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

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Decentralized Adaptive Control for a Class of Large Scale Nonlinear Asymmetric Saturation Hysteretic Systems with All States Constrained 一类全状态约束的大型非线性非对称饱和滞回系统的分散自适应控制
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545206
Xiurong Ou, Shunjiang Wang, Hua Li, Hongwei Xin, Guoqiang Zhu, Xiuyu Zhang
An all state constrained decentralized adaptive implicit inversion control scheme is proposed for a class of large scale nonlinear asymmetric saturation hysteretic systems with unknown time delay. Firstly, to improve the transient performance, the asymmetric barrier Lyapunov function is introduced to ensure that the error surface will not exceed within an appropriate range, which is necessary in engineering practice. Secondly, the transmission delay between subsystems is compensated by neural network approximator. According to the finite coverage lemma, only a limited number of previous state values are needed. Finally, the modified implicit inversion is employed to compensate for the adverse effects of the saturation hysteresis. All closed-loop signals are proved to be globally uniformly bounded and the tracking errors converge to a residual set that can be made arbitrarily small. Simulation results on two-machine excitation power systems are presented to illustrate the effectiveness of the proposed scheme.
针对一类具有未知时滞的大型非线性非对称饱和滞回系统,提出了一种全状态约束的分散自适应隐式反演控制方案。首先,为了提高瞬态性能,引入非对称势垒Lyapunov函数,保证误差面不超过工程实际需要的适当范围;其次,利用神经网络逼近器补偿子系统间的传输延迟。根据有限覆盖引理,只需要有限数量的先前状态值。最后,采用改进的隐式反演来补偿饱和滞后的不利影响。证明了所有闭环信号是全局一致有界的,跟踪误差收敛到一个可以任意小的残差集。最后给出了双机励磁电力系统的仿真结果,验证了该方法的有效性。
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引用次数: 0
Finite-Time Projective Synchronization of Neural Networks with Uncertainties via Adaptive Fault-Tolerant Control 基于自适应容错控制的不确定神经网络有限时间投影同步
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545093
Yue-Ping Zhang, Qiang Li
In this study, problems of finite-time projective synchronization of neural networks with uncertainties are investigated using adaptive fault-tolerant control methods. When the system parameters are known or unknown, different adaptive controllers are designed. The fault-tolerant controller is designed to ensure that the drive response system can achieve synchronization in finite time. Finally, the validity of the method and the correctness of the theoretical results are verified by two kinds of numerical simulation.
本文采用自适应容错控制方法,研究了具有不确定性的神经网络的有限时间投影同步问题。当系统参数已知或未知时,设计不同的自适应控制器。为了保证驱动响应系统在有限时间内实现同步,设计了容错控制器。最后,通过两种数值模拟验证了方法的有效性和理论结果的正确性。
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引用次数: 0
Improved Multi-UUV Formation Control for Artificial Potential Fields and Virtual Navigators 基于人工势场和虚拟导航仪的改进多uuv编队控制
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545166
Ke Chen, Yue You, Guangyu Luo, Xuan Guo
For the formation control problem of UUV, the problem is decomposed into single UUV path tracking problem and multi-UUV formation control problem, the single UUV path tracker is designed based on the backstepping method, and the system stability is verified by using Lyapunov function, the traditional artificial potential field method is improved for the local.The virtual navigator is introduced to design the multi-UUV formation control system, and finally the RMS-100S is used for the real ship test. The test results show that the established multi-UUV formation control system can effectively realize formation change and hold, and the response time of formation change is kept within 100s, and the distance error is kept within 1m after the formation is stabilized.
