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Adaptive admittance tracking control for interactive robot with prescribed performance

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Journal of Systems engineering and Electronics 2024年第2期35卷 444-450页

作者： MENG Qingrui LIN Yan School of automation Science and Electrical engineering Beihang UniversityBeijing 100190China college of Electrical engineering and automation Shandong University of Science and TechnologyQingdao 266590China

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关键词： prescribed performance admittance control adaptive control robots

Stochastic LQ Control with Extra Measurability Restriction

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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

Artificial neural network-based method for discriminating Compton scattering events in high-purity germaniumγ-ray spectrometer

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Nuclear Science and Techniques 2024年第2期35卷 64-84页

作者： Chun-Di Fan Guo-Qiang Zeng Hao-Wen Deng Lei Yan Jian Yang Chuan-Hao Hu Song Qing Yang Hou college of Nuclear Technology and automation engineering Chengdu University of TechnologyChengdu 610059China

To detect radioactive substances with low activity levels,an anticoincidence detector and a high-purity germanium(HPGe)detector are typically used simultaneously to suppress Compton scattering background,thereby resulting in an extremely low detection limit and improving the measurement ***,the complex and expensive hardware required does not facilitate the application or promotion of this ***,a method is proposed in this study to discriminate the digital waveform of pulse signals output using an HPGe detector,whereby Compton scattering background is suppressed and a low minimum detectable activity(MDA)is achieved without using an expensive and complex anticoincidence detector and *** electric-field-strength and energy-deposition distributions of the detector are simulated to determine the relationship between pulse shape and energy-deposition location,as well as the characteristics of energy-deposition distributions for fulland partial-energy deposition *** relationship is used to develop a pulse-shape-discrimination algorithm based on an artificial neural network for pulse-feature *** accurately determine the relationship between the deposited energy of gamma(γ)rays in the detector and the deposition location,we extract four shape parameters from the pulse signals output by the *** learning is used to input the four shape parameters into the ***,the pulse signals are identified and classified to discriminate between partial-and full-energy deposition *** partial-energy deposition events are removed to suppress Compton *** proposed method effectively decreases the MDA of an HPGeγ-energy dispersive *** results show that the Compton suppression factors for energy spectra obtained from measurements on ^(152)Eu,^(137)Cs,and ^(60)Co radioactive sources are 1.13(344 keV),1.11(662 keV),and 1.08(1332 keV),respectively,and that the corresponding MDAs are 1.4%,5.

关键词： High-purity germaniumγ-ray spectrometer Pulse-shape discrimination Compton scattering Artificial neural network Minimum detectable activity

Decentralized Optimal Control and Stabilization of Interconnected Systems With Asymmetric Information

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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

Novel high-safety aeroengine performance predictive control method based on adaptive tracking weight

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Chinese Journal of Aeronautics 2024年第7期37卷 352-374页

作者： Qian CHEN Hanlin SHENG Jie ZHANG Jiacheng LI college of Energy and Power engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China college of automation engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Increasing attention has been attracted to the dynamic performance and safety of advanced performance predictive control systems of the next-generation *** latest research demonstrates that Subspace-based Improved Model Predictive Control(SIMPC)can overcome the difficulty in solving the predictive model in MPC/NMPC ***,applying constant design parameters cannot maintain consistent control effects in all ***,the designed system relies too much on sensor-measured data,and thus it is difficult to thoroughly validate the safety of the system because of its high *** means that any potential hardware/software faults will endanger the ***,this paper first presents a novel nonlinear mapping relationship to adaptively tune the tracking weight online with the change of Power Lever Angle(PLA)and real-time relative tracking ***,without introducing additional design parameters,an Adaptive Tracking Weight-based SIMPC(ATW-SIMPC)controller is designed to improve the control performance in all operating states ***,a Primary/Backup Hybrid Control(PBHC)strategy with the ATW-SIMPC controller as the primary system and the traditional speed(Nf)controller as the backup system is proposed to ensure *** designed affiliated switching controller and the real-time monitor therein can be used to realize reasonable and smooth switching between primary/backup systems,so as to avoid bump *** PBHC system switches to the Nf controller when the ATW-SIMPC controller is wrong because of potential hardware/software faults;otherwise,the ATW-SIMPC controller keeps acting on the *** main results prove that the ATW-SIMPC controller with the optimal nonlinear mapping relationship,compared with the existing SIMPC controller,uplifts the dynamic control performance by 32%and reduces overshoots to an allowable limit,resulting in a better control effect in full *** comparison results consistently i

关键词： Aeroengine Model predictive control Hybrid system Adaptive weight Safety

Adaptive Observer-Based Finite-Time Fault Tolerant Control for Non-Strict Feedback Systems

