This paper presents a learning-based control framework for fast(<1.5 s)and accurate manipulation of a flexible object,i.e.,whip targeting.The framework consists of a motion planner learned or optimized by an algori...This paper presents a learning-based control framework for fast(<1.5 s)and accurate manipulation of a flexible object,i.e.,whip targeting.The framework consists of a motion planner learned or optimized by an algorithm,Online Impedance Adaptation Control(OIAC),a sim2real mechanism,and a visual feedback component.The experimental results show that a soft actor-critic algorithm outperforms three Deep Reinforcement Learning(DRL),a nonlinear optimization,and a genetic algorithm in learning generalization of motion planning.It can greatly reduce average learning trials(to<20 of others)and maximize average rewards(to>3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed framework.In addition,the trajectory similarity between simulated and physical whips is 89.09.The presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.展开更多
This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties. The design process is divided into two steps. Firstly, an adaptive tracki...This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties. The design process is divided into two steps. Firstly, an adaptive tracking controller is designed for the dynamic leading vehicle. And then, the distributed adaptive controllers are established for followers. Moreover, the predictor technique is used to improve the estimate performance of the adaptive law, and the total disturbance is approximated and compensated by the variable gain nonlinear extended state observers(NESOs) driven by the estimation error. By introducing the variable gain hyperbolic tangent tracking differentiator(HTTD), the “complexity explosion” problem is avoided. The feasibility and effectiveness of the proposed protocol are verified by simulation tests.展开更多
The measurement of wing dynamic deformation in morphing aircraft is crucial for achieving closed-loop control and evaluating structural safety.For variable-sweep wings with active large deformation,this paper proposes...The measurement of wing dynamic deformation in morphing aircraft is crucial for achieving closed-loop control and evaluating structural safety.For variable-sweep wings with active large deformation,this paper proposes a novel videogrammetric method for full-field dynamic deformation measurement.A stereo matching method based on epipolar geometry constraint and topological constraint is presented to find the corresponding targets between stereo images.In addition,a new method based on affine transformation combined with adjacent closest point matching is developed,aiming to achieve fast and automatic tracking of targets in time-series images with large deformation.A calculation model for dynamic deformation parameters is established to obtain the displacement,sweep variable angle,and span variation.To verify the proposed method,a dynamic deformation measurement experiment is conducted on a variable-sweep wing model.The results indicate that the actual accuracy of the proposed method is approximately 0.02%of the measured area(e.g.,0.32 mm in a 1.6 m scale).During one morphing course,the sweep variable angle,the span variation and the displacement increase gradually,and then decrease.The maximum sweep variable angle is 36.6°,and the span variation is up to 101.13 mm.The overall configuration of the wing surface is effectively reconstructed under different morphing states.展开更多
The velocity tracking control of a hydraulic servo system is studied. Sincethe dynamics of the system are highly nonlinear and have large extent of model uncertainties, suchas big changes in load and parameters, a der...The velocity tracking control of a hydraulic servo system is studied. Sincethe dynamics of the system are highly nonlinear and have large extent of model uncertainties, suchas big changes in load and parameters, a derivation and integral sliding mode variable structurecontrol scheme (DI-SVSC) is proposed. An integral controller is introduced to avoid the assumptionthat the derivative of desired signal must be known in conventional sliding mode variable structurecontrol, a nonlinear derivation controller is used to weaken the chattering of system. The designmethod of switching function in integral sliding mode control, nonlinear derivation coefficient andcontrollers of DI-SVSC is presented respectively. Simulation shows that the control approach is ofnice robustness and improves velocity tracking accuracy considerably.展开更多
The true-time delay(TTD)units are critical for solving beam squint and frequency selective fading inWideband Large-Scale Antenna Systems(LSASs).In this work,we propose a TTD array architecture for wideband multi-beam ...The true-time delay(TTD)units are critical for solving beam squint and frequency selective fading inWideband Large-Scale Antenna Systems(LSASs).In this work,we propose a TTD array architecture for wideband multi-beam tracking that eliminates the beam squint phenomenon and filters out interference signals by applying a spatial filter and time delay estimations(TDEs).The paper presents a novel approach to spatial filter design by introducing a transformation matrix that can optimize the beam response in a specific direction and at a specific frequency.Using the variable fractional delay(VFD)filters,we propose a TDE algorithm with a Newton-Raphson iteration update process that corrects the arrival time delay difference between sensors.Simulations and examples have demonstrated that the proposed architecture can achieve beam tracking within 10 ms at the low signalto-noise ratio(SNR)and demodulation loss is less than 0.5 dB in wideband multi-beam scenarios.展开更多