针对UUV编队控制问题,将其分解为单UUV路径跟踪问题和多UUV编队控制问题,基于反推法设计了单UUV路径跟踪器,利用Lyapunov函数验证了系统的稳定性,并对传统的人工势场法进行了局部改进。采用虚拟导航仪设计了多uuv编队控制系统,并将RMS-100S进行了实船试验。试验结果表明,所建立的多uuv编队控制系统能够有效地实现编队变化与保持,编队变化响应时间保持在1000s以内,编队稳定后距离误差保持在1m以内。
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引用次数: 0
Practice Methods of Product Assurance for Satellite Control System 卫星控制系统产品保证的实践方法
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545124
Xu Jingyu, Yu Songbai, W. Hong
In this paper, the main contents of product assurance for satellite control system are extracted, and the technical risks and risk assessment in the process of satellite control system development are put forward. Aiming at the risk of satellite control system development, this paper puts forward a practical method of product assurance for control system, which adopts product assurance from product design, development, test and verification. Through a series of product assurance work, the problem of identifying and verifying the risk content in the process of developing the system is solved, and finally the risk quantification result of the satellite control system is evaluated. The risk index of satellite control system is greatly reduced. Through a series of product assurance work, the center of quality assurance of satellite control system is moved forward, and the quality of control system is guaranteed.
本文提炼了卫星控制系统产品保障的主要内容,提出了卫星控制系统开发过程中的技术风险和风险评估。针对卫星控制系统开发存在的风险,提出了一种实用的控制系统产品保证方法,即从产品设计、开发、测试和验证四个环节进行产品保证。通过一系列的产品保障工作,解决了系统开发过程中风险内容的识别和验证问题,最后对星控系统的风险量化结果进行了评估。大大降低了卫星控制系统的风险指数。通过一系列的产品保证工作,使卫星控制系统的质量保证中心前移,保证了控制系统的质量。
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引用次数: 1
Design and Static Analysis of Rotary Manipulator for Fixed-point Tire Vulcanization 轮胎定点硫化旋转机械手的设计与静态分析
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545100
Yuan Yu, Jinsheng Ren, W. Cui, Hua Yan, Weimin Yang
The fixed-point vulcanization can be used to reduce the defects in the tire vulcanization for the green tire and the adverse impacts on the uniformity and dynamic balance of the finished tire. In order to implement the fixed-point vulcanization of the green tire and improve the uniformity and dynamic balance of the tire, the dual-cylinder rotary manipulator is designed for fixed-point tire vulcanization using Siemens NX software. The rotary cylinder drives the gripping mechanism to rotate and identify code of the green tire and then locates the circumferential position of the green tire. The piston cylinder drives the manipulator claws and make a telescopic movement to grip or release the green tire. The structure static analyses on the key components such as bolts, horizontal adjustment joints, connecting arms and guide pillars of the manipulator are carried out using ABAQUS software. The simulation results show that the designed manipulator meets the requirements of strength and accuracy.
采用定点硫化可以减少绿色轮胎硫化过程中存在的缺陷以及对成品轮胎均匀性和动平衡的不利影响。为了实现绿色轮胎的定点硫化,提高轮胎的均匀性和动平衡,利用西门子NX软件设计了轮胎定点硫化双缸回转机械手。旋转气缸驱动夹持机构旋转并识别绿胎的编码,然后定位绿胎的周向位置。活塞缸驱动机械手爪进行伸缩运动,抓取或释放绿色轮胎。利用ABAQUS软件对机械手的螺栓、水平调节接头、连接臂、导柱等关键部件进行了结构静力分析。仿真结果表明,所设计的机械手满足强度和精度要求。
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引用次数: 0
Research on Multi-objective Task Assignment Scheme Based on Group Isomorphism UUV 基于群同构UUV的多目标任务分配方案研究
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545203
Ke Yongsheng, Wu Rui, G. Xuan, Luo Guangyu
The traditional ant colony algorithm is improved for the TSP extension problem when multi-objective task assignment is performed by a group homogeneous UUV. Based on the traditional ant colony algorithm and the TSP problem, the TSP problem model is extended to improve the initial information, the taboo table, the location state probability calculation formula, and the pheromone concentration update method to create an improved ant colony algorithm, and simulations are performed with three different evaluation functions: path, time, and path-time, respectively. The experimental results show that the optimal solution can be reached simultaneously by using path evaluation function and time evaluation function, and the solution is gradually optimized by using path-time evaluation function, and finally reaches the optimal solution. The improved ant colony algorithm not only solves the multi-individual and multi-objective task assignment, but also can significantly improve the work efficiency and effectively reduce the cost.
