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arxiv 2024年

作者： Zheng, Shiqi Ahn, Choon Ki Jiang, xiaowei Yan, Huaicheng Shi, Peng The School of Automation China University of Geosciences Wuhan430079 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China The Shaoyang Institute of Advanced Manufacturing Technology Shaoyang422000 China The School of Electrical Engineering Korea University Seoul136-701 Korea Republic of The Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education East China University of Science and Technology Shanghai200237 China The School of Electrical and Mechanical Engineering The University of Adelaide AdelaideSA5005 Australia

This paper investigates the cooperative output regulation (COR) of nonlinear multi-agent systems (MASs) with long input delay based on periodic event-triggered mechanism. Compared with other mechanisms, periodic event-triggered control can automatically guarantee a Zeno-free behavior and avoid the continuous monitoring of triggered conditions. First, a new periodic event-triggered distributed observer, which is based on the fully asynchronous communication data, is proposed to estimate the leader information. Second, a new distributed predictor feedback control method is proposed for the considered nonlinear MASs with input delay. By coordinate transformation, the MASs are mapped into new coupled ODE-PDE target systems with some disturbance-like terms. Then, we show that the COR problem is solvable. At last, to further save the communication resource, a periodic event-triggered mechanism is considered in the sensor-to-controller transmission in every agent. A new periodic event-triggered filter is proposed to deal with the periodic event-triggered feedback data. The MASs with input delay are mapped into coupled ODE-PDE target systems with sampled data information. Then, Lyapunov-Krasovskii functions are constructed to demonstrate the exponential stability of the MASs. Simulations verify the validity of the proposed results. © 2024, CC BY-NC-ND.

关键词： Feedback control

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Improved LMI-based conditions for designing of PD-type ILC laws for linear batch processes over two-dimensional setting

Improved LMI-based conditions for designing of PD-type ILC l...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Robert Maniarski Wojciech Paszke Hongfeng Tao Shoulin Hao Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Jiangnan University Wuxi China Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian China

ISBN: (纸本)9781665476881

This paper considers the problem of designing of iterative learning control (ILC) laws for linear batch processes. Unlike the majority of existing results about ILC law design for linear batch processes over repetitive/two-dimensional setting where Lyapunov theory is applied, this study is focused on formulating the ILC law design procedures by transforming it into an equivalent problem of (structural) stability analysis for a linear Roesser model for two-dimensional (2D) systems. Then, based on a non-conservative version of stability and stabilization conditions for linear 2D systems, suitable PD-type ILC laws are derived by the application of the linear matrix inequality (LMI) approach. Finally, a numerical example is given to show the validity of the proposed design procedure and some advantages are emphasized when compared to the existing alternatives.

关键词： State feedback Uncertainty Two dimensional displays Batch production systems Stability analysis Structural engineering Numerical models

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Model Free Adaptive control Algorithm based on GRU network

Model Free Adaptive Control Algorithm based on GRU network

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第33届中国控制与决策会议

作者： Jinggao Sun xianfeng Chen Guanghao Su Hongguang Pan Key Laboratory of Advanced Control and Optimization for Chemical Process Ministry of EducationEast China University of Science and Technology School of Electrical and Control Engineering Xi'an University of Science and Technology

The application of traditional adaptive control algorithm usually depends on the precise mathematical model of process,but it is difficult to establish a mathematical model for a dynamic *** existing Model Free Adaptive(MFA) control algorithm structure is based on Back Propagation(BP) Neural Network,which does not fully take into account the continuous characteristic relationship between the input timing error *** to this actual problem,an improved MFA control algorithm based on Gated Recurrent Unit(GRU) network is proposed in this paper,compared with BP network,GRU network has more advantages in processing timing *** fully considers the information of error sequence,and more appropriate manipulated variable could be generated automatically to satisfy the demand of an open-loop stable and controllable single-variable,multivariable or large delay process system without the need for complicated manual adjustments,quantitative knowledge of the process or the identifier of the controlled system and learning *** results demonstrate that the GRU-MFA learning algorithm performs better in terms of stability,response speed and adaptability than the BP-MFA algorithm without human intervention.

