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2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)最新文献

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Sample-Efficient Kalman Filter with Intermittent Measurement for Dynamical System 动态系统间歇测量的高效采样卡尔曼滤波
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023876
Chenyang Li, Sen Zhang, Shixin Liu
{"title":"Sample-Efficient Kalman Filter with Intermittent Measurement for Dynamical System","authors":"Chenyang Li, Sen Zhang, Shixin Liu","doi":"10.1109/YAC57282.2022.10023876","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023876","url":null,"abstract":"This paper investigates the issue of sample-efficient Kalman filter with intermittent measurement for dynamical system over wireless sensor networks, which only transmits measured values to the estimator when the certain conditions occurs, thereby reducing communication costs. Under the linear unbiased minimum variance norm, the event-triggered Kalman filter with intermittent measurement for dynamical system is presented, where the optimal filtering gain could be gained through minimizing the estimated error covariance matrices. In addition, the stability of the system filtering error could be analyzed via making use of the Lyapunov-based method. Eventually, the filter’s effectiveness is verified by numerical examples.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"8 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132870597","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
An event-triggered STF approach to fault detection for nonlinear discrete time systems 非线性离散时间系统故障检测的事件触发STF方法
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023689
Jiaojiao Liu, Ting Xue, M. Zhong
{"title":"An event-triggered STF approach to fault detection for nonlinear discrete time systems","authors":"Jiaojiao Liu, Ting Xue, M. Zhong","doi":"10.1109/YAC57282.2022.10023689","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023689","url":null,"abstract":"Aiming to fault detection (FD) for nonlinear systems, a novel event-triggered strong tracking filter (STF) approach is proposed in this paper. An STF has been applied as an event-triggered residual generator as well as the generated residual signals have been entirely decoupled from the event-triggered transmission errors. Then, designing the residual generator is converted into finding a filter matrix that makes the state estimation error covariance minimized. Besides, a new residual evaluation strategy is presented. It is accepted that designing the filter matrix is independent from choosing the value of event. Finally, a simulation experiment is carried out on a three-tank system to show the effectiveness of the suggested FD strategy.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131861450","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
Trajectory Tracking for Autonomous Vehicles based on Frenet Frame 基于Frenet框架的自动驾驶汽车轨迹跟踪
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023789
Tianqi Yang, Juqi Hu, Youmin Zhang
{"title":"Trajectory Tracking for Autonomous Vehicles based on Frenet Frame","authors":"Tianqi Yang, Juqi Hu, Youmin Zhang","doi":"10.1109/YAC57282.2022.10023789","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023789","url":null,"abstract":"This paper investigates a trajectory tracking control problem of autonomous vehicles. Existing methods can suffer from complex control algorithms and a lack of tracking stability at high speed, which negatively affects tracking performance. This study decouples the vehicle's motion by considering the Frenet frame and Frenet equations. A lateral control law based on the linear-quadratic-regulator (LQR) imposes the tracking errors to converge to zero stably and quickly, providing the optimal solution in real-time due to adaptive gains. Regarding the steady-state errors, they are eliminated through the correction of the feedforward term. Furthermore, the designed double proportional-integral-derivative (PID) controller realizes not only the longitudinal control but also the velocity tracking. By the proposed strategy, the tracking accuracy and stability can be enhanced regardless of the vehicle speed, verified by the simulation results from different driving scenarios.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124198483","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
Distributed Vibration Control of Large Satellite Solar Panels 大型卫星太阳能帆板的分布式振动控制
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023895
Zihao Zhou, Xiangdong Liu, P. Lu
{"title":"Distributed Vibration Control of Large Satellite Solar Panels","authors":"Zihao Zhou, Xiangdong Liu, P. Lu","doi":"10.1109/YAC57282.2022.10023895","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023895","url":null,"abstract":"The vibration of large satellite solar panels will seriously affect the attitude stability and pointing accuracy of the satellite, and may even cause structural damage through the coupling with the central rigid body. Consequently, it is of great realistic significance to control the vibration of satellite solar panels. The main contents of this study include: Firstly, the multiple-subsystems model is founded based on the finite element method. Secondly, according to the established model, the distributed vibration control algorithm is designed based on algebraic graph theory and consensus theory, and the stability of the closed-loop system is analyzed. Finally, simulation experiments are designed to verify the effectiveness and robustness of the algorithm. The simulation results show that the distributed vibration control algorithm developed on consensus theory can not only effectively suppress the vibration of solar panels and improve the dynamic performance of the system, but also has good robustness.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124448856","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: 2
Neural Network-Based Spacecraft Leader-Follower Trajectory Tracking Control 基于神经网络的航天器Leader-Follower轨迹跟踪控制
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023853
N. Zhou, Xuanxuan Zhao, Kuibao Zhu
{"title":"Neural Network-Based Spacecraft Leader-Follower Trajectory Tracking Control","authors":"N. Zhou, Xuanxuan Zhao, Kuibao Zhu","doi":"10.1109/YAC57282.2022.10023853","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023853","url":null,"abstract":"In this paper, the problem of leader-follower formation tracking with multiple rigid spacecraft is studied. Considering the leader directed graph case, the goal is to drive all spacecraft to precisely track the desired trajectory. Firstly, the multi-spacecraft cooperative trajectory tracking problem is transformed into each spacecraft’s trajectory tracking problem by a distributed control algorithm. Second, the position controller is developed for position tracking under a hierarchical control framework. An applied force and a nonsingular desired attitude are calculated from the command force. Then, an adaptive neural network controller is used to approximate the applied force and ensure that the spacecraft’s attitude reaches a point of balance. Finally, numerical examples prove the utility of the algorithm.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116383418","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
Event-Triggered Adaptive Control for Nonlinear Switched Systems with MDADT 非线性切换系统的事件触发自适应控制
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023894
Xuelian Wang, Xiaoxiao Guo, N. Zhang, Miao Yu, Jianwei Xia
{"title":"Event-Triggered Adaptive Control for Nonlinear Switched Systems with MDADT","authors":"Xuelian Wang, Xiaoxiao Guo, N. Zhang, Miao Yu, Jianwei Xia","doi":"10.1109/YAC57282.2022.10023894","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023894","url":null,"abstract":"This paper studies the event-triggered adaptive control for switched nonlinear systems under the mode-dependent average dwell time (MDADT) switching law. Neural networks (NNs) are utilized to approximate the unknown dynamics. The designed event-triggered mechanism relying on switching signals takes into account the influence of mismatch between subsystem and controller on system performance, and realizes the saving of communication resources on the basis of achieving the control objectives. Furthermore, by combining the MDADT scheme with the backstepping recursive design technique, an efficient event-triggered adaptive neural tracking controller design algorithm is proposed such that all signals of the closed-loop system are bounded, and the tracking error eventually converge to a small neighborhood of the origin. Finally, the simulation results verify the effectiveness of the proposed control algorithm.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121983216","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
Multi-modal Vehicle Trajectory Prediction via Attention-based Conditional Variational Autoencoder 基于注意力的条件变分自编码器的多模态车辆轨迹预测
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/yac57282.2022.10023758
Hao Xing, Jianming Hu, Zuo Zhang
{"title":"Multi-modal Vehicle Trajectory Prediction via Attention-based Conditional Variational Autoencoder","authors":"Hao Xing, Jianming Hu, Zuo Zhang","doi":"10.1109/yac57282.2022.10023758","DOIUrl":"https://doi.org/10.1109/yac57282.2022.10023758","url":null,"abstract":"Predicting the motion of surrounding vehicles is an essential ability for autonomous vehicles in real traffic, which can be beneficial to improving motion planning and decisionmaking. However, vehicle trajectory prediction has been a challenging task in autonomous driving, due to the uncertainty of driving intention and the interactions among multiple agents, etc. In this paper, we propose a novel encoder-decoder model via attention-based conditional variational autoencoder (CVAE), which is designed to predict multi-modal trajectories of vehicles on freeways according to different maneuvers. This model employs a multi-agent attention module for robustly capturing spatial interactions, and soft attention mechanism is used to learn temporal dependencies of trajectories. Besides, scheduled sampling is applied in the decoding process for improving the convergence of sequence prediction. We compare our approach with the prior methods on the NGSIM US-101 and I-80 datasets. The experimental results show that our model outperforms the existing methods in terms of the root mean square error (RMSE). Extensive experiments are performed to demonstrate the effectiveness of our proposed model.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125837446","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
A Distributed Algorithm with a Modified Quantization Radius Under Limited Communication 有限通信条件下改进量化半径的分布式算法
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023575
Boya Zhang, Z. Cao, Tingting Wang, Enbin Song
{"title":"A Distributed Algorithm with a Modified Quantization Radius Under Limited Communication","authors":"Boya Zhang, Z. Cao, Tingting Wang, Enbin Song","doi":"10.1109/YAC57282.2022.10023575","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023575","url":null,"abstract":"Distributed optimization is a very significant approach with applications in control theory and lots of related fields, as it is high fault-tolerant and extremely efficient compared with centralized optimization. In distributed optimization, quantization is a communication technique, which exchanges information bits more reliably at the expense of a lower communication rate. In this paper, we put forward a distributed quantization algorithm to handle a class of problems with the sum of multiple objective functions. Particularly, we design a customized quantization radius, which preserves a fast convergence rate while saving more bits of information exchange. The numerical experiments demonstrate the high efficiency of our algorithm.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127497866","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
State Estimation for Stochastic Singularly Perturbed Complex Networks Under New Dynamic Event-Triggered Mechanism 新的动态事件触发机制下随机奇摄动复杂网络的状态估计
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023764
Hanbo Ai, Chao Yang, Xiongbo Wan
{"title":"State Estimation for Stochastic Singularly Perturbed Complex Networks Under New Dynamic Event-Triggered Mechanism","authors":"Hanbo Ai, Chao Yang, Xiongbo Wan","doi":"10.1109/YAC57282.2022.10023764","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023764","url":null,"abstract":"This paper studies the estimation issue for stochastic singularly perturbed complex networks (SPCNs) under a dynamic event-triggered mechanism (ETM). The SPCN is with a Markov chain whose transition probabilities are dependent on a stochastic variable that takes values with known sojourn probabilities. A new ETM is proposed to reduce the use of network resources. We design a state estimator which ensures the estimation error dynamics to be stochastically stable with $H_{infty}$ performance. By matrix inequality technology, the desired parameters of state estimator are obtained. The effectiveness of the event-triggered estimation method is shown via a numerical example.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129932830","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
Neural Impedance Control of Uncertain Robotic Systems with Prescribed Performance 给定性能的不确定机器人系统的神经阻抗控制
2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2022-11-19 DOI: 10.1109/YAC57282.2022.10023805
Gaochen Min, Xinbo Yu, K. Yang, Guangxu Li, W. He
{"title":"Neural Impedance Control of Uncertain Robotic Systems with Prescribed Performance","authors":"Gaochen Min, Xinbo Yu, K. Yang, Guangxu Li, W. He","doi":"10.1109/YAC57282.2022.10023805","DOIUrl":"https://doi.org/10.1109/YAC57282.2022.10023805","url":null,"abstract":"This paper proposes a neural impedance control method to limit the uncertain robotic systems tracking error within a predetermined range, and improve the interaction safety and compliance. A position-based impedance controller is proposed to enhance the compliance of human-computer interaction. In the controller design process, the time-varying energy function is taken as the given error boundary, and the unsymmetrical potential barrier Lyapunov functions (BLF) are chosen to solve the constrained problem, so that it can finally make the robotic system have a good dynamical performance and steady-state performance. Besides, it is helpful to solve the uncertainty of robot system dynamics by combining with radial basis function neural network (RBFNN). The controller has better adaptive performance to improve the safety and compliance of the uncertain robotic systems when it is in physical contact with the rigid environment. According to the effect of the controller, the tracking error can not exceed the preset boundary and quickly converge. Finally, the effectiveness and practicability of the controller are verified by simulations.","PeriodicalId":272227,"journal":{"name":"2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129958007","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
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