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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 760-781页

作者： Dingxin He haoping wang Yang Tian Yida Guo the School of Automation Nanjing University of Science and TechnologyNanjing 210094China IEEE Norinco Group Institute of Navigation and Control Technology Beijing 100089China

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input *** the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller ***,the control gain of ultra-local model is considered as a *** fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped ***,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is ***,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown ***,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown ***,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is ***,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov ***,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

关键词： Adaptive control input deadzone model-free control n-DOF upper-limb exoskeleton neural network

Roll-pitch-yaw autopilot design for nonlinear time-varying missile using partial state observer based global fast terminal sliding mode control

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Chinese Journal of Aeronautics 2016年第5期29卷 1302-1312页

作者： Ahmed Awad wang haoping Sino-French International Joint Laboratory of Automatic Control and Signal Processing (LaFCAS) School of AutomationNanjing University of Science & Technology

The acceleration autopilot design for skid-to-turn （STT） missile faces a great challenge owing to coupling effect among planes, variation of missile velocity and its parameters, inexistence of a complete state vector, and nonlinear aerodynamics. Moreover, the autopilot should be designed for the entire flight envelope where fast variations exist. In this paper, a design of integrated roll-pitch-yaw autopilot based on global fast terminal sliding mode control （GFTSMC） with a partial state nonlinear observer （PSNLO） for STT nonlinear time-varying missile model, is employed to address these issues. GFTSMC with a novel sliding surface is proposed to nullify the integral error and the singularity problem without application of the sign function. The proposed autopilot consisting of two-loop structure, controls STT maneuver and stabilizes the rolling with a PSNLO in order to estimate the immeasurable states as an output while its inputs are missile measurable states and control signals. The missile model considers the velocity variation, gravity effect and parameters＇ variation. Furthermore, the environmental conditions＇ dynamics are mod- eled. PSNLO stability and the closed loop system stability are studied. Finally, numerical simulation is established to evaluate the proposed autopilot performance and to compare it with existing approaches in the literature.

关键词： Flight control system Global fast terminal slidingmode control Integrated autopilot Nonlinear state observer Skid-to-turn missile

A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

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Performance Analysis of Plant Shells/PVC Composites under Corrosion and Aging Conditions

自动化学报（英文版） 2024年第3期

作者： Dingxin He haoping wang Yang Tian Yida Guo

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Journal of Renewable Materials 2024年第5期12卷 993-1006页

作者： haoping Yao Xinyu Zhong Chunxia He College of Engineering Nanjing Agricultural UniversityNanjing210031China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai200240China

To make full use of plant shellﬁbers(rice husk,walnut shell,chestnut shell),three kinds of wood-plastic com-posites of plant shellﬁbers and polyvinyl chloride(PVC)were prepared.X-ray diffraction analysis was carried out on three kinds of plant shellﬁbers to test their *** aging process of the composites was conducted under 2 different *** was artiﬁcial seawater immersion and xenon lamp irradiation,and the other one was deionized water spray and xenon lamp *** mechanical properties(tensile strength,ﬂexural strength,impact strength),changes in color,water absorption,Fourier transform infrared spectroscopy(FTIR),and microstructures of the composites before and after the two aging experiments were *** results showed that the chestnut shell had the highest crystallinity,which was 42%.The chestnut shell/PVC composites had the strongest interface bonding,the least internal defects,and the best general mechanical properties among the three *** tensile strength,bending strength and impact strength were 23.81 MPa,34.12 MPa,and 4.32 KJ·m^(-2),*** the two aging conditions,artiﬁcial seawater immersion and xenon lamp irradiation destroyed the quality of the combination of plant shellﬁbers and PVC,making the internal defects of the composites *** made the water absorption ability and changes in the color of the composites more obvious and led to a great decrease in the mechanical *** general mechanical properties of the chestnut shell/PVC composites were the best,but their water absorption ability changed more obviously.

关键词： Plant shellﬁbers polyvinyl chloride wood-plastic composites artiﬁcial seawater immersion deionized water spray xenon lamp irradiation

工程英语课程教学融入工程伦理要素的必要性及其路径探析

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高教论坛 2022年第3期 42-45页

作者：王浩萍长沙理工大学外国语学院湖南长沙410114

新工科人才培养目标与工程实践特殊性要求大学培养具有良好伦理素养的国际工程师。在工程英语教学中融入工程伦理要素,学生必须在学习专业英语的同时理解与消化工程伦理知识,才能转化为自己的语言进行话题讨论。课堂上宜采用多种教学活... 详细信息

新工科人才培养目标与工程实践特殊性要求大学培养具有良好伦理素养的国际工程师。在工程英语教学中融入工程伦理要素,学生必须在学习专业英语的同时理解与消化工程伦理知识,才能转化为自己的语言进行话题讨论。课堂上宜采用多种教学活动,显性地融入技术、社会和环境等工程伦理知识,帮助学生成长为具有良好工程伦理素养的国际工程师。

关键词：工程英语教学工程伦理教育工程师

Estimation of unknown input for linear systems with commensurate delays

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Estimation of unknown input for linear systems with commensu...

