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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

《机械工程前沿（英文）》 2007年第2卷第2期页码 197-200 doi: 10.1007/s11465-007-0033-7

摘要： Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle. The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance. Its position and omni-direction motion are precise. A Charge Coupled Device (CCD) camera is used for measuring and for visual navi gation. A control system is developed. The precision of the position is 0.5 mm, the resolution is about 0.05 mm, and the maximum velocity is about 52 mm/s. The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

关键词： measuring distance autonomous locomotion advantage navigation

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Digital twin-enabled smart facility management: A bibliometric review

《工程管理前沿（英文）》 doi: 10.1007/s42524-023-0254-4

摘要： In recent years, the architecture, engineering, construction, and facility management (FM) industries have been applying various emerging digital technologies to facilitate the design, construction, and management of infrastructure facilities. Digital twin (DT) has emerged as a solution for enabling real-time data acquisition, transfer, analysis, and utilization for improved decision-making toward smart FM. Substantial research on DT for FM has been undertaken in the past decade. This paper presents a bibliometric analysis of the literature on DT for FM. A total of 248 research articles are obtained from the Scopus and Web of Science databases. VOSviewer is then utilized to conduct bibliometric analysis and visualize keyword co-occurrence, citation, and co-authorship networks; furthermore, the research topics, authors, sources, and countries contributing to the use of DT for FM are identified. The findings show that the current research of DT in FM focuses on building information modeling-based FM, artificial intelligence (AI)-based predictive maintenance, real-time cyber–physical system data integration, and facility lifecycle asset management. Several areas, such as AI-based real-time asset prognostics and health management, virtual-based intelligent infrastructure monitoring, deep learning-aided continuous improvement of the FM systems, semantically rich data interoperability throughout the facility lifecycle, and autonomous control feedback, need to be further studied. This review contributes to the body of knowledge on digital transformation and smart FM by identifying the landscape, state-of-the-art research trends, and future needs with regard to DT in FM.

关键词： digital twin building information modeling facility management semantic interoperability artificial intelligence intelligent monitoring autonomous control feedback

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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年第17卷第1期页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles vehicle dynamic modeling model predictive control path following optimization algorithm

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

《机械工程前沿（英文）》 2006年第1卷第3期页码 329-335 doi: 10.1007/s11465-006-0034-y

摘要： This paper presents a robot manipulator tracking controller based on output feedback linearization. A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities, disturbances and unmodelled dynamics. The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles. The controller design does not need an accurate model of the robot manipulator. Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that the proposed controller has more superior tracking control performance, with payload changing in a wide range, in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

关键词： available comparison unmeasurable nonlinear perturbation observer

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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

《信息与电子工程前沿（英文）》 2015年第16卷第2期页码 166-172 doi: 10.1631/FITEE.1400183

摘要： This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词： Robot modeling Robot navigation Slip and skid control Wheeled mobile robots

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Feedback linearization based control for weak grid connected PV system under normal and abnormal conditions

Rahul SHARMA,Sathans SUHAG

《能源前沿（英文）》 2020年第14卷第2期页码 400-409 doi: 10.1007/s11708-017-0459-5

摘要： This paper proposes a control strategy for interface of distributed energy sources into the weak grid system with a focus on the energy and ancillary services. A novel controller has been designed and implemented to tackle the challenges of coupling terms in the LCL filter, the transient behavior under sudden changes, and the voltage support under fault condition using the feedback linearization technique. The controller proposed has been implemented on the PV system connected with the weak grid using the LCL filter and the performance of the controller has been verified using Matlab/Simulink through simulation under different conditions. The results of the controller proposed have been compared with the conventional PI dual loop controller. The simulation results obtained demonstrate the effectiveness and simplicity of the controller design strategy.

关键词： PV system grid interface feedback linearization inverter LCL filter

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Robust nonlinear control via feedback linearization and Lyapunov theory for permanent magnet synchronous

Ridha CHEIKH, Arezki MENACER, L. CHRIFI-ALAOUI, Said DRID

《能源前沿（英文）》 2020年第14卷第1期页码 180-191 doi: 10.1007/s11708-018-0537-3

摘要： In this paper, the method for the nonlinear control design of a permanent magnet synchronous generator based-wind energy conversion system (WECS) is proposed in order to obtain robustness against disturbances and harvest a maximum power from a typical stochastic wind environment. The technique overcomes both the problem of nonlinearity and the uncertainty of the parameter compared to such classical control designs based on traditional control techniques. The method is based on the differential geometric feedback linearization technique (DGT) and the Lyapunov theory. The results obtained show the effectiveness and performance of the proposed approach.

