检索结果-南通市图书馆

Adaptive Barrier-Lyapunov-Functions Based Control Scheme of Nonlinear Pure-Feedback Systems with Full State Constraints and Asymptotic Tracking Performance

在线全文

学校读者我要写书评

暂无评论

Journal of Systems Science & Complexity 2024年第3期37卷 965-984页

作者： NIU Ben wang Xiaoan wang Xiaomei wang Xinjun li Tao Faculty of Electronic Information and electrical Engineering Dalian University of TechnologyDalian 116024China School of Information Science and Engineering Shandong Normal UniversityJinan 250014China School of Mathematics Southeast UniversityNanjing 211189China School of automation Nanjing University of Information Science and TechnologyNanjing 210044China

In this paper,the authors propose an adaptive Barrier-Lyapunov-Functions(BLFs)based control scheme for nonlinear pure-feedback systems with full state *** to the coexist of the non-affine structure and full state constraints,it is very difficult to construct a desired controller for the considered *** to the mean value theorem,the authors transform the pure-feedback system into a system with strict-feedback structure,so that the well-known backstepping method can be ***,in the backstepping design process,the BLFs are employed to avoid the violation of the state constraints,and neural networks(NNs)are directly used to online approximate the unknown packaged nonlinear *** presented controller ensures that all the signals in the closed-loop system are bounded and the tracking error asymptotically converges to ***,it is shown that the constraint requirement on the system will not be violated during the ***,two simulation examples are provided to show the effectiveness of the proposed control scheme.

关键词： Asymptotic tracking control barrier Lyapunov functions full state constraints nonlinear pure-feedback systems

Constrained docking control for shipborne UAV SideArm recovery

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2024年第5期37卷 39-59页

作者： Zikang SU Zhuolin XING Xuebing li Chuntao li Xinwei wang Honglun wang College of automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China School of Engineering and Materials Science Queen Mary University of LondonLondon E14NSUK School of automation Science and electrical Engineering Beihang UniversityBeijing 100191China

In this work,we sought to investigate constrained docking control during shipborne SideArm recovery of an Unmanned Aerial Vehicle(UAV)under preassigned safe docking constraints,rough ocean environments,and different initial *** aim was to solve the UAV tracking-lag problem that manifests when attempting to dock with a rapidly moving SideArm and to improve the accuracy and rapidity of ***,together with the formulations of the shipborne SideArm system and environmental airflows,the affine nonlinear dynamics of the hook was established to reduce tracking ***,echo state network approximators with good approximation capacity and low computational consumption were designed to accurately approximate the UAV’s unknown nonlinear *** feedforward compensation provided by these approximators,a nonlinear-mapping-based constrained docking control law was developed for shipborne SideArm recovery of *** approach to controlling the docking trajectory and the forward docking speed of the UAV can achieve rapid and exact docking with a moving SideArm,without violating the preassigned safe docking-constraint *** under different docking scenarios were used to validate the effectiveness and advantages of the proposed docking-control algorithm.

关键词： SideArm recovery Unmanned aerial vehicle Docking control Nonlinear mapping Echo state network

The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong wang Juanjuan li Xuan li Fei-Yue wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

Stochastic LQ Control with Extra Measurability Restriction

在线全文

学校读者我要写书评

暂无评论

Journal of Systems Science & Complexity 2024年第3期37卷 1003-1022页

作者： wang Hongxia HU Yuxi li Zixing SONG lianfeng College of electrical Engineering and automation Shandong University of Science and TechnologyQingdao 266590China

Different from the standard linear quadratic(LQ)problem for stochastic systems,the LQ problem considered in the paper has extra measurability *** problem also appears in the LQ control problem for stochastic systems with delays,rational expectations problems,asymmetric information control,and so *** essential difficulty lies in that one has to optimize the input and its conditional expectations *** stochastic maximum principle(SMP)and orthogonal decomposition technique are the key ***,the authors establish the SMP and convert the original problem into forward and backward stochastic difference equations(FBSDEs)with extra measurability ***,the authors resolve the FBSDEs by using the orthogonal decomposition technique and obtain the analytical solution to the underlying ***,the authors explore the essential distinction between the problem and the standard stochastic LQ control ***,numerical examples are given to illustrate the obtained results.

关键词： Multiplicative noise systems optimal control stochastic maximum principle stochastic systems

Decentralized Optimal Control and Stabilization of Interconnected Systems With Asymmetric Information

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 698-707页

作者： Na wang Xiao liang Hongdan li Xiao Lu the College of electrical Engineering and automation Shandong University of Science and TechnologyQingdao 266000China the School of automation and electrical Engineering Linyi UniversityLinyi 276000China the College of Energy Storage Technology Shandong University of Science and TechnologyQingdao 266000China

The paper addresses the decentralized optimal control and stabilization problems for interconnected systems subject to asymmetric *** with previous work,a closed-loop optimal solution to the control problem and sufficient and necessary conditions for the stabilization problem of the interconnected systems are given for the first *** main challenge lies in three aspects:Firstly,the asymmetric information results in coupling between control and estimation and failure of the separation ***,two extra unknown variables are generated by asymmetric information(different information filtration)when solving forward-backward stochastic difference ***,the existence of additive noise makes the study of mean-square boundedness an *** adopted technique is proving and assuming the linear form of controllers and establishing the equivalence between the two systems with and without additive noise.A dual-motor parallel drive system is presented to demonstrate the validity of the proposed algorithm.

关键词： Asymmetric information decentralized control forwardbackward stochastic difference equations interconnected system stalibization

Steady-state Voltage Security-constrained Optimal Frequency Control for Weak HVDC Sending-end AC Power Systems

在线全文

学校读者我要写书评

暂无评论

Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 658-669页

作者： Qiangqiang wang liangzhong Yao Jian Xu Yuping Zheng Wei li Wei wang School of electrical Engineering and automation Wuhan UniversityWuhan 430072China Hubei Engineering and Technology Research Center for AC/DC Intelligent Distribution Network(Wuhan university) Wuhan 430072China State Key Laboratory of Smart Grid Protection and Control NARI Group Corporation(State Grid Electric Power Research Institute)Nanjing 211106China

Due to the fact that a high share of renewable energy sources(RESs)are connected to high-voltage direct current(HVDC)sending-end AC power systems,the voltage and frequency regulation capabilities of HVDC sending-end AC power systems have *** has resulted in potential system operating problems such as overvoltage and overfrequency,which occur simultaneously when block faults exist in the HVDC *** this study,a steady-state voltage security-constrained optimal frequency control method for weak HVDC sending-end AC power systems is *** integrated virtual inertia control of RESs is employed for system frequency *** dynamic reactive power compensation devices are utilized to control the voltage of all nodes meet voltage security ***,an optimization model that simultaneously considers the frequency and steady-state voltage security constraints for weak HVDC sending-end AC power systems is *** optimal control scheme with the minimum total cost of generation tripping and additional dynamic reactive power compensation required is obtained through the optimization *** are conducted on a modified IEEE 9-bus test system and practical Qing-Yu line commutated converter based HVDC(LCC-HVDC)sending-end AC power system to verify the effectiveness of the proposed method.

关键词： Renewable energy source(RES) high-voltage direct current(HVDC) AC power system optimal frequency control steady-state voltage security dynamic reactive power compensation

Functional near-infrared spectroscopy in non-invasive neuromodulation

在线全文

学校读者我要写书评

暂无评论

Neural Regeneration Research 2024年第7期19卷 1517-1522页

作者： Congcong Huo Gongcheng Xu Hui Xie Tiandi Chen Guangjian Shao Jue wang Wenhao li Daifa wang Zengyong li Beijing Advanced Innovation Center for Biomedical Engineering Key Laboratory for Biomechanics and Mechanobiology of Ministry of EducationSchool of Biological Science and Medical EngineeringBeihang UniversityBeijingChina Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age Disability National Research Center for Rehabilitation Technical AidsBeijingChina School of Mechatronic Engineering and automation Foshan UniversityFoshanGuangdong ProvinceChina School of Rehabilitation Engineering Beijing College of Social AdministrationBeijingChina Key Laboratory of Neuro-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs BeijingChina

Non-invasive cerebral neuromodulation technologies are essential for the reorganization of cerebral neural networks,which have been widely applied in the field of central neurological diseases,such as stroke,Parkinson’s disease,and mental *** significant advances have been made in neuromodulation technologies,the identification of optimal neurostimulation paramete rs including the co rtical target,duration,and inhibition or excitation pattern is still limited due to the lack of guidance for neural *** r,the neural mechanism unde rlying neuromodulation for improved behavioral performance remains poorly ***,advancements in neuroimaging have provided insight into neuromodulation *** near-infrared spectroscopy,as a novel non-invasive optical brain imaging method,can detect brain activity by measuring cerebral hemodynamics with the advantages of portability,high motion tole rance,and anti-electromagnetic *** functional near-infra red spectroscopy with neuromodulation technologies offe rs an opportunity to monitor the cortical response,provide realtime feedbac k,and establish a closed-loop strategy integrating evaluation,feedbac k,and intervention for neurostimulation,which provides a theoretical basis for development of individualized precise neuro *** aimed to summarize the advantages of functional near-infra red spectroscopy and provide an ove rview of the current research on functional near-infrared spectroscopy in transcranial magnetic stimulation,transcranial electrical stimulation,neurofeedback,and braincomputer ***,the future perspectives and directions for the application of functional near-infrared spectroscopy in neuromodulation are *** conclusion,functional near-infrared spectroscopy combined with neuromodulation may promote the optimization of central pellral reorganization to achieve better functional recovery form central nervous system

关键词： brain-computer interface cerebral neural networks functional near-infrared spectroscopy neural circuit neurofeedback neurological diseases neuromodulation non-invasive brain stimulation transcranial electrical stimulation transcranial electrical stimulation

Sawtooth-enhanced bend sensor for gesture recognition

在线全文

学校读者我要写书评

暂无评论

Science china(Technological Sciences) 2024年第6期67卷 1727-1736页

作者： BAI YanRu ZHANG ZiHang wang HaoYu GUO Rui li XiSheng School of automation and electrical Engineering University of Science and Technology BeijingBeijing100083China School of Advanced Engineering University of Science and Technology BeijingBeijing100083China School of Precision Instrument and Opto-Electronics Engineering Tianjin UniversityTianjin300072China School of Computer and Communication Engineering University of Science and Technology BeijingBeijing100083China

Gesture recognition has diverse application prospects in the field of human-computer ***,gesture recognition devices based on strain sensors have achieved remarkable results,among which liquid metal materials have considerable advantages due to their high tensile strength and *** improve the detection sensitivity of liquid metal strain sensors,a sawtooth-enhanced bending sensor is proposed in this *** with the results from previous studies,the bending sensor shows enhanced resistance *** addition,combined with machine learning algorithms,a gesture recognition glove based on the sawtooth-enhanced bending sensor is also fabricated in this study,and various gestures are accurately *** the fields of human-computer interaction,wearable sensing,and medical health,the sawtooth-enhanced bending sensor shows great potential and can have wide application prospects.

关键词： liquid metal bending sensor gesture recognition machine learning

Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui liu Bin Tian Yisheng Lv lingxi li Fei-Yue wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification