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1. Funnel Control of Lower-Triangular Nonlinear Systems With Singular Input-output Links | |||
Hai Liu,Yong-Hua Liu,Chun-Yi Su | |||
Electrics, Communication and Autocontrol Technology 08 March 2024 | |||
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Abstract:In this article, we delve into the issue of output tracking control with predefined transient behavior for lower-triangular nonlinear systems (LTNSs), especially when faced with the presence of unknown nonlinearities. Unlike the results in the current state of the art, the LTNS under consideration exhibits singular input-output links, which is inherently not feedback linearizable. This general characteristic significantly complicates the controller design process, rendering the tool of adding one power integrator (AOPI) ineffective. In response to this challenge, we develop a novel funnel control (FC) algorithm that ingeniously leverages the bilateral barrier functions (BBFs) alongside the $\varrho-\delta$ definition of limit, to meet predefined transient performance specifications of the output tracking. To validate the efficacy of the proposed FC approach, we conduct a comprehensive evaluation of key performance metrics, including tracking error and transient response. | |||
TO cite this article:Hai Liu,Yong-Hua Liu,Chun-Yi Su. Funnel Control of Lower-Triangular Nonlinear Systems With Singular Input-output Links[OL].[ 8 March 2024] http://en.paper.edu.cn/en_releasepaper/content/4762514 |
2. Lidar odometry based on lidar data to image data | |||
Huang Si-Yuan,Jiao Ji-Chao | |||
Electrics, Communication and Autocontrol Technology 02 March 2023 | |||
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Abstract:SLAM (simultaneous localization and mapping) plays an increasingly important role in the field of robotics and autonomous driving. Laser SLAM in some outdoor complex situations, there will still be complex degradation. For some degraded scenes, this paper proposes a lidar odometry method based on converting lidar data into picture data. In this method, a degradation module is designed to detect whether the environment is degraded. If the degradation is followed by the method proposed in this paper. The method first converts the lidar data into canary release image data. Currently, the image already contains the accurate distance information of the lidar, and then processes it as an image through the Deep learning network to generate a stable and reliable lidar odometer. After testing, it is more accurate and robust than the algorithms commonly used in the industry in the kitti dataset and campus environment, It better solves the problems faced by some degraded scenarios. | |||
TO cite this article:Huang Si-Yuan,Jiao Ji-Chao. Lidar odometry based on lidar data to image data[OL].[ 2 March 2023] http://en.paper.edu.cn/en_releasepaper/content/4759215 |
3. Preliminary Study on the Application of Internet of Things in Smart Cinema | |||
Zhang Xiaowei,Lou Peidei | |||
Electrics, Communication and Autocontrol Technology 09 November 2021 | |||
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Abstract:With the improvement of residents\' living standards and the development and advancement of science and technology, movie lovers are no longer satisfied with watching movies, and thus pose new challenges to the operation of theaters. Aiming at the pain points of traditional theaters in terms of energy-saving, intelligence and audience loss, this article proposes the construction of smart theaters in combination with the modern development trend of theaters. The system describes the application of the Internet of Things technology in energy-saving efficiency, data collection, equipment maintenance, and other aspects of smart theaters. , And then design and realize the overall structure of the smart theater. | |||
TO cite this article:Zhang Xiaowei,Lou Peidei. Preliminary Study on the Application of Internet of Things in Smart Cinema[OL].[ 9 November 2021] http://en.paper.edu.cn/en_releasepaper/content/4755705 |
4. MADDPG based Assembly Approach of Cooperative Robotic Arms | |||
LI Yanjiang,WANG Chensheng,YANG Guang,JING Xueliang,LI Yangguang,QIAN Zhixuan | |||
Electrics, Communication and Autocontrol Technology 15 June 2020 | |||
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Abstract:Compared with the single robitic arm, a two-arm cooperative robot has a more complex problem of motion interference. In cooperative assembly problems, traditional control methods need much calculation to establish a mathematical model for motion planning, which can not meet the needs of modern industry. Multi-Agent Reinforcement Learning(MARL) provides a new way to solve the assembly problem. This paper proposes a assembly method of collaborative robotic arm based on MADDPG. A multi-agent system simulation environment is founded based on MuJoCo physical engine and then assembly tasks in the environment are solved with MADDPG model. Finally, the approach is proved to be effective by experiment. | |||
TO cite this article:LI Yanjiang,WANG Chensheng,YANG Guang, et al. MADDPG based Assembly Approach of Cooperative Robotic Arms[OL].[15 June 2020] http://en.paper.edu.cn/en_releasepaper/content/4752399 |
5. Observer-based H∞ Event-triggered Control for Piecewise Affine Systems | |||
JIANG Yong-Hao,WU wei,WU wei | |||
Electrics, Communication and Autocontrol Technology 13 January 2020 | |||
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Abstract:This paper investigates output-based H∞ event-triggered control for piecewise affine systems. Firstly, to cope with the situation that the system states are not completely measurable, an observer is designed. Then based on the observer and the system output, an event-triggering mechanism as well as the feedback controller are proposed. The output space partition of the piecewise affine system is approximated by degenerate ellipsoids. Based on the piecewise Lyapunov function, the co-design problem of the observer, the controller and the event-triggering rule is transformed into an LMI-based sufficient condition. The observer and the controller can be obtained by solving a set of LMIs. The stability of the closed-loop system is guaranteed and meanwhile the number of the transmission can be significantly reduced. Finally, a numerical example is provided to illustrate the effectiveness of the proposed approach. | |||
TO cite this article:JIANG Yong-Hao,WU wei,WU wei. Observer-based H∞ Event-triggered Control for Piecewise Affine Systems[OL].[13 January 2020] http://en.paper.edu.cn/en_releasepaper/content/4750414 |
6. 3D visualization application of ocean temperature field | |||
ZHOU Zhongyuan,ZHOU Weidong | |||
Electrics, Communication and Autocontrol Technology 11 January 2020 | |||
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Abstract:Sea water temperature is a physical quantity that represents the thermal state of the ocean. Depending on the state of the ocean thermal budget and time, the ocean temperature field will periodically or irregularly change with time. Current research on ocean temperature fields is mainly focused on marine fishing, aquaculture, etc., or research on specific sampling and reconstruction methods of sea temperature. From the perspective of the practical application of underwater vehicle equipment, this paper studies the display method of ocean temperature field data. Compared with the current device that displays the temperature field information change pattern by curve values, the three-dimensional visualization method can more intuitively and effectively describe and describe the current state of the temperature field environment in the sea area, and improve the commander's understanding and application of the temperature field as a whole Making tactical decisions provides reliable technical support, so it has broad prospects in practical engineering equipment applications. This paper analyzes the seawater temperature field data characteristics and sampling methods, uses ray projection volume rendering method to realize three-dimensional display of the ocean temperature field, and encodes data classification, coordinate conversion, and resampling specific processes. | |||
TO cite this article:ZHOU Zhongyuan,ZHOU Weidong. 3D visualization application of ocean temperature field[OL].[11 January 2020] http://en.paper.edu.cn/en_releasepaper/content/4750518 |
7. An improved event-triggered mechanism for networked cascade control system with stochastic nonlinearities | |||
Gu Zhou ,Zhao Huan ,Yang Lin Hui | |||
Electrics, Communication and Autocontrol Technology 10 May 2017 | |||
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Abstract:This paper proposes an improved event-triggered mechanism for networked cascade control system $(NCCS)$ with network-induced delay and stochastic nonlinearities. Firstly, different from the conventional method by preestablishing a fixed triggering parameter, the improved event-triggered mechanism in this paper can adaptively adjust the triggering parameter with respect to the time interval and the dynamic error to reduce the transmission rate while limiting the maximum allowable number of continuous packet loss $(MAPL)$. Secondly, a model of $NCCS$ is established with consideration of network-induced delay, multiplicative stochastic nonlinearities and uncertainties. The multiplicative stochastic disturbances are in the form of a scalar Gaussian white noise with unit variance. Thirdly, by using the linear matrix inequality $(LMI)$ method, sufficient conditions are established that ensure the mean-square stability of the $NCCS$, and then controllers' parameters are characterized by the solution to a set of $LMI$. Finally,two examples are exploited to show the effectiveness of the proposed event-triggered mechanism. | |||
TO cite this article:Gu Zhou ,Zhao Huan ,Yang Lin Hui . An improved event-triggered mechanism for networked cascade control system with stochastic nonlinearities[OL].[10 May 2017] http://en.paper.edu.cn/en_releasepaper/content/4732601 |
8. Analysis of a Serial Production Line with Single Part-Type and Multiple Parallel-Machine Workstations | |||
WANG Zheng,YOU Jia,MU Hualing | |||
Electrics, Communication and Autocontrol Technology 25 April 2017 | |||
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Abstract:In this paper, we develop a method of analyzing a serial production line with single part-type and multiple parallel-machine workstations, which has not been paid much attention to in existing literature. At first, we analyze a short line with one parallel-machine workstation and two buffers by constructing its probability balance equation based on a Markov chain model, and evaluating its performances such as throughput and work-in-process level. Then a decomposition-based algorithm is developed for the analysis of a long line with multiple parallel-machine workstations by using the result of short line analysis as building block. Our method is different from traditional decomposition-based method in that our decomposition is workstation-centered while the traditional one is buffer-centered. Numerical experiments shows that result of performance evaluation by using the proposed method is quite close to those obtained by simulation, and our method is much less time-consuming. | |||
TO cite this article:WANG Zheng,YOU Jia,MU Hualing. Analysis of a Serial Production Line with Single Part-Type and Multiple Parallel-Machine Workstations[OL].[25 April 2017] http://en.paper.edu.cn/en_releasepaper/content/4727010 |
9. Dynamic Scheduling of a One-of-a-Kind Production System | |||
WANG Zheng,HUANG Wenjie | |||
Electrics, Communication and Autocontrol Technology 25 April 2017 | |||
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Abstract:In this research, we investigate the dynamic scheduling problem of a one-of-a-kind production (OKP) system with RFID devices. Here, dynamic scheduling means that we schedule every operation of every product according to its real-time state to minimize the average sojourn time of products. To solve this problem, we model the dynamics of an OKP system by reconfigurable timed Petri net, and then develop the difference equations to capture its dynamics, in which the remained workload of products are state variables and the production rates are control variables. A dynamic production scheduling policy is constructed by constructing desired trajectories of the remained workloads for all the products and designing a genetic algorithm-based method to track the desired trajectories. Numerical experiments show that the average sojourn time of the products in the OKP system under the proposed dynamic scheduling algorithm is much shorter than the average sojourn time under traditional scheduling rules. | |||
TO cite this article:WANG Zheng,HUANG Wenjie. Dynamic Scheduling of a One-of-a-Kind Production System[OL].[25 April 2017] http://en.paper.edu.cn/en_releasepaper/content/4727007 |
10. Constrained L1 adaptive control for a class of systems with matched disturbance using online optimization | |||
HAN Siwei,MA Tong,SHEN Jiong,PAN Lei,Chengyu CAO | |||
Electrics, Communication and Autocontrol Technology 21 April 2017 | |||
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Abstract:This paper presents an improvement of L1 adaptive controller to deal with system constraints. By defining an ideal system without disturbance, the original control problem is divided into a disturbance rejection problem and a tracking problem. For the disturbance rejection, the conventional L1 adaptive control is reserved to cancel the effects of disturbance with guaranteed transient performance, while the tracking control signal is produced by introducing a model predictive control (MPC) mechanism. The MPC control uses the ideal system which is guaranteed by the L1 adaptive control as its predictive model, solving a receding horizon optimization problem online with system constraint condition satisfied. Simulation result shows the effectiveness of this approach. | |||
TO cite this article:HAN Siwei,MA Tong,SHEN Jiong, et al. Constrained L1 adaptive control for a class of systems with matched disturbance using online optimization[OL].[21 April 2017] http://en.paper.edu.cn/en_releasepaper/content/4727826 |
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