第36届中国控制会议

作者： Gang Zheng haoping wang INRIA Lille-Nord Europe School of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781538629185

This paper investigates the unknown input estimation for a large class of linear systems with commensurate delays. A Luenberger-like observer plus a high order sliding mode differentiator are proposed by involving only the past and actual values of the system output. Sufficient conditions are given to guarantee the existence of such an unknown input estimator.

关键词： Delays Observers Linear systems Servers Europe Automation

Trajectory Tracking Control of a Stratospheric Airship with Fuzzy Sliding mode Control

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Trajectory Tracking Control of a Stratospheric Airship with ...

第37届中国控制会议

作者： Shuyu Yao haoping wang Yang Tian Nanjing University of Science ＆ Technolog Sino-French International Joint Laboratory of Automatic Control and Signal Processing （LaFCAS）Nanjing University of Science and Technology

This paper considers a fuzzy sliding mode control for the trajectory tracking control of a stratospheric airship. Firstly,dynamic modeling and kinematic modeling of the stratospheric airship are proposed. Secondly, the design and stability analysis of the controller are given. Finally, numerical simulations are presented to demonstrate the performance of the proposed controller, and the simulation results indicate that fuzzy sliding mode control reduces chattering effectively and ensures faster convergence and better tacking precision against sliding mode control（SMC）.

关键词： Stratospheric airship Trajectory tracking control Fuzzy sliding mode control

The design and synchronous control of a new lower back exoskeleton

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The design and synchronous control of a new lower back exosk...

第37届中国控制会议

作者： Yujuan SUN haoping wang Yang TIAN Nanjing University of Science ＆ Technology School of AutomationSino-French International Joint Laboratory of Automatic Control and Signal Processing（LaFCAS）

A new wearable power assist device for lower back support is proposed in this *** waist power assist suit is designed to relieve lower back pain and it is equipped with four push rods to realize the three-dimensional rotation around the human waist *** model of the device including the kinematics and the dynamics is presented on the basis of the freedom analysis.A kind of lumbar rehabilitation movement is put *** ensure the coordination work of the four motors,an improved mean deviation coupling control strategy is proposed in this *** demonstrate the effectiveness of the proposed synchronous control strategy,simulation is carried out in Matlab/Simulink and the simulation results show better performances than the compared deviation coupling cooperative control.

关键词： lower back exoskeleton Kinematics dynamics mean deviation coupling cooperative control

Indirect power control of DFIG based wind turbine using fractional order intelligent proportional integral sliding mode controller

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Indirect power control of DFIG based wind turbine using frac...

第40届中国控制会议

作者： Mutasim Mohamed haoping wang Yang Tiang School of Automation Nanjing University of Sci.and Tech.

This paper presents a fractional-order intelligent proportional integral sliding mode controller（FO-iPISMC） to regulate rotor current for indirect power control of a doublyfed induction generator（DFIG） based wind turbine system. The proposed（FO-iPISMC） combines an intelligent proportionalintegral（iPI） control approach with a sliding-mode technique and makes it possible to eliminate the tracking error power in a DFIG. To demonstrate the performance and effectiveness of the proposed（FO-iPISMC）, the simulation results indicate that the proposed（FO-iPISMC） controller has better performance in comparison with the iPI controllers to reduce the total harmonic distortion in rotor currents and minimize chattering phenomena in active and reactive stator powers.

关键词： Wind turbine Indirect power control Total Harmonic Distortion

Extended State Observer based Backstepping Control for Active Suspension System Ride Comfort

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Extended State Observer based Backstepping Control for Activ...

第三十九届中国控制会议

作者： Lei Chang haoping wang Yang Tian LaFCAS School of Automation Nanjing University of Science ＆ Technology

In this paper, a nonlinear model of full-car suspension system is established as the basis of controller design. Considering road excitation and modeling uncertainty, the extended state observer（ESO） is designed to estimate the disturbance,then the Lyapunov based backstepping method is used to track the reference trajectory obtained via a nonlinear filter. A virtual prototype of vehicle suspension is also built on ADAMS software as the simulated real-time controlled system. The co-simulation results of Matlab/Simulink+ADAMS show that the proposed controller has better performance than the passive suspension and the active suspension using the conventional active disturbance rejection controller.

关键词： active suspension extended state observer backstepping control virtual prototype