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Journal of Systems Science & Complexity 2024年第4期37卷 1526-1544页

作者： SHENG Ning LIU Yang CHI Ronghu AI Zidong college of automation and Electronic engineering Qingdao University of Science and TechnologyQingdao 266042China

This paper considers the adaptive finite-time control and observer design method for a class of non-strict feedback systems with unmeasurable states,unknown nonlinear dynamics and actuator *** this paper,an observer is proposed to estimate the unmeasurable states in finite-time based on adaptive technique and neural networks,while the actuator faults are not *** filter is used to solve the computational explosion and singularity problems caused by the traditional backstepping and non-strict feedback structure,*** the fault efficiency indicators in real systems are not available,two-layer neural networks are adopted,where the first network is to estimate the unknown nonlinearities of systems and the second one is to estimate fault efficiency indicators and unknown nonlinear *** proposed scheme guarantees that states are bounded through stability ***,two experiments including a numerical example and a spring-mass-damper system are given to verify the effectiveness of the proposed method.

关键词： Command filter fault tolerant control finite-time control non-strict systems two-layer neural networks

A novel cascaded H-bridge photovoltaic inverter with flexible arc suppression function

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Global Energy Interconnection 2024年第4期7卷 513-527页

作者： Junyi Tang Wei Gao college of Electrical engineering and automation Fuzhou UniversityFuzhou 350108P.R.China

This paper presents a novel approach that simultaneously enables photovoltaic(PV)inversion and flexible arc suppression during single-phase grounding *** compensate for ground currents through an arc-elimination function,while outputting a PV direct current(DC)power *** method effectively reduces the residual grounding *** reduce the dependence of the arc-suppression performance on accurate compensation current-injection models,an adaptive fuzzy neural network imitating a sliding mode controller was *** online adaptive adjustment law for network parameters was developed,based on the Lyapunov stability theorem,to improve the robustness of the inverter to fault and connection ***,a new arc-suppression control exit strategy is proposed to allow a zerosequence voltage amplitude to quickly and smoothly track a target value by controlling the nonlinear decrease in current and reducing the regulation *** results showed that the proposed method can effectively achieve fast arc suppression and reduce the fault impact current in single-phase grounding *** to other methods,the proposed method can generate a lower residual grounding current and maintain good arc-suppression performance under different transition resistances and fault locations.

关键词： Photovoltaic inverter Flexible arc suppression Adaptive control Fuzzy neural network Sliding mode control Exit strategy

Fully distributed dynamic event-triggered formation-containment tracking for multiagent systems with multiple types of disturbances

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Science China(Information Sciences) 2024年第1期67卷 168-186页

作者： Weihua LI Huaguang ZHANG Juan ZHANG Rui WANG college of Information Science and engineering Northeastern University State Key Laboratory of Synthetical automation for Process Industries Northeastern University

This paper is dedicated to addressing the time-varying output formation-containment tracking(TVOFCT) problem for heterogeneous linear multiagent systems(MASs) with multiple types of disturbances under directed communication *** agents are divided into tracking leaders,formation leaders,and *** the output space,the formation leaders are required to form an expected geometric formation while tracking the tracking leader,and the followers are required to enter the convex hull spanned by formation ***,a disturbance observer is designed to observe the disturbance with deterministic ***,by combining adaptive technology with event-triggered technology,an independent fully distributed dynamic event-triggered(FDDET) compensator is designed to estimate the state of the tracking *** main advantages of this compensator lie in the following three aspects:(1) the adaptive weight does not increase unboundedly;(2) the interval time between events is expanded;(3) the design does not rely on any global *** to the design of this compensator,an independent FDDET convex hull observer is further designed to observe the convex hull spanned by formation ***,based on the designed disturbance observer,compensator,and convex hull observer,the adaptive disturbance rejection control input which can make the MASs achieve TVOFCT is ***,a numerical simulation is provided to clearly verify the validity of the theoretical results.

关键词： formation-containment tracking disturbance rejection multiagent systems fully distributed control dynamic event-triggered control

Adaptive Event-Triggered Time-Varying Output Group Formation Containment Control of Heterogeneous Multiagent Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1398-1409页

作者： Lihong Feng Bonan Huang Jiayue Sun Qiuye Sun Xiangpeng Xie college of Information Science and engineering Northeastern UniversityShenyang 110819China college of automation and college of Artificial Intelligence Nanjing University of Posts and TelecommunicationsNanjing 210023China IEEE

In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed *** MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,***,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected ***,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,***,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the ***,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno ***,a numerical simulation is intro-duced to confirm the validity of the proposed results.

关键词： Adaptive control event-triggered mechanisms for-mation containment(FC) heterogeneous multiagent systems time-varying group formation.