both external and internal eavesdropping scenarios are taken into consideration. More specifically, novel approximate and asymptotic expressions of secrecy outage probability (SOP) for the k-th legitimate user (LU) are derived by invoking imperfect successive interference cancellation (ipSIC) and perfect successive interference cancellation (pSIC). To characterize the secrecy performance of RIS-NOMA networks, the diversity order of the k-th LU with ipSIC/pSIC is obtained in the high signal-to-noise ratio region. The secrecy system throughput of RIS-NOMA networks is discussed in delay-limited transmission mode. Numerical results are presented to verify theoretical analysis that: i) The SOP of RIS-NOMA networks is superior to that of RIS assisted orthogonal multiple access (OMA) and conventional cooperative communication schemes;ii) As the number of reflecting elements increases, the RIS-NOMA networks are capable of achieving the enhanced secrecy performance;and iii) The RIS-NOMA networks have better secrecy system throughput than that of RIS-OMA networks and conventional cooperative communication schemes. Copyright © 2024, The Authors. All rights reserved.

关键词： Cooperative communication

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