To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controll...To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controller was developed. Based on the step response test data of the heat block, a reduced first order model was estabfished at different operating points. Based on the reduced model, the FVSPID controller combined a feedforward path with the variable structural proportional-integral-derivative （PID） control. The modified feedforward action provided directly the optimal predictive power for the desired setpoint to speed up the dynamic response. To cooperate with the feedforward action, a variable structural PID was applied, where the P mode was used in the case of the largest errors to speed up response, whereas the PD mode was used in the case of larger errors to suppress overshoot, and finally the PID mode was applied for small error conditions to eliminate the steady state offset. Experimental results illustrated that compared to the conventional PID controller, the FVSPID controller can not only reduce the time taken to complete a standard PCR protocol, but also improve the accuracy of gene amplification.展开更多
In the early development of the wind energy, the majority of the wind turbines have been operated at constant speed. Subsequently, the number of variable-speed wind turbines installed in wind farms has increased. In t...In the early development of the wind energy, the majority of the wind turbines have been operated at constant speed. Subsequently, the number of variable-speed wind turbines installed in wind farms has increased. In this paper, a comparative performance of fixed and variable speed wind generators with Pitch angle control has been presented. The first is based on a squirrel cage Induction Generator （IG） of 315 kW rated power, connected directly to the grid. The second incorporated a Permanent Magnet Synchronous Generator （PMSG） of 750 kW rated power. The performances of each studied wind generator are evaluated by simulation works and variable speed operation is highlighted as preferred mode of operation.展开更多
This paper presents a variable speed control strategy for wind turbines in order to capture maximum wind power.Wind turbines are modeled as a two-mass drive-train system with generator torque control.Based on the obta...This paper presents a variable speed control strategy for wind turbines in order to capture maximum wind power.Wind turbines are modeled as a two-mass drive-train system with generator torque control.Based on the obtained wind turbine model,variable speed control schemes are developed.Nonlinear tracking controllers are designed to achieve asymptotic tracking for a prescribed rotor speed reference signal so as to yield maximum wind power capture.Due to the difficulty of torsional angle measurement,an observer-based control scheme that uses only rotor speed information is further developed for global asymptotic output tracking.The effectiveness of the proposed control methods is illustrated by simulation results.展开更多
基金supported in part by the Brødrene Hartmanns(No.A36775)Thomas B.Thriges(No.7648-2106)+1 种基金Fabrikant Mads Clausens(No.2023-0210)EnergiFyn funds.
文摘This paper presents a learning-based control framework for fast(<1.5 s)and accurate manipulation of a flexible object,i.e.,whip targeting.The framework consists of a motion planner learned or optimized by an algorithm,Online Impedance Adaptation Control(OIAC),a sim2real mechanism,and a visual feedback component.The experimental results show that a soft actor-critic algorithm outperforms three Deep Reinforcement Learning(DRL),a nonlinear optimization,and a genetic algorithm in learning generalization of motion planning.It can greatly reduce average learning trials(to<20 of others)and maximize average rewards(to>3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed framework.In addition,the trajectory similarity between simulated and physical whips is 89.09.The presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.
基金supported by the National Natural Science Foundation of China(Grant Nos.62373208 and 62003097)the Taishan Scholar Program of Shandong Province of China(Grant No.tsqn202306218)the Talent Introduction and Cultivation Plan for Youth Innovation of Universities in Shandong Province。
文摘This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties. The design process is divided into two steps. Firstly, an adaptive tracking controller is designed for the dynamic leading vehicle. And then, the distributed adaptive controllers are established for followers. Moreover, the predictor technique is used to improve the estimate performance of the adaptive law, and the total disturbance is approximated and compensated by the variable gain nonlinear extended state observers(NESOs) driven by the estimation error. By introducing the variable gain hyperbolic tangent tracking differentiator(HTTD), the “complexity explosion” problem is avoided. The feasibility and effectiveness of the proposed protocol are verified by simulation tests.
基金supported by the National Natural Science Foundation of China(Grant No.12202282).
文摘The measurement of wing dynamic deformation in morphing aircraft is crucial for achieving closed-loop control and evaluating structural safety.For variable-sweep wings with active large deformation,this paper proposes a novel videogrammetric method for full-field dynamic deformation measurement.A stereo matching method based on epipolar geometry constraint and topological constraint is presented to find the corresponding targets between stereo images.In addition,a new method based on affine transformation combined with adjacent closest point matching is developed,aiming to achieve fast and automatic tracking of targets in time-series images with large deformation.A calculation model for dynamic deformation parameters is established to obtain the displacement,sweep variable angle,and span variation.To verify the proposed method,a dynamic deformation measurement experiment is conducted on a variable-sweep wing model.The results indicate that the actual accuracy of the proposed method is approximately 0.02%of the measured area(e.g.,0.32 mm in a 1.6 m scale).During one morphing course,the sweep variable angle,the span variation and the displacement increase gradually,and then decrease.The maximum sweep variable angle is 36.6°,and the span variation is up to 101.13 mm.The overall configuration of the wing surface is effectively reconstructed under different morphing states.
文摘The velocity tracking control of a hydraulic servo system is studied. Sincethe dynamics of the system are highly nonlinear and have large extent of model uncertainties, suchas big changes in load and parameters, a derivation and integral sliding mode variable structurecontrol scheme (DI-SVSC) is proposed. An integral controller is introduced to avoid the assumptionthat the derivative of desired signal must be known in conventional sliding mode variable structurecontrol, a nonlinear derivation controller is used to weaken the chattering of system. The designmethod of switching function in integral sliding mode control, nonlinear derivation coefficient andcontrollers of DI-SVSC is presented respectively. Simulation shows that the control approach is ofnice robustness and improves velocity tracking accuracy considerably.
基金supported by the foundation of National Key Laboratory of Electromagnetic Environment(Grant No.202103012).
文摘The true-time delay(TTD)units are critical for solving beam squint and frequency selective fading inWideband Large-Scale Antenna Systems(LSASs).In this work,we propose a TTD array architecture for wideband multi-beam tracking that eliminates the beam squint phenomenon and filters out interference signals by applying a spatial filter and time delay estimations(TDEs).The paper presents a novel approach to spatial filter design by introducing a transformation matrix that can optimize the beam response in a specific direction and at a specific frequency.Using the variable fractional delay(VFD)filters,we propose a TDE algorithm with a Newton-Raphson iteration update process that corrects the arrival time delay difference between sensors.Simulations and examples have demonstrated that the proposed architecture can achieve beam tracking within 10 ms at the low signalto-noise ratio(SNR)and demodulation loss is less than 0.5 dB in wideband multi-beam scenarios.
基金Supported by the National Natural Science Foundation of China (No.60574038) and the Open Project Program of the State KeyLaboratory of Bioreactor Engineering/ECUST.
文摘To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controller was developed. Based on the step response test data of the heat block, a reduced first order model was estabfished at different operating points. Based on the reduced model, the FVSPID controller combined a feedforward path with the variable structural proportional-integral-derivative （PID） control. The modified feedforward action provided directly the optimal predictive power for the desired setpoint to speed up the dynamic response. To cooperate with the feedforward action, a variable structural PID was applied, where the P mode was used in the case of the largest errors to speed up response, whereas the PD mode was used in the case of larger errors to suppress overshoot, and finally the PID mode was applied for small error conditions to eliminate the steady state offset. Experimental results illustrated that compared to the conventional PID controller, the FVSPID controller can not only reduce the time taken to complete a standard PCR protocol, but also improve the accuracy of gene amplification.
文摘In the early development of the wind energy, the majority of the wind turbines have been operated at constant speed. Subsequently, the number of variable-speed wind turbines installed in wind farms has increased. In this paper, a comparative performance of fixed and variable speed wind generators with Pitch angle control has been presented. The first is based on a squirrel cage Induction Generator （IG） of 315 kW rated power, connected directly to the grid. The second incorporated a Permanent Magnet Synchronous Generator （PMSG） of 750 kW rated power. The performances of each studied wind generator are evaluated by simulation works and variable speed operation is highlighted as preferred mode of operation.
基金supported by the Key Project of National Natural Science Foundation of China(61533009)the 111 Project(B08015)the Research Projects(KQC201105300002A,JCY20130329152125731,JCYJ20150403161923519)
文摘This paper presents a variable speed control strategy for wind turbines in order to capture maximum wind power.Wind turbines are modeled as a two-mass drive-train system with generator torque control.Based on the obtained wind turbine model,variable speed control schemes are developed.Nonlinear tracking controllers are designed to achieve asymptotic tracking for a prescribed rotor speed reference signal so as to yield maximum wind power capture.Due to the difficulty of torsional angle measurement,an observer-based control scheme that uses only rotor speed information is further developed for global asymptotic output tracking.The effectiveness of the proposed control methods is illustrated by simulation results.