关键词： Model free adaptive control Timing error sequences Gated recurrent unit Learning algorithm

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Point cloud-based registration and image fusion between cardiac SPECT MPI and CTA

arXiv

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arxiv 2024年

作者： Shaojie, Tang Penpen, Miao xingyu, Gao Yu, Zhong Dantong, Zhu Haixing, Wen Zhihui, Xu Qiuyue, Wei Hongping, Yao xin, Huang Rui, Gao Chen, Zhao Weihua, Zhou School of Automation Xi’an University of Posts and Telecommunications Shaanxi Xi’an710121 China Xi'an Key Laboratory of Advanced Control and Intelligent Process Shaanxi Xi’an710121 China Second Clinical Medical School of Nanjing Medical University Jiangsu Nanjing210011 China Department of Cardiology The First Affiliated Hospital of Nanjing Medical University Jiangsu Nanjing210000 China Department of Pharmacy The First Affiliated Hospital of Xi’an Jiaotong University Shaanxi Xi’an710061 China Department of Cardiology The First Affiliated Hospital of Xi’an Jiaotong University Shaanxi Xi’an710061 China Department of Nuclear Medicine The First Affiliated Hospital of Xi’an Jiaotong University Shaanxi Xi’an710061 China Department of Computer Science Kennesaw State University MariettaGA30060 United States Department of Applied Computing Center for Biocomputing and Digital Health Institute of Computing and Cybersystems Health Research Institute Michigan Technological University HoughtonMI49931 United States

A method was proposed for the point cloud-based registration and image fusion between cardiac single photon emission computed tomography (SPECT) myocardial perfusion images (MPI) and cardiac computed tomography angiograms (CTA). Firstly, the left ventricle (LV) epicardial regions (LVERs) in SPECT and CTA images were segmented by using different U-Net neural networks trained to generate the point clouds of the LV epicardial contours (LVECs). Secondly, according to the characteristics of cardiac anatomy, the special points of anterior and posterior interventricular grooves (APIGs) were manually marked in both SPECT and CTA image volumes. Thirdly, we developed an in-house program for coarsely registering the special points of APIGs to ensure a correct cardiac orientation alignment between SPECT and CTA images. Fourthly, we employed ICP, SICP or CPD algorithm to achieve a fine registration for the point clouds (together with the special points of APIGs) of the LV epicardial surfaces (LVERs) in SPECT and CTA images. Finally, the image fusion between SPECT and CTA was realized after the fine registration. The experimental results showed that the cardiac orientation was aligned well and the mean distance error of the optimal registration method (CPD with affine transform) was consistently less than 3 mm. The proposed method could effectively fuse the structures from cardiac CTA and SPECT functional images, and demonstrated a potential in assisting in accurate diagnosis of cardiac diseases by combining complementary advantages of the two imaging modalities. © 2024, CC BY.

关键词： Image fusion

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Implementation of adaptive fault-tolerant tracking control for robot manipulators with integral sliding mode

Research Square

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Research Square 2021年

作者： Liu, Linzhi Zhang, Liyin Hou, Yinlong Tang, Dafeng Liu, Hui Xi’an Key Laboratory of Advanced Control and Intelligent Process School of Automation Xi’an University of Posts and Telecommunications Xi’an China China Ship Scientific Research Center China China State Shipbuilding Corporation Limited Xi’an Dong Yi Science Technology and Industry Group Co. Ltd Xi’an China

This paper addresses an adaptive fault-tolerant tracking control for robot manipulators. By fully considering the effects of uncertainties and actuator effectiveness faults (UAEFs), a robust fault-tolerant tracking control combining with an auxiliary function and an integral sliding manifold is first developed for uncertain robot manipulators. Then, an adaptive law for unknown parameters of the upper bounded uncertainties is constructed to obtain a robust fault-tolerant approach with the elimination of the reaching phase of sliding mode control (SMC). The stability of the proposed approaches is accomplished by Lyapunov stable theory. The key contributions of the proposed approach are as follows: i) the reaching phase of SMC is removed in the control design and then the sliding mode starts at very beginning;(ii) the nominal control term is eliminated in the design of integral sliding surface and then the algebraic loop problem is also avoided in the proposed approach for robot manipulators;(iii) the simple control structure with an adaptive law is obtained for improving chattering-restraining ability of the proposed approach and then the effects of time delay and computational burden are also restrained from the proposed approach. Simulation and experimental comparisons have been accomplished for verifying the effectiveness of the proposed approach. © 2021, CC BY.

关键词： Sliding mode control

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Fuzzy PID control for suppressing stick-slip vibration of drill-string system

Fuzzy PID control for suppressing stick-slip vibration of dr...

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Chinese Automation Congress (CAC)

作者： Shuaikang Hu Chengda Lu Min Wu Zhaoqing He Haitao Song Wangnian Li School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China China Coal Technology and Engineering Group Xi'an Research Institute Co. Ltd Xi'an China

In this paper, a fuzzy PID (Proportional Integral Derivative) controller is introduced to suppress the stick-slip vibration present in the drilling process. First, the dynamical model of stick-slip vibration is composed of the multi-DOF (Degree-Of-Freedom) drill-string model and the Karnopp model describing the interaction of the drill bit with the rock. Then, stability analysis is made for the initial PID parameters of our controller. To suppress the stick-slip vibration and at the same time mitigate the effects of the stratigraphic environment variation on the control performance, the fuzzy adaptive algorithm is chosen as the method of optimization controller parameters. From the experimental results, it is clear that our controller has good control performance in the complex and changing stratigraphic environment.

关键词： Vibrations Drilling PI control Delay effects process control Rocks Stability analysis

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A Gender Recognition Method for Chinese Mitten Crab in Low Light Environment Based on Machine Vision

A Gender Recognition Method for Chinese Mitten Crab in Low L...

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Chinese Automation Congress (CAC)

作者： Junlong Tian Ya Guo Yingfei Liu Jianguo Zhang Yongnian Jiang International Joint Research Center for Intelligent Optical Sensing and Applications Jiangnan University Wuxi China Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University Wuxi China Aquatic and Livestock Station of Yixing Agriculture and Rural Bureau Yixing China Wuxi Agricultural Equipment Technology Extension Center Wuxi China Jiangsu Zhongnong IoT Technology Co. LTD Yixing China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

The acquisition of gender information of Chinese mitten crabs is crucial for survival rate assessment and biomass estimation. Machine vision is commonly used for the automatic gender recognition of Chinese mitten crabs, but the low light conditions caused by deeper containers reduce the accuracy of existing algorithms. To improve the accuracy of gender recognition of Chinese mitten crabs in low light environments, this study incorporates the GAM into the backbone of YOLOv7, improving the capability to distinguish gender-specific features. A lightweight upsampling operator, CARAFE, replaces the original upsampling module, expanding the model's receptive field and better aggregating global information. Using Focal-Clo U to mitigate the impact of low-quality prediction boxes, enabling the model to better optimize high-quality ones. By constructing an image dataset of Chinese mitten crabs in low-light environments to validate the model's performance, experimental results demonstrate that the average precision of the model established in this study is 0.870, 10.6% higher than the most update algorithm GMNet-YOLOv4, effectively performing the classification task of Chinese mitten crabs in low-light environments.

关键词： Biometrics Accuracy Target recognition Machine vision Estimation Object detection Predictive models Containers Prediction algorithms Classification algorithms

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Calculation of Full-Bridge Rectifier and Half-Wave Rectifier in Two Phases/Three Phases Alternating Commutation Mode

Calculation of Full-Bridge Rectifier and Half-Wave Rectifier...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Ji Pang Haochi Wang Lei Yan Xu Han Weiguo Liu Laboratory of Advanced control and intelligent process Xi'an University of Posts & Telecommunications Xi'an China School of Electronic Engineering Xi'an University of Posts & Telecommunications Xi'an China Shaanxi Aero Electric Co. Ltd Aviation Industry Corporation of China Xi'an China Northwestern Polytechnical University Xi'an China

Rotating rectifier plays an important role in Brushless Wound-Rotor Synchronous Starter/Generator (BWRSSG), choosing a suitable rectifier is very essential. In most cases, the out-put current of Full-Bridge Rectifier is higher than Half-Wave Rectifier. However, when facing a longer commutation time, the performance of Full-Bridge Rectifier will be worse than Half-Wave Rectifier. Unfortunately, due to the parameters of Main Exciter (ME) and working state of the excitation system, the rectifier in the BWRSSG always works in Two Phases/Three Phases Alternating Commutation mode. In this state, the performance of Full-Bridge Rectifier is lower than Half-Wave Rectifier. Based on the steady-state equations of voltage and current, the field current of two different rectifiers are derived. Using these analytic expressions, the steady-state analytic out-put current of two rectifiers are calculated, respectively. It is found that when both work in two phases shorting and three phases shorting mode, the output current of Half-Wave Rectifier is higher than Full-Bridge Rectifier. Simulation results verifies the analysis and the proposed mathematical expressions.

关键词： Inductance Commutation Simulation Rectifiers Bridge circuits Voltage Mathematical models

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Practical Fixed-Time Event-Triggered Time-Varying Formation Tracking control for Disturbed Multi-Agent Systems with Continuous Communication Free

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无人系统（英文） 2021年第1期9卷 23-34页

作者： xiaofeng Chai Jian Liu Yao Yu Jianxiang xi Changyin Sun Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of EducationSchool of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083P.R.China School of Automation Southeast UniversityNanjing 210096P.R.China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment of Ministry of EducationAnhui Polytechnic UniversityWuhu 241000P.R.China Rocket Force University of Engineering Xi'an 710025P.R.China School of Automation Southeast UniversityNanjing 210096P.R.China

In this paper,we study the practical fixed-time event-triggered time-varying formation tracking problem of leader-follower multi-agent systems with multi-dimensional ***-time event-triggered control schemes with continuous communication and intermittent communication are developed,*** communication and measurement are avoided,and computation cost is reduced greatly in the latter *** the settling time is to be specified regardless of initial states of ***,tracking errors are adjustable as desired with expected settling *** is demonstrated that time-varying formation tracking can be achieved under the two proposed control schemes and Zeno behavior can be ***,numerical examples are provided to illustrate the effectiveness of the proposed control strategies.

关键词： Time-varying formation tracking fixed-time control event-triggered control multi-agent systems bounded disturbance

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A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot 6

A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot

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6th International Conference on Robotics and Automation Engineering, ICRAE 2021

作者： Chengbo, Li xiaoming, Wang Zixi, Huang Guangyao, Pang xinyu, Han Yaguang, Lin Dalian Free Trade Zone No. 1 High School Dalian China Key Laboratory of Modern Teaching Technology Ministry of Education Xi'an China School of Computer Science Shaanxi Normal University Xi'an710119 China Shenzhen Middle School Shenzhen China Wuzhou University School of Data Science and Software Engineering Wuzhou China Singapore Polytechnic Advanced Robotics and Intelligent Control Centre Singapore

ISBN: (纸本)9781665406970

The application of robots to assist humans in earthquake rescue has always been an important topic that researchers are constantly studying. CoSpace Rescue is an abstract modeling and simulation of earthquake rescue and a simulation platform for studying robot rescue search algorithms. Its mathematical model is a multi-objective optimization problem. In this paper, we propose a search algorithm design framework for the CoSpace Rescue robot. Based On this framework and the idea of the heuristic search algorithm, we design and implement the 'Multi-objective Optimal Dynamic Adaptive On-Demand Search Algorithm'. The results of the experiment show that the algorithm can dynamically adapt to the changes in the environment and significantly improve the search efficiency of the rescue robot. © 2021 IEEE.

关键词： Earthquakes

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