关键词： permanent magnet synchronous generator wind energy conversion system stochastic differential geometric feedback linearization maximum power point tracking Lyapunov robust control

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一类Lipschitz非线性系统的事件触发动态输出反馈控制 Research Article

刘智倩,楼旭阳,贾佳佳

《信息与电子工程前沿（英文）》 2022年第23卷第11期页码 1684-1699 doi: 10.1631/FITEE.2100552

摘要：

本文研究一类Lipschitz非线性系统的动态输出反馈控制问题。首先，针对该系统设计了一个连续时间控制器，并且给出了系统稳定的充分条件。其次，针对该Lipschitz非线性系统提出一种新的事件触发机制，在该触发机制中引入了新的事件触发条件，并构建了事件触发控制下的闭环混杂系统。在混杂系统框架下建立了闭环系统稳定的充分条件。此外，给出了最小事件间隔的上界，以避免Zeno现象。最后，通过在神经网络系统和基因调控网络系统中的数值仿真验证了理论结果及所提方法的优越性。

关键词： Lipschitz非线性系统；动态输出反馈控制；事件触发控制；全局渐近稳定

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非线性系统高阶微分反馈控制

齐国元,陈增强,袁著祉

《中国工程科学》 2003年第5卷第8期页码 35-44

摘要：并给出其稳定性、收敛性和滤波特性的证明；另外，对带有未知扰动、模型未知的非线性SISO和MIMO系统分别设计了基于HOD的高阶微分反馈自适应控制器（HODFC, high order differentials feedback

关键词：高阶微分器高阶微分反馈控制器稳定性鲁棒性解耦控制

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Topology optimization of piezoelectric bi-material actuators with velocity feedback control

Mariana MORETTI, Emílio C. N. SILVA

《机械工程前沿（英文）》 2019年第14卷第2期页码 190-200 doi: 10.1007/s11465-019-0537-y

摘要： In recent years, the new technologies and discoveries on manufacturing materials have encouraged researchers to investigate the appearance of material properties that are not naturally available. Materials featuring a specific stiffness, or structures that combine non-structural and structural functions are applied in the aerospace, electronics and medical industry fields. Particularly, structures designed for dynamic actuation with reduced vibration response are the focus of this work. The bi-material and multifunctional concepts are considered for the design of a controlled piezoelectric actuator with vibration suppression by means of the topology optimization method (TOM). The bi-material piezoelectric actuator (BPEA) has its metallic host layer designed by the TOM, which defines the structural function, and the electric function is given by two piezo-ceramic layers that act as a sensor and an actuator coupled with a constant gain active velocity feedback control (AVFC). The AVFC, provided by the piezoelectric layers, affects the structural damping of the system through the velocity state variables readings in time domain. The dynamic equation analyzed throughout the optimization procedure is fully elaborated and implemented. The dynamic response for the rectangular four-noded FE analysis is obtained by the Newmark’s time-integration method, which is applied to the physical and the adjoint systems, given that the adjoint formulation is needed for the sensitivity analysis. A gradient-based optimization method is applied to minimize the displacement energy output measured at a predefined degree-of-freedom of the BPEA when a transient mechanical load is applied. Results are obtained for different control gain values to evaluate their influence on the final topology.

关键词： topology optimization method bi-material piezoactuator active velocity feedback control time-domain transient analysis host structure design vibration suppression

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Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration

Kang Yuan,Yanjun Huang,Shuo Yang,Zewei Zhou,Yulei Wang,Dongpu Cao,Hong Chen,

《工程（英文）》 doi: 10.1016/j.eng.2023.03.018

摘要： Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment. This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data- and model-driven method. First, a data-driven decision-making module based on deep reinforcement learning (DRL) is developed to pursue a rational driving performance as much as possible. Then, model predictive control (MPC) is employed to execute both longitudinal and lateral motion planning tasks. Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements. Finally, two principles of safety and rationality for the self-evolution of autonomous driving are proposed. A motion envelope is established and embedded into a rational exploration and exploitation scheme, which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent. Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted, and the results show that the proposed online-evolution framework is able to generate safer, more rational, and more efficient driving action in a real-world environment.

关键词： Autonomous driving Decision-making Motion planning Deep reinforcement learning Model predictive control

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A smooth co-ordination control for a hybrid autonomous power system (HAPS) with battery energy storage

C. K. ARAVIND,G. SARAVANA ILANGO,C. NAGAMANI

《能源前沿（英文）》 2015年第9卷第1期页码 31-42 doi: 10.1007/s11708-015-0347-9

摘要： The standalone hybrid power system constitutes a synchronous generator driven by a diesel engine, renewable energy source (wind) apart from a battery energy storage system. A coherent control strategy to regulate the voltage and frequency of the standalone grid is proposed in this paper. The system is simulated using Matlab/Simulink for preliminary validation and further tested on a laboratory prototype which involves a TMS320LF2407A DSP controller to digitally implement the control strategy. The dynamic behavior of the system is perused through the direct connection of an induction machine. The control strategy is verified for step changes in load and variation in wind power.

关键词： standalone hybrid power system battery energy storage system (BESS) power conversion

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具有极点区域约束的广义模糊系统的输出反馈控制

高丹,曹媛媛

《中国工程科学》 2006年第8卷第4期页码 63-67

摘要：

针对模糊广义系统，将动态输出反馈控制器设计问题转化为一组矩阵不等式的可行解问题，使得闭环系统不仅具有鲁棒性能，而且能把闭环系统极点配置在一个给定的圆形区域内，从而保证系统具有期望的动态性能。

关键词：模糊广义系统动态输出反馈线性矩阵不等式

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带状态反馈控制的概率布尔网络上基于互模拟的稳定性研究 Research Articles

Nan JIANG, Chi HUANG, Yao CHEN, Jürgen KURTHS

《信息与电子工程前沿（英文）》 2020年第21卷第2期页码 268-290 doi: 10.1631/FITEE.1900447

摘要：研究具有状态反馈控制的概率布尔控制网络。为降低计算复杂度，定义一种新的互模拟概率布尔控制网络。为更好理解概率布尔控制网络之间的互模拟关系，使用一种半张量积的强大矩阵运算。由于网络稳定至关重要，考虑互模拟概率布尔控制网络之间的1-概率稳定传播，并证明可行性。如果两个概率布尔控制网络之间匹配互模拟关系，则它们的过渡阶段（实现稳定的最大步骤数）被证明相同。之后，将结果推广到概率布尔网络。

关键词：硅基集成电路；毫米波；超宽带；变压器；低噪声放大器；倍频器；分频器；混频器

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水下滑翔机航向控制 Article

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

《信息与电子工程前沿（英文）》 2017年第18卷第7期页码 898-914 doi: 10.1631/FITEE.1601735

摘要：水下滑翔机动力学特性随有效载荷及外形变化而变化，其航向控制富有挑战性。解决方法是使用在线系统辨识算法捕捉当前动力学特性，更新运动模型。为此，我们设计了一个在线多项式辨识器，不断更新当前动力学模型，同时用一个自适应模型预测控制器计算并输出最优化的控制指令。该控制器根据用户自定义的指标函数，使用二次规划方法得到最优控制指令。该指标函数由两项组成，一项用来表达轨迹跟踪性能，一项用来表达输入指令抑制性能。输入指令抑制性能一定程度上可以代表该控制器的能量消耗性能。设计师可以通过调节这两项的权重，平衡两个控制器的性能。比较二次与五次多项式模型的控制效果，发现：二次多项式模型不足以表达无人机的动力学特性，且控制结果易发生剧烈波动。硬件在环模拟以及湖试结果验证了控制器性能。

关键词：水下滑翔机；在线系统辨识；航向控制；自适应控制；最优控制；节能控制；硬件在环模拟

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标题作者时间类型操作

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

期刊论文

Digital twin-enabled smart facility management: A bibliometric review

期刊论文

Extended model predictive control scheme for smooth path following of autonomous vehicles

期刊论文

Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua