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Hierarchical Cooperative control of Connected Vehicles:From Heterogeneous Parameters to Heterogeneous Structures

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1590-1602页

作者： Manjiang Hu Lingkun Bu Yougang Bian Hongmao Qin Ning Sun Dongpu Cao Zhihua Zhong the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan UniversityChangsha 410082China Wuxi Intelligent Control Research Institute Hunan UniversityWuxi 214115China the School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving safety.In this paper,a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and structures.By separating neighboring information interaction from local dynamics control,the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer,which helps address the heterogeneity in vehicle parameters and structures.Within the proposed framework,an observer is designed for following vehicles to observe the leading vehicle's states using neighboring communication,while a tracking controller is designed to track the observed leading vehicle using local feedback control.Closed-loop stability in the absence and presence of communication time delay is analyzed,and the observer is further extended to a finite time convergent one to address string stability under general communication topology.Numerical simulation and field experiment verify the effectiveness of the proposed method.

关键词： Communication delay connected vehicle(CV) heterogeneity string stability vehicle platoon

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Integral sliding mode control design for nonlinear stochastic systems under imperfect quantization

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Science China(Information Sciences) 2017年第12期60卷 71-81页

作者： Yabin GAO Wensheng LUO Jianxing LIU Ligang WU research institute of intelligent control and Systems Harbin Institute of Technology

This paper presents a sliding mode control(SMC) scheme via output-feedback approach for It?o stochastic systems under a quantization mechanism. The quantization process is formulated with the imperfection that random packet loss occurs at the logarithmic quantizer. A Luenberger observer is designed, based on the packet loss rate and the imperfect quantized measurement. A novel SMC law is synthesized by utilization of an integral sliding surface. The stochastic stability of the resulting closed-loop system is analyzed in terms of Lyapunov stability, and a set of solvable matrix inequalities are established for practical application requirements. Finally, a simulation example is employed for the illustration of the effectiveness of the presented control scheme.

关键词： stochastic systems quantized control sliding mode control observer design packet loss

Toward the minimum vertex cover of complex networks using distributed potential games

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Science China(Information Sciences) 2023年第1期66卷 244-263页

作者： Jie CHEN Xiang LI Adaptive Networks and control Lab Department of Electronic Engineering Fudan University institute of Complex Networks and intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji University

Vertex cover of complex networks is essentially a major combinatorial optimization problem in network science, which has wide application potentials in engineering. To optimally cover the vertices of complex networks, this paper employs a potential game for the vertex cover problem, designs a novel cost function for network vertices, and proves that the solutions to the minimum value of the potential function are the minimum vertex covering(MVC) states of a general complex network. To achieve the optimal(minimum) covering states, we propose a novel distributed time-variant binary log-linear learning algorithm,and prove that the MVC state of a general complex network is attained under the proposed optimization algorithm. Furthermore, we estimate the upper bound of the convergence rate of the proposed algorithm,and show its effectiveness and superiority using numerical examples with representative complex networks and optimization algorithms.

关键词： minimum vertex cover Nash equilibrium convergence rate scale-free network random graph

A novel control method for turboshaft engine with variable rotor speed based on the Ngdot estimator through LQG/LTR and rotor predicted torque feedforward

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Chinese Journal of Aeronautics 2020年第7期33卷 1867-1876页

作者： Yong WANG Qian’gang ZHENG Zhigui XU Haibo ZHANG College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China AECC Aero Engine control System institute Wuxi 214063China

In order to compensate for the disturbance of wide variation in rotor demanded torque on power turbine speed and realize the fast response control of turboshaft engine during variable rotor speed,a cascade PID control method based on the acceleration estimator of gas turbine speed(Ngdot)and rotor predicted torque feedforward is proposed.Firstly,a two-speed Dual Clutch Transmission(DCT)model is applied in the integrated rotor/turboshaft engine system to achieve variable rotor speed.Then,an online estimation method of Ngdot based on the Linear Quadratic Gaussian with Loop Transfer Recovery(LQG/LTR)is proposed for power turbine speed cascade control.Finally,according to the cascade PID controller based on Ngdot estimator,a rotor demanded torque predicted method based on the Min-batch Gradient Descent-Neural Network(MGD-NN)is put forward to compromise the influence of rotor torque interference.The simulation results show that compared with cascade PID controller based on Ngdot estimator and the one combined with collective pitch feedforward control,the novel control method proposed can reduce the overshoot of power turbine speed by more than 20%,which possesses faster response,superior dynamic effect and satisfactory robustness performance.The control method proposed can realize the fast response control of turboshaft engine with variable rotor speed better.

关键词： LQG/LTR Ngdot estimator Rotor predicted torque feedforward Turboshaft engine Variable rotor speed

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Hybrid event-and time-triggered control for double-integrator heterogeneous networks

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Science China(Information Sciences) 2019年第2期62卷 73-84页

作者： Gaopeng DUAN Feng XIAO Long WANG Center for Systems and control College of Engineering Peking University research institute of intelligent control and Systems Harbin Institute of Technology

This paper investigates the state consensus for double-integrator networks under heterogeneous interaction topologies. For double-integrator networks, the setting of heterogeneous topologies means that position and velocity information flows are modeled by two different graphs. The corresponding protocol proposed in this paper is based on edge-event-triggered control. The events based on position information are irrelevant to velocity information and independent of the events based on velocity information. And for different edges, the corresponding events are activated independently of each other. Once an event occurs,the agents connected by the associated edge will sample their corresponding relative state information and update their corresponding controllers. Furthermore, under the presented event-triggering rules, the state consensus of double-integrator networks can be achieved by designing appropriate parameters. In addition,the proposed protocol with the event-triggering rules can effectively improve the system performance and avoid the occurrence of Zeno behaviors. Finally, a simulation example is worked out to verify the theoretical analysis.