对传统的蚁群算法进行了改进,解决了一组同构UUV执行多目标任务分配时的TSP扩展问题。在传统蚁群算法和TSP问题的基础上,对TSP问题模型进行扩展,对初始信息、禁忌表、位置状态概率计算公式和信息素浓度更新方法进行改进,创建改进的蚁群算法,并分别使用路径、时间和路径时间三种不同的评价函数进行仿真。实验结果表明,利用路径评价函数和时间评价函数可以同时得到最优解,并利用路径时间评价函数逐步优化解,最终得到最优解。改进的蚁群算法不仅解决了多个体、多目标的任务分配问题,而且显著提高了工作效率,有效降低了成本。
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引用次数: 0
Potential Fields Guided Deep Reinforcement Learning for Optimal Path Planning in a Warehouse 基于势场引导的深度强化学习仓库最优路径规划
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545167
Jing Ren, Xishi Huang
Using mobile robots for transportation in a warehouse is becoming more and more common. Compared with human staff, these robots can handle the goods more accurately and more efficiently. Using robots can greatly reduce the operation cost of a warehouse. Optimal path planning for these robots can reduce the transportation time, guarantee the safety of the people in the warehouse, and reduce the goods delivery time and increase daily output. In this paper, we propose an optimal path planning algorithm for the mobile robot using deep reinforcement learning (DRL). Potential fields are employed to guide to collect better quality training data to improve data efficiency. The simulation results have shown that DRL can successfully reach the goal position and avoid collision with the obstacles using the potential fields guided trail-and-error method.
在仓库中使用移动机器人进行运输正变得越来越普遍。与人类员工相比,这些机器人可以更准确、更高效地处理货物。使用机器人可以大大降低仓库的运营成本。对这些机器人进行最优路径规划,可以减少运输时间,保证仓库人员的安全,减少货物交付时间,增加日产量。本文提出了一种基于深度强化学习(DRL)的移动机器人最优路径规划算法。利用势场进行引导,收集更优质的训练数据,提高数据效率。仿真结果表明,采用势场引导的跟踪误差方法,DRL能够成功到达目标位置,避免与障碍物碰撞。
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引用次数: 2
Object Recognition Algorithm for Complex Scenes Based on Improved YOLO v3 基于改进YOLO v3的复杂场景目标识别算法
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545150
Yadong Wang, Jin Li, Ruocong Yang, Zexuan Wang, Yue Zhang
YOLO v3 is widely used in industry because of its high detection accuracy and speed, but there is a problem that it can only output accurate position coordinates and cannot predict the localization uncertainty of bbox. To solve this problem, an improved YOLO v3 algorithm is proposed. By increasing the output of position parameters and predicting localization uncertainty of bbox with Gaussian modeling to remove the boxes with high bbox uncertainty in the detection process. A new Localization loss function is designed on the basis of increasing the output of bbox coordinates. Batch Normalization layer and Convolution layer are combined to reduce the use of video memory space and improve network performance. The experimental results show that the mAP50 of the improved YOLO v3 algorithm in the helmet wearing test set is improved by 7.99%.
YOLO v3由于检测精度高、速度快,在工业上得到了广泛的应用,但存在只能输出准确的位置坐标,无法预测bbox的定位不确定性的问题。为了解决这一问题,提出了一种改进的YOLO v3算法。通过增加位置参数的输出,利用高斯模型预测bbox的定位不确定性,去除检测过程中bbox不确定性高的盒子。在增加bbox坐标输出的基础上,设计了一种新的定位损失函数。将批处理归一化层和卷积层相结合,减少了视频存储空间的使用,提高了网络性能。实验结果表明,改进的YOLO v3算法在头盔磨损测试集中的mAP50提高了7.99%。
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引用次数: 0
The Method of Data Fault Detection of the Integrated Navigation System Based on AR Measurement Modling 基于AR测量建模的组合导航系统数据故障检测方法
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545152
Xu Lyu, B. Hu, Jiayu Tian
Aiming to improve the reliability of the SINS/GPS integrated navigation system, considering that the traditional residual chi-square detection method is not efficient in detecting small mutations and slow mutations. An information fault detection method for integrated navigation system based on AR measurement modeling is proposed. This method establishes an AR model of the measured data under no-fault conditions, and combines the Kalman filter model to obtain the measured predicted value for residual calculation. It avoids that the traditional residual chi-square detection method introduces observation pollution data, which leads to the failure of detection statistics tracking, is insensitive to slowly changing failures, and reduces the impact of alarm loss rate on data reliability. The simulation experiment results show that the application of this method in the SINS/GPS integrated navigation system can effectively improve the fault tolerance of the integrated navigation system against slow changes or even small-scale faults, which verifies the effectiveness of the algorithm.
为了提高SINS/GPS组合导航系统的可靠性,考虑到传统的残差卡方检测方法在检测小突变和慢突变时效率不高。提出了一种基于AR测量建模的组合导航系统信息故障检测方法。该方法建立了无故障条件下实测数据的AR模型,并结合卡尔曼滤波模型得到实测预测值进行残差计算。避免了传统残差卡方检测方法引入观测污染数据导致检测统计跟踪失败,对故障缓慢变化不敏感,降低了报警损失率对数据可靠性的影响。仿真实验结果表明,将该方法应用于SINS/GPS组合导航系统中,可以有效提高组合导航系统对缓慢变化甚至小尺度故障的容错能力,验证了该算法的有效性。
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引用次数: 0
Research on Contribution Rate Evaluation of Armament System-of-Systems Based on Interval-Value Function* 基于区间值函数的武器装备系统贡献率评估研究*
Pub Date : 2021-07-30 DOI: 10.1109/ICCSSE52761.2021.9545120
Lin Gong, Renjie Xu, Jian Xie, Yingjie Lin
Understanding the impact of individual armament’s contribution on armament system-of-systems (ASoS) is imperative for system designers to better measure combat effect and develop more competitive systems in the development stage. However, existing approaches do not consider the impact of the warfare scenario on the assessment when facing multiple combat missions. In this paper, we proposed a method based on interval-valued function to evaluate the contribution rate of ASoS in different combat scenarios. Firstly, a capability index system based on combat missions was established, and system-of-systems evaluation scenarios were generated. Then, the interval-valued function was introduced into a capability demand satisfaction degree model. Finally, the contribution rate of ASoS was evaluated and revised based on TOPSIS and grey entropy model. Afterward, an air-combat scenario was utilized as a case study to exemplify the implementation of the proposed approach and subsequently demonstrated its validity. The results show that our approach can effectively evaluate the contribution rate of ASoS in different scenarios, which can help us better identify the priority and provide theoretical support for the development and adoption of armament.
了解单兵装备对武器系统(ASoS)的影响,对系统设计者在研制阶段更好地衡量作战效果和开发更具竞争力的系统具有重要意义。然而,当面临多重作战任务时,现有的方法没有考虑战争场景对评估的影响。本文提出了一种基于区间值函数的不同作战场景下自主作战系统贡献率评估方法。首先,建立了基于作战任务的能力指标体系,生成了系统评价场景;然后将区间值函数引入到能力需求满意度模型中。最后,基于TOPSIS和灰熵模型对ASoS的贡献率进行了评价和修正。随后,利用空战场景作为案例研究来举例说明所提出方法的实施,并随后证明了其有效性。结果表明,该方法能够有效评估不同情景下自主作战系统的贡献率,有助于更好地确定武器装备的优先级,为武器装备的发展和采用提供理论支持。
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引用次数: 0
期刊
2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)
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