2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)最新文献_第10页

Improved BP neural network based active disturbance rejection control for magnetic sensitivity calibration system 基于改进BP神经网络的磁灵敏度标定系统自抗扰控制

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10167186

Minlin Wang, Xueming Dong, X. Ren

引用次数: 0

USDE-based Synchronization Control for Bilateral Teleoperation System Subject to Time-Varying Delay 基于usde的时变时滞双边遥操作系统同步控制

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10166231

Zhiqiang Bai, Xian Wang, Hao Duan, Yingbo Huang

{"title":"USDE-based Synchronization Control for Bilateral Teleoperation System Subject to Time-Varying Delay","authors":"Zhiqiang Bai, Xian Wang, Hao Duan, Yingbo Huang","doi":"10.1109/DDCLS58216.2023.10166231","DOIUrl":"https://doi.org/10.1109/DDCLS58216.2023.10166231","url":null,"abstract":"Time-varying delay, as one of the most prominent issues existing in teleoperation system, throws a critical threat on the teleoperation system stability. To address this issue, this paper proposes a novel synchronization control for nonlinear uncertain bilateral teleoperation systems in the presence of time-varying delay. Firstly, a filter error variable is designed to avoid using both local and remote acceleration signals. Then, a set of first-order low-pass filter operations are employed to construct an unknown system dynamics estimator (USDE) to handle the system uncertain dynamics, which revolves the Coriolis/gravity dynamics, external disturbances and remote velocity. With the suggested filtered error and USDE, a feedback controller is developed, which can not only improve the system synchronization but also has the capability of accommodating the influence of time-varying delay. Rigorously theoretical analysis is conducted by choosing the Lyapunov-Razumikhin candidate function to prove the stability of the closed-loop system. Finally, simulation results are provided to illustrate the effectiveness of the proposed method.","PeriodicalId":415532,"journal":{"name":"2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130072394","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

Gradient-Based Iterative Learning Control for Signal Quantization with Encoding-Decoding Mechanism 基于梯度的编码解码信号量化迭代学习控制

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10166319

Yujuan Tao, Yande Huang, Hongfeng Tao, Yiyang Chen

引用次数: 0

A fast calibration method of the tool frame for industrial robots 一种工业机器人刀架快速标定方法

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10166707

Lichen Jiang, Guanbin Gao, Ji Na, Yashan Xing

{"title":"A fast calibration method of the tool frame for industrial robots","authors":"Lichen Jiang, Guanbin Gao, Ji Na, Yashan Xing","doi":"10.1109/DDCLS58216.2023.10166707","DOIUrl":"https://doi.org/10.1109/DDCLS58216.2023.10166707","url":null,"abstract":"Industrial robots perform tasks through tools installed on the end flange. The position and orientation of the tools are essential factors that affect the motion accuracy of industrial robots. However, existing calibration methods for the tool frame mainly depend on manual observation. To solve this problem, this paper proposes an automatic calibration method of the tool frame based on the fact that the accurate position and orientation of the tools relative to the flange can be obtained through the calibration of the tool frame. First, the tool carried by the robot moves in a uniform circle at different heights. The origin and orientation calibration models of the tool frame are established respectively based on the similarity of the motion track of each point on a rigid body. Through two pairs of vertically mounted laser beam sensors, the time when the tool passes through the laser beam and the position of the corresponding robot flange are obtained. Second, the simulation platform with the robot and sensors is built in a 3-dimensional software to simulate the motion and measurement of the tool. The data required for calibration are acquired, by which the parameters of the origin and orientation of the tool frame are identified and compensated in the motion controller of the robot. Finally, the accuracy of the tool frame before and after calibration is tested in the simulation platform, and the simulation results verify the effectiveness of the proposed model and method.","PeriodicalId":415532,"journal":{"name":"2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116292175","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

Intelligent Fault Diagnosis of Nuclear grade Electric Equipment Based on Quantum Genetic Support Vector Machine 基于量子遗传支持向量机的核级电气设备故障智能诊断

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10166736

Zhilong Liu, Tongxi Li, Minggang Li, Changhua Nie, Li Zhan, Lele Zhao, Zhangchun Tang

{"title":"Intelligent Fault Diagnosis of Nuclear grade Electric Equipment Based on Quantum Genetic Support Vector Machine","authors":"Zhilong Liu, Tongxi Li, Minggang Li, Changhua Nie, Li Zhan, Lele Zhao, Zhangchun Tang","doi":"10.1109/DDCLS58216.2023.10166736","DOIUrl":"https://doi.org/10.1109/DDCLS58216.2023.10166736","url":null,"abstract":"Nuclear grade electric equipment is the key operating equipment of reactors in nuclear islands, and its reliable operation is a prerequisite to guarantee the operation of nuclear reactors. In order to effectively diagnose the faults of nuclear grade electric equipment, an intelligent fault diagnosis method based on QGA-SVM (Quantum Genetic Support Vector Machine) for nuclear grade electric equipment is proposed. Firstly, EEMD (Ensemble Empirical Mode Decomposition) and vibration eigenvalues calculation are carried out for the vibration signals collected under normal operation state and different fault degrees of nuclear grade equipment. Secondly, power eigenvalues calculation is carried out for the power signals collected under normal operation state and different fault degrees of nuclear grade equipment. Then, QGA((Quantum Genetic algorithm) and SVM (Support Vector Machine) are established to build an intelligent fault diagnosis model for nuclear grade electric equipment, and the operation eigenvalues is used as model input parameters. The results show that the proposed algorithm can efficiently and intelligently diagnose the faults of nuclear grade electric equipment, and the proposed method has certain significance for the fault diagnosis of electric equipment in other fields.","PeriodicalId":415532,"journal":{"name":"2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127121928","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

Emergency Vehicle Identification for Internet of Vehicles Based on Federated Learning and Homomorphic Encryption 基于联邦学习和同态加密的车联网应急车辆识别

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10166254

Siyuan Zeng, Bo Mi, Darong Huang

引用次数: 0

Industrial Fault Detection Based on C-Vine Copula Model and Transfer Learning Strategy 基于C-Vine Copula模型和迁移学习策略的工业故障检测

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10167346

Yan Li, Yang Zhou, Li Jia, Yilin Zhao

引用次数: 0

A Cyber-Security Framework for ST-MPC of State and Input Constrained CPS Under False Data Injection Attacks 假数据注入攻击下状态ST-MPC和输入约束CPS的网络安全框架

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10165990

Ning He, Yuxiang Li, Kai Ma

{"title":"A Cyber-Security Framework for ST-MPC of State and Input Constrained CPS Under False Data Injection Attacks","authors":"Ning He, Yuxiang Li, Kai Ma","doi":"10.1109/DDCLS58216.2023.10165990","DOIUrl":"https://doi.org/10.1109/DDCLS58216.2023.10165990","url":null,"abstract":"Self-triggered model predictive control (ST-MPC) is widely applied in various aspects currently, however, the ST-MPC mechanisms that have seldom been developed consider the possible malicious false data injection (FDI) attacks in the cyber-physical system (CPS). Therefore, in this paper, a novel resilient ST-MPC strategy based on input reconstruction (IR) against FDI attacks is proposed for a nonlinear input-affine discrete-time system with state and input constraints, which combines both cyber security and resource consumption. More specifically, when faced with FDI attacks in controller-to-actuator (C-A) channels at the triggering instants, on the actuator side, two key control data are selected to reconstruct input control signals for application into the system, otherwise, the optimal input control signals will be applied into the controlled system. Furthermore, a resilient ST-MPC algorithm with a dual-mode control strategy is proposed, and its closed-loop stability is also analyzed, in which the state constraint is elaborated. Finally, a simulation and its resultant comparisons illustrate the effectiveness of the proposed method.","PeriodicalId":415532,"journal":{"name":"2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128759224","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

Nonlinear Large Maneuver Control of Thrust Vector UAV for Flying-Wing Layout 推力矢量无人机飞翼布局的非线性大机动控制

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10166709

Zhuoying Chen, Huiping Li, Huaimin Chen, Shaobo Zhou

{"title":"Nonlinear Large Maneuver Control of Thrust Vector UAV for Flying-Wing Layout","authors":"Zhuoying Chen, Huiping Li, Huaimin Chen, Shaobo Zhou","doi":"10.1109/DDCLS58216.2023.10166709","DOIUrl":"https://doi.org/10.1109/DDCLS58216.2023.10166709","url":null,"abstract":"The flying-wing layout UAV (Unmanned Aerial Vehicle) adopts the aerodynamic layout of wing-body fusion. Compared with conventional aircraft, the cancellation of vertical tail and other protruding components reduces the cross-sectional area of radar reflection, but also brings about directional static instability, transverse & longitudinal aerodynamic coupling and other defects, which bring challenges to the design of control law. Therefore, an improved dynamic inverse algorithm is proposed in this paper, which constructs a pseudo-linear system to eliminate nonlinear factors of the original system. Moreover, the effectiveness of the method is verified by route-tracking simulation. Since the relative shorter steering force arm and rapid decrease of control surface efficiency, flying-wing UAV is difficult to realize maneuver flight only by relying on the aerodynamic moment. Therefore, this paper designs a control allocation method based on serial-chain. The additional control moment generated by the vector thrust is used to compensate for the shortage of aerodynamic moment. The maneuverability of the aircraft is effectively enhanced and the simulation of Immelman large maneuver is completed.","PeriodicalId":415532,"journal":{"name":"2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132840690","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

Ship Adaptive RBF Neural Network Course Keeping Control Considering System Uncertainty 考虑系统不确定性的船舶自适应RBF神经网络航向保持控制

2023 IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS) Pub Date : 2023-05-12 DOI: 10.1109/DDCLS58216.2023.10166581

Sihang Zhang, Qiang Zhang, Wen-Li Su, Haoyang Li, Xudong Gai

引用次数: 0