关键词： consensus sampled-data control multi-agent systems edge-event-triggered control heterogeneous networks

Direct-Ink-Writing Printed Strain Rosette Sensor Array with Optimized Circuit Layout

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 205-211页

作者： Peishi Yu Lixin Qi Zhiyang Guo Yu Liu Junhua Zhao Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology School of Mechanical EngineeringJiangnan UniversityWuxi 214122China Jiangsu Province Engineering research Center of Micro-Nano Additive and Subtractive Manufacturing Institute of Advanced TechnologyJiangnan UniversityWuxi 214122China

The full-field multiaxial strain measurement is highly desired for application of structural monitoring but still challenging,especially when the manufacturing and assembling for largearea sensing devices is quite difficult.Compared with the traditional procedure of gluing commercial strain gauges on the structure surfaces for strain monitoring,the recently developed Direct-Ink-Writing(DIW)technology provides a feasible way to directly print sensors on the structure.However,there are still crucial issues in the design and printing strategies to be probed and improved.Therefore,in this work,we propose an integrated strategy from layered circuit scheme to rapid manufacturing of strain rosette sensor array based on the DIW technology.Benefit from the innovative design with simplified circuit layout and the advantages of DIW for printing multilayer structures,here we achieve optimization design principle for strain rosette sensor array with scalable circuit layout,which enable a hierarchical printing strategy for multiaxial strain monitoring in large scale or multiple domains.The strategy is highly expected to adapt for the emerging requirement in various applications such as integrated soft electronics,nondestructive testing and small-batch medical devices.

关键词： Direct-ink-writing Strain rosette sensor array Layered circuit scheme Printing strategy

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Adaptive fuzzy backstepping control for attitude stabilization of flexible spacecraft with signal quantization and actuator faults

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Science China(Information Sciences) 2021年第5期64卷 135-150页

作者： Qiuhong LIU Ming LIU Guangren DUAN research institute of intelligent control Systems Harbin Institute of Technology research Center of Satellite Technology Harbin Institute of Technology Center for control Theory and Guidance Technology Harbin Institute of Technology

In this study, the fault-tolerant attitude control of flexible spacecraft is investigated over digital communication channels, where a uniform quantizer is considered with respect to the sensor signals and controller indexes. Further, an adaptive fuzzy backstepping control strategy has been developed for the considered attitude stabilization issue, where the adaptive fuzzy logic method is used to approximate the rigid-flexible coupled nonlinearity of the spacecraft. In this design, the online adjusting quantizer parameters are injected into the controller gains to simultaneously compensate for the quantization errors and timevarying actuator faults. In the proposed control method, the attitude stabilization task is achieved in the presence of external disturbances, time-varying actuator faults, and signal quantization. Finally, the practical examples are compared to demonstrate the effectiveness of the proposed control strategy.

关键词： fault-tolerant control attitude stabilization signal quantization adaptive fuzzy control backstepping control

Non-fragile control of fuzzy affine dynamic systems via piecewise Lyapunov functions

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Frontiers of Computer Science 2017年第6期11卷 937-947页

作者： Shasha FU Jianbin QIU Wenqiang JI research institute of intelligent control and Systems Harbin Institute of Technology Harbin 150001 China

This paper addresses the robust static out- put feedback （SOF） controller design problem for a class of uncertain fuzzy affine systems that are robust against both the plant parameter perturbations and controller gain variations. More specifically, the purpose is to synthesize a non-fragile piecewise affine SOF controller guaranteeing the stability of the resulting closed-loop fuzzy affine dynamic system with certain performance index. Based on piecewise quadratic Lyapunov functions and applying some convexification pro- cedures, two different approaches are proposed to solve the robust and non-fragile piecewise affine SOF controller syn- thesis problem. It is shown that the piecewise affine controller gains can be obtained by solving a set of linear matrix in- equalities （LMIs）. Finally, simulation examples are given to illustrate the effectiveness of the proposed methods.

关键词： fuzzy affine systems non-fragile robust outputfeedback control

Hybrid Strategy of Partitioned and Monolithic Methods for Solving Strongly Coupled Analysis of Inverse and Direct Piezoelectric and Circuit Coupling

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 1371-1386页

作者： Daisuke Ishihara Syunnosuke Nozaki Tomoya Niho Naoto Takayama Department of intelligent and control Systems Kyushu Institute of TechnologyFukuokaJapan

The inverse and direct piezoelectric and circuit coupling are widely observed in advanced electro-mechanical systems such as piezoelectric energy harvesters.Existing strongly coupled analysis methods based on direct numerical modeling for this phenomenon can be classified into partitioned or monolithic formulations.Each formulation has its advantages and disadvantages,and the choice depends on the characteristics of each coupled problem.This study proposes a new option:a coupled analysis strategy that combines the best features of the existing formulations,namely,the hybrid partitioned-monolithic method.The analysis of inverse piezoelectricity and the monolithic analysis of direct piezoelectric and circuit interaction are strongly coupled using a partitioned iterative hierarchical algorithm.In a typical benchmark problem of a piezoelectric energy harvester,this research compares the results from the proposed method to those from the conventional strongly coupled partitioned iterative method,discussing the accuracy,stability,and computational cost.The proposed hybrid concept is effective for coupled multi-physics problems,including various coupling conditions.

关键词： Structure-piezoelectric-circuit interaction energy harvesting partitioned method monolithic method hybrid method