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Science China(Information Sciences) 2022年第8期65卷 150-163页

作者： Qicheng MEI jinhua she Zhentao LIU Min WU School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

This paper presents an improved equivalent-input-disturbance(EID) approach to deal with periodic disturbances. The approach has two degrees of freedom. One is an improved EID compensator, in which a repetitive controller is inserted in this study. The other is a conventional servo system for a reference *** improved EID compensator estimates and compensates for periodic disturbances without steady-state error, and the servo system ensures a satisfactory tracking performance. The improved EID compensator is designed using the linear-matrix-inequality(LMI) method. Three parameters in an LMI are selected using the particle-swarm-optimization(PSO) algorithm. The state-feedback gain of the conventional servo system is designed using the linear-quadratic-regulator(LQR) method. Simulation results of a rotational control system demonstrate the validity of the approach and its advantage over others.

关键词： equivalent input disturbance (EID) linear matrix inequality (LMI) linear quadratic regulator (LQR) particle swarm optimization (PSO) periodic disturbance repetitive control

Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 427-438页

作者： Pan Yu Kang-Zhi Liu Xudong Liu Xiaoli Li Min Wu jinhua she the Faculty of Information Technology and the Beijing Institute of Artificial Intelligence Beijing University of TechnologyBeijing 100124China IEEE the Department of Electrical and Electronic Engineering Chiba UniversityChiba 263-8522Japan the Beijing Aerospace Automatic Control Institute Beijing 100854China the School of Automation China University of GeosciencesWuhan 430074China the School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan

In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed *** is of two-degree-of-freedom ***,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of *** condition for asymptotic disturbance rejection is ***,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection ***,a robust stabilization condition with less conservativeness is derived for the whole multi-agent ***,a design algorithm is ***,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.

关键词： Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control

Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： jinhua she Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADRC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

Matrix-injection-based transformation method for discrete-time systems with time-varying delay

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Science China(Information Sciences) 2023年第5期66卷 289-290页

作者： Chuan-Ke ZHANG Ke-You XIE Yong HE jinhua she Min WU School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Engineering Tokyo University of Technology

Dear editor,In order to identify the influence of time-varying delays on the stability of control systems represented in a discretetime mode, developing stability criteria of discrete-time delayed systems has received serious attention in the past few decades (see [1–3] and their references).Consider the following linear discrete-time system with a time-varying delay:

关键词： Lyapunov functions

Stand-Up Assistive Devices Allowing Patients to Perform Voluntary Movements within the Safety Movement Tolerance

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Journal of Artificial Intelligence and Technology 2022年第4期2卷 164-173页

作者： Daisuke Chugo Satoshi Muramatsu Sho Yokota jinhua she Hiroshi Hashimoto Kwansei Gakuin University Japan Tokai University Japan Tokyo University Japan Advanced Institute of Industrial Technology Japan

This paper proposes a novel standing assistance robot,which realizes voluntary movements of the patient within a safety motion *** the previous studies,conventional assistive robots did not require patients to use their own physical strength to stand,which led to decreased strength in the *** general assistive robots helped patients by using a fixed motion reference pathway in spite of their original intention,and as a result,these robots failed to use the physical strength of the ***,this study proposes a novel method for assisting the patient to stand up safely while using their physical abilities,by determining the range of movements that can be safely performed from the patient’s physical condition and allowing the patient to move freely within this *** standing motion is a set of different movements:inclining the trunk forward,lifting the trunk,and extending the *** this study,the range of movements in which the patient can safely stand in each movement is determined in terms of body stability and the muscle output that the patient can ***,this study proposes a robot control method that allows movements based on the patient’s free will if the patient’s posture is within the safety tolerance,and it corrects the movements when the patient’s posture is estimated to fall outside of *** proposed idea is implemented in our new prototype,and its effectiveness is verified by experimental results with elderly subjects who live in the nursing care house.

关键词： standing assistance assistive robot safety tolerance musculoskeletal simulation

Quantization-Based Robust Image Watermarking Using the Dual Tree Complex Wavelet Transform

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China Communications 2010年第4期7卷 1-6页

作者： LIU jinhua she Kun School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China

Conventional quantization index modulation (QIM) watermarking uses the fixed quantization step size for the host *** scheme is not robust against geometric distortions and may lead to poor fidelity in some areas of ***,we proposed a quantization-based image watermarking in the dual tree complex wavelet *** took advantages of the dual tree complex wavelets (perfect reconstruction,approximate shift invariance,and directional selectivity).For the case of watermark detecting,the probability of false alarm and probability of false negative were exploited and verified by *** results demonstrate that the proposed method is robust against JPEG compression,additive white Gaussian noise (AWGN),and some kinds of geometric attacks such as scaling,rotation,etc.

关键词：通信技术信号噪声水印

Development of electric cart for improving walking ability — application of control theory to assistive technology

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Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： jinhua she Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

Reduced-order Modeling of Human Body for Brain Hypothermia Treatment

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International Journal of Automation and computing 2016年第2期13卷 159-167页

作者： jinhua she Hiroshi Hashimoto Min Wu School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

Brain hypothermia treatment （BHT） is an active therapy for severe brain injury. It makes the temperature of the brain track a given temperature input curve so as to reduce the risk of tissue damage. BHT requires a brain-temperature control system because of environmental disturbances and changes in the human body. The thermal models of the human body devised so far are usually of a very high order and are not suitable for controlling brain temperature. This paper presents a method of finding a reducedorder thermal model of the human body for use in BHT. It combines minimal realization and balanced realization. Unlike other methods, this method yields a reduced-order model that is based on system theory and that takes the frequency characteristics of human thermal sensation into account. It features high precision in the frequency band for BHT and is suitable for the control of brain temperature.

关键词： Balanced realization brain hypothermia treatment (BHT) minimal realization model reduction human thermal sensation thermal model.

Neutral-point voltage control for a three-level DC-AC inverter using equivalent-input-disturbance approach

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电力系统保护与控制 2013年第1期41卷 183-189页

作者： Zhang Jie Yokoyama Ryuichi she jinhua Wu Win Waseda University Japan Tokyo 169-8050 Tokyo University of Technology Japan Tokyo 192-0982 Central South University Changsha 410083

One problem with a single source three-level inverter is the drafting of its neutral-point voltage. This may occur during transition or when unbalanced loads are connected to the inverter system. Wiation of neutral-point voltage may greatly deteriorate the power quality. In this paper, we employ an equivalent-input-disturbance approach to deal with this problem. By adding an extra neutral leg, the control problem of neutral-point voltage is converted to a disturbance rejection problem. This method suppresses the variation of the neutral-point voltage to a low level and reduces the capacity of DC-link capacitors. Simulation results show the effectiveness of the method.

关键词： inverter multi-level neutral-point voltage EID disturbance

Robust disturbance rejection for a fractional-order system based on equivalent-input-disturbance approach

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Science China(Information Sciences) 2018年第7期61卷 200-211页

作者： Ruijuan LIU jinhua she Min WU Fenfang ZHU Zhuoyun NIE School of Applied Mathematics Xiamen University of Technology Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology School of Automation China University of Geosciences School of Information Science and Engineering National Huaqiao University

This paper presents a disturbance rejection method that is based on the equivalent-inputdisturbance approach for uncertain fractional-order(FO) systems. An FO observer is used to reconstruct the plant states and estimate the disturbances. A disturbance estimator is incorporated in the construction of the FO control system to actively compensate for the entire disturbance. A robust stability condition for the control system and the parameters of the controller are derived using an indirect Lyapunov *** presented method effectively rejects disturbances and handles modeling uncertainties without requiring prior knowledge of the disturbance. Comparison simulations on both numerical and practical examples demonstrate the effectiveness of the proposed method.

关键词： fractional-order system disturbance rejection equivalent-input-disturbance uncertain system Lyapunov method state observer stability