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2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)最新文献

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Research on Decoupling Control of Electric Platform Decentralized Subsystem 电动平台分散子系统解耦控制研究
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545171
Yulong Zhao, Yuan Zhang, Min Hu, Yang Wang
{"title":"Research on Decoupling Control of Electric Platform Decentralized Subsystem","authors":"Yulong Zhao, Yuan Zhang, Min Hu, Yang Wang","doi":"10.1109/ICCSSE52761.2021.9545171","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545171","url":null,"abstract":"Aiming at the cross coupling effect between the electric cylinder driving devices of the six-degree-of-freedom electric platform, the decoupling control of the electric platform decentralized subsystem was carried out. First, two adjacent electric cylinders with obvious coupling characteristics are used as a decentralized subsystem, and the mathematical model of the decentralized subsystem of the electric platform is constructed; On this basis, based on the principle of diagonal decoupling, the decoupling control of the electric platform decentralized subsystem is designed; Finally, the position tracking and tracking error convergence of the system are analyzed by simulation, which verifies the effectiveness of fuzzy decoupling control for the electric platform decentralized subsystem.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121408669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Teleoperation Control of Flexible Joint Continuum Robot 柔性关节连续体机器人遥操作控制
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545144
Dengliang Lin, Chenguang Yang, Shi‐Lu Dai
{"title":"Teleoperation Control of Flexible Joint Continuum Robot","authors":"Dengliang Lin, Chenguang Yang, Shi‐Lu Dai","doi":"10.1109/ICCSSE52761.2021.9545144","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545144","url":null,"abstract":"With the development of soft materials and flexible machinery, continuous flexible robots are widely used in the field of robots. Compared with the traditional discrete rigid robot, the continuum robot has flexible joint and multi-section structure. In this paper, we proposed a human-robot interaction control strategy with error feedback, which is based on the teleoperation for flexible joint continuum robot. We apply master-slave operation modes on our control system, which are used to control the end effector of the continuum robot. At the same time, a novel tip-following control method based on forward kinematic model is used to control the end-effector following the desired trajectory that assigned by the input devices touch X. The control method is considering joint angle limit and navigating the end effector of continuum robot in real time. In this paper, a 24 degrees of freedom(DOF) continuum robot with compliant joint is used in the simulation, and the effectiveness of the proposed teleoperation control strategy is testified.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125001610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Research on Welding Trajectory and Workspace Simulation of Arc Welding Robot 弧焊机器人焊接轨迹及工作空间仿真研究
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545090
Zhou Liqiu, Mu Hairong, Zhao Ronghao, Lin Shuju
{"title":"Research on Welding Trajectory and Workspace Simulation of Arc Welding Robot","authors":"Zhou Liqiu, Mu Hairong, Zhao Ronghao, Lin Shuju","doi":"10.1109/ICCSSE52761.2021.9545090","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545090","url":null,"abstract":"According to D-H rule, the coordinate system is established. And the model of arc welding robot IRB-1410 is built on MATLAB platform. In order to fit the welding trajectory of arc welding robot, four target points are determined in the working area of the robot, and the straight line and circular arc trajectory are planned with MATLAB. In order to prove the correctness of trajectory planning method in the simulation environment of MATLAB, the same model of the robot was built with RobotStudio. Because RobotStudio’s end trajectory is the same as the actual robot’s end trajectory and it is convenient to record. By comparing whether the trajectory on the MATLAB platform is consistent with the end trajectory on RobotStudio, the correctness of the trajectory planning made by MATLAB is proved. A point cloud map of the robot workspace is generated by solving the random value of the end position using the Monte Carlo method and the forward kinematics function of the robot. The point cloud map of the robot workspace is identical as the provided robot workspace from ABB (the robot company). The method generated boundary curve of the robot workspace overcomes the uneven distribution of random points in the Monte Carlo method and the different occurrence probability of internal random points and boundary random points, and it is more uniform and clear.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132766685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Adaptive Output Feedback Dynamic Surface Sliding Mode Control for a Class of Uncertain Nonlinear System with Unknown Actuator Hysteresis 一类具有未知执行器迟滞的不确定非线性系统的自适应输出反馈动态表面滑模控制
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545176
Linlin Nie, Miaolei Zhou
{"title":"Adaptive Output Feedback Dynamic Surface Sliding Mode Control for a Class of Uncertain Nonlinear System with Unknown Actuator Hysteresis","authors":"Linlin Nie, Miaolei Zhou","doi":"10.1109/ICCSSE52761.2021.9545176","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545176","url":null,"abstract":"In this paper, a RBFNNs based output feedback adaptive dynamic surface sliding mode control (DSSMC) method is proposed for a class of uncertain nonlinear system with actuator hysteresis. The main contributions are listed as follows: 1) by comprehensively considering the mutual influence between the tracking errors of each subsystem, a sliding mode dynamic surface is defined. Also, the recursive method is used to design the control law, which reduces the computational burden; 2) by introducing the PI hysteresis model and the state observer, the hysteresis behavior exists in the actuators can be mitigated when only the system output is measurable; 3) by using RBFNNs, the unknown uncertainties and external disturbances can be estimated. It is proved by Lyapunov method that all signals in the closed-loop system are semi-globally uniformly bounded. The simulation results verify the effectiveness of the proposed control method.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133381768","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Flexible Job-Shop Scheduling in Smart Manufacturing 智能制造中的柔性作业车间调度
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545193
Mohamed Ahmed Awad, Hend Mohamed Abd-Elaziz
{"title":"Flexible Job-Shop Scheduling in Smart Manufacturing","authors":"Mohamed Ahmed Awad, Hend Mohamed Abd-Elaziz","doi":"10.1109/ICCSSE52761.2021.9545193","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545193","url":null,"abstract":"Production scheduling problems encountered more complexity with the digital manufacturing. Classic Flexible Job Shop Scheduling (FJSSP) gained dynamic manner due to the alternative process planning abled to machine the same part with different routing of one job. A single job is a routing processing operations done on a sequencing features. Features precedence in turn constrains the job routing diversity. The problem is as NP-hard complexity. Hence, this study concentrates on correctness the features precedence to be able to decrease the consuming time of optimization for FJSSP. The study deployed a two stage meta-heuristic model to optimize the scheduling paying attention to the processing make span and granularity penalty. The machine state as well plays a crucial rule within scheduling routing prediction. A comparison between the modified approach and the classic Genetic Algorithms (GA) based is introduced within experimental results to demonstrate each parameter effect.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130917118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Compound Mechanism Analysis of Backlash and Friction Nonlinearity in Full-Closed-Loop Servo Drive System 全闭环伺服驱动系统中间隙与摩擦非线性复合机理分析
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545194
Jiande Peng, Can Wang, Weilong Zheng, Jian-fei Pan, Fangfang Liu, Jinling Yang
{"title":"Compound Mechanism Analysis of Backlash and Friction Nonlinearity in Full-Closed-Loop Servo Drive System","authors":"Jiande Peng, Can Wang, Weilong Zheng, Jian-fei Pan, Fangfang Liu, Jinling Yang","doi":"10.1109/ICCSSE52761.2021.9545194","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545194","url":null,"abstract":"Full closed loop servo drive system is widely used in industry and medical field, and it is an ideal control scheme to achieve high precision position control. In this paper, by analyzing the dead-zone model of backlash and LuGre friction model, a compound two-mass full-closed-loop system with backlash and friction is established. The position response of the compound system is analyzed by description function method and simulation. Finally, it is concluded that friction can eliminate the characteristic of the limit cycle by the backlash, and the amplitude of the backlash will affect the duration of the flat at the crest.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129562192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design of Intelligent Power Limitation Monitoring System Integrated with Web Technology 基于Web技术的智能限电监控系统设计
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545104
Tang Qiang, Zhang Luping, Yin Zhihong, He Zhiyong, Zhang Jie, Sheng Yulang, Li Dejun
{"title":"Design of Intelligent Power Limitation Monitoring System Integrated with Web Technology","authors":"Tang Qiang, Zhang Luping, Yin Zhihong, He Zhiyong, Zhang Jie, Sheng Yulang, Li Dejun","doi":"10.1109/ICCSSE52761.2021.9545104","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545104","url":null,"abstract":"An intelligent power limit monitoring system based on the deep integration of Internet and web technology is designed. The system is composed of two parts: intelligent power limit monitoring equipment and cloud web service system. The intelligent power limit equipment uses STC12C5A60S2 as the core of MCU control module. The CS5463 chip measures AC voltage and current signals, and the AM2302 sensor first collects the temperature and humidity signals in the environment, then transmits the collected index data to UDP server through BC95-B8 module. The UDP server monitors and receives DatagramPacket data packets through DatagramSocket, and calls the index data analysis program to analyze, store and early-warning analysis of the data packets. In order to solve the problems of inability to monitor on-site due to special conditions, fatigue inspections of on-site personnel and inability to monitor remotely, this paper proposes a set of effective solutions, which realizes an intelligent electric limit monitoring system with functions such as equipment real-time monitoring, multi-point remote monitoring, push alarm data to the user terminal, monitoring data storage and analysis, etc.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121036589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robust Adaptive Control of Uncertain Systems Preceded with Unknown Hysteresis Actuators 带有未知迟滞作动器的不确定系统鲁棒自适应控制
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545099
Wenjun Ye, Farhad Aghili, Jundong Wu, C. Su
{"title":"Robust Adaptive Control of Uncertain Systems Preceded with Unknown Hysteresis Actuators","authors":"Wenjun Ye, Farhad Aghili, Jundong Wu, C. Su","doi":"10.1109/ICCSSE52761.2021.9545099","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545099","url":null,"abstract":"Control problem of systems actuated by the smart material based actuators are quite challenging, because of its intrinsic hysteresis nonlinear behaviors. This paper deals with such systems preceded with unknown hysteresis actuators. When the actuator with unknown hysteresis is cascaded with the uncertain dynamic system, the output of the actuators is also not measurable. Besides, such systems usually suffer from the disturbances. In this paper, the Prandtl-Ishlinskii (PI) hysteresis model is analyzed. Utilizing the properties raised, the fusion of PI model and Adaptive Robust Control (ARC) approach is provided. The proposed controller is able to deal with actuators with unknown hysteresis, uncertain system dynamics. Also, disturbances are also taken into consideration for such systems. The stability of the closed-loop system has been guaranteed and the simulation is provided to demonstrate the performance of the controller developed.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126904031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Semantic Modeling Framework for Mission-Oriented Military Systems and Combat Cloud Control 面向任务的军事系统和战斗云控制语义建模框架
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545164
Ka-fai. Pang, Qingxu Xiong
{"title":"Semantic Modeling Framework for Mission-Oriented Military Systems and Combat Cloud Control","authors":"Ka-fai. Pang, Qingxu Xiong","doi":"10.1109/ICCSSE52761.2021.9545164","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545164","url":null,"abstract":"Based on the characteristics and applications of military systems, we propose a new semantic description method for military systems, as well as a mission dynamic control mechanism. Rather than the \"data-centric\" research, this paper adopts the \"mission-oriented\" approach to build the Task Model, which is employed as the basic unit to model military systems and combat cloud control semantics. And then the framework of the Task Model is put forward, as well as the ontology constitution and the relationship among the ontologies. By using the Task Model, this paper explores the approach to dynamic task decomposition, combination, and adjustment. Additionally, this paper proposes semantic description paradigm and scalability methods respectively. These works paved the ways to further research on the interconnection and control of heterogeneous military systems.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124263572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Social Distancing Violation Monitoring Using YOLO for Human Detection 基于YOLO的社交距离违规监测
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545098
Sophia Riziel C De Guzman, Lauren Castro Tan, J. Villaverde
{"title":"Social Distancing Violation Monitoring Using YOLO for Human Detection","authors":"Sophia Riziel C De Guzman, Lauren Castro Tan, J. Villaverde","doi":"10.1109/ICCSSE52761.2021.9545098","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545098","url":null,"abstract":"Social distancing may be implemented however people are not self-aware in tracking their distances between other people. This study developed a device using Raspberry Pi that measures the distance between people for monitoring social distancing. The system used YOLO algorithm to detect humans within the given camera frame. It also used the Euclidean distance formula to calculate the distances between people detected. Then, violators were identified as people that are not observing at least 1 meter apart from other people. They are distinguished in the display by having red highlights while non-violators had a green highlight. The display was also divided into five areas to properly notify the violators, where LED was used to notify violators near the tables and an announcement was provided for violators at other areas. To control the LED wirelessly, ESP8266 was used to serve as a microcontroller and Wi-Fi module. Then, a paired T-test for the comparison of the computed and actual distance measurements yielded a T-score of 0.0714 which got a 0.94 probability value. The calculated probability value denotes no significant difference between the computed distance obtained from the device and the actual distance measurement from the controlled setup.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123104118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
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