Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545198
Lu YongZhou, Luo Guangyu, G. Xuan
For the Unmanned Undersea Vehicle (UUV) path planning problem, an improved ant colony algorithm is proposed to solve the global static path planning and an improved DDQN algorithm is proposed to solve the local dynamic collision avoidance problem. The traditional ant colony algorithm is optimized by adding the constraints of collision avoidance among UUVs to improve the accuracy of the algorithm. The Q algorithm idea is introduced to improve the DDQN algorithm to realize the UUV’s anticipation of future environmental state changes. This algorithm can not only solve the local collision avoidance problem, but also realize the accurate prediction of future environment. Finally, the algorithm is validated with a real UUV. The experimental results show that the proposed method solves the problems of collision avoidance and path finding for multiple UUVs in complex environments, and can effectively avoid collisions for obstacles.
{"title":"Multi-UUV Path Planning Study with Improved Ant Colony Algorithm and DDQN Algorithm","authors":"Lu YongZhou, Luo Guangyu, G. Xuan","doi":"10.1109/ICCSSE52761.2021.9545198","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545198","url":null,"abstract":"For the Unmanned Undersea Vehicle (UUV) path planning problem, an improved ant colony algorithm is proposed to solve the global static path planning and an improved DDQN algorithm is proposed to solve the local dynamic collision avoidance problem. The traditional ant colony algorithm is optimized by adding the constraints of collision avoidance among UUVs to improve the accuracy of the algorithm. The Q algorithm idea is introduced to improve the DDQN algorithm to realize the UUV’s anticipation of future environmental state changes. This algorithm can not only solve the local collision avoidance problem, but also realize the accurate prediction of future environment. Finally, the algorithm is validated with a real UUV. The experimental results show that the proposed method solves the problems of collision avoidance and path finding for multiple UUVs in complex environments, and can effectively avoid collisions for obstacles.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117282725","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545101
Xiao Hu, Shufeng Li, Mingyu Cai
In this paper, we propose three improved bit flipping algorithms in successive cancellation (SC) decoding and successive cancellation list (SCL) decoding. Weighted single-bit flipping successive cancellation (WSFSC) decoding first performs SC decoding on the output sequence, T bits with the smallest product of channel capacity and absolute value of LLR are regarded as unreliable bits. In multi-bit flipping successive cancellation (MFSC) algorithm, the unreliable bits are respectively corrected according to the single-bit flipping and multi-bit flipping rules. In single flipping successive cancellation list (SFSCL) algorithm, by subtracting a large penalty value from the path metric (PM) value of the unreliable bit, the decoding path corresponding to this bit is more likely to be pruned during path screening, so as to realize bit flipping indirectly. Simulation results show that the proposed WSFSC and MFSC algorithm has a gain of 0.3dB compared with the traditional SC algorithm, SFSCL algorithm has a gain of 0.3dB compared with the traditional SCL algorithm.
{"title":"An Improved Bit-Flipping Based Decoding Algorithm for Polar Codes","authors":"Xiao Hu, Shufeng Li, Mingyu Cai","doi":"10.1109/ICCSSE52761.2021.9545101","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545101","url":null,"abstract":"In this paper, we propose three improved bit flipping algorithms in successive cancellation (SC) decoding and successive cancellation list (SCL) decoding. Weighted single-bit flipping successive cancellation (WSFSC) decoding first performs SC decoding on the output sequence, T bits with the smallest product of channel capacity and absolute value of LLR are regarded as unreliable bits. In multi-bit flipping successive cancellation (MFSC) algorithm, the unreliable bits are respectively corrected according to the single-bit flipping and multi-bit flipping rules. In single flipping successive cancellation list (SFSCL) algorithm, by subtracting a large penalty value from the path metric (PM) value of the unreliable bit, the decoding path corresponding to this bit is more likely to be pruned during path screening, so as to realize bit flipping indirectly. Simulation results show that the proposed WSFSC and MFSC algorithm has a gain of 0.3dB compared with the traditional SC algorithm, SFSCL algorithm has a gain of 0.3dB compared with the traditional SCL algorithm.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126151464","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545163
Erin Jelacio L. Aguilar, Giann Karlo P. Borromeo, Jocelyn Flores Villaverde
The determination of the ripeness of pineapple has always relied on the visual judgment of a person. While there may be research papers about pineapple maturity grading which can be found online, there is still a lack of pineapple maturity grading research papers that use the Philippine National Standards (PNS) using automated means. In this study, we will automate the process of determining the ripeness of pineapples based on the Philippine Standard using Support Vector Machine (SVM) and HSV Color Space. Using 100 sample images, we trained the system to identify the pineapple inside a container. It is then processed for segmentation where only the body of the fruit remains on the photo. Using HSV Color Space we detect the colors yellow and green and count their respective pixels. These values were used to determine the maturity of the pineapple. The results yielded a 100% accurate prediction with the Unripe and Overripe classes. However, the system only predicted 86% for Ripe classes. This error can be solved by increasing the lighting on the pineapple for the color to be seen by the camera. The researchers have successfully created a device that can determine the maturity of a pineapple with the use of image processing techniques such as HSV and segmentation.
{"title":"Determination of Pineapple Ripeness Using Support Vector Machine for Philippine Standards","authors":"Erin Jelacio L. Aguilar, Giann Karlo P. Borromeo, Jocelyn Flores Villaverde","doi":"10.1109/ICCSSE52761.2021.9545163","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545163","url":null,"abstract":"The determination of the ripeness of pineapple has always relied on the visual judgment of a person. While there may be research papers about pineapple maturity grading which can be found online, there is still a lack of pineapple maturity grading research papers that use the Philippine National Standards (PNS) using automated means. In this study, we will automate the process of determining the ripeness of pineapples based on the Philippine Standard using Support Vector Machine (SVM) and HSV Color Space. Using 100 sample images, we trained the system to identify the pineapple inside a container. It is then processed for segmentation where only the body of the fruit remains on the photo. Using HSV Color Space we detect the colors yellow and green and count their respective pixels. These values were used to determine the maturity of the pineapple. The results yielded a 100% accurate prediction with the Unripe and Overripe classes. However, the system only predicted 86% for Ripe classes. This error can be solved by increasing the lighting on the pineapple for the color to be seen by the camera. The researchers have successfully created a device that can determine the maturity of a pineapple with the use of image processing techniques such as HSV and segmentation.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131417295","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545125
Yi Fan, W. Jing, C. Gao, F. Bernelli-Zazzera
This paper investigates the coordinate control problem for a free-flying spacecraft equipped with a manipulator. A novel robust adaptive sliding mode controller modified by immersion and invariance theory is proposed to drive the spacecraft attitude and the manipulator pose to maneuver from the initial condition to the desired one in a fast manner, simultaneously guaranteeing the robustness against system uncertainties and external environmental disturbances. The nonconventional sliding mode surface and introduction of I&I theory eliminate the effect of chattering since the system dynamics evolve closer to its natural behavior. Moreover, the noncertainty equivalence principle based disturbance estimator avoids possible controller singularities. Stability analysis of the closed-loop has been rigorously proven with the Lyapunov theory. Numerical simulations demonstrating the effectiveness and robustness of the proposed control scheme are carried out on a model of a spacecraft equipped with a 2 degree of freedom manipulator.
{"title":"Immersion and Invariance-Based Adaptive Coordinate Control for Space Manipulator","authors":"Yi Fan, W. Jing, C. Gao, F. Bernelli-Zazzera","doi":"10.1109/ICCSSE52761.2021.9545125","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545125","url":null,"abstract":"This paper investigates the coordinate control problem for a free-flying spacecraft equipped with a manipulator. A novel robust adaptive sliding mode controller modified by immersion and invariance theory is proposed to drive the spacecraft attitude and the manipulator pose to maneuver from the initial condition to the desired one in a fast manner, simultaneously guaranteeing the robustness against system uncertainties and external environmental disturbances. The nonconventional sliding mode surface and introduction of I&I theory eliminate the effect of chattering since the system dynamics evolve closer to its natural behavior. Moreover, the noncertainty equivalence principle based disturbance estimator avoids possible controller singularities. Stability analysis of the closed-loop has been rigorously proven with the Lyapunov theory. Numerical simulations demonstrating the effectiveness and robustness of the proposed control scheme are carried out on a model of a spacecraft equipped with a 2 degree of freedom manipulator.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132938838","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545123
Hanshi Yang, Hong Wu
Due to model predictive control can better deal with the constraints problem of nonlinear systems and improve the dynamic performance of the controlled system, therefore, this technology has attracted much attention in the field of motor drive. This article first introduced the basic principle of model predictive control, continuous control set model predictive control and finite control set model predictive control. Secondly, summarized the research status of generalized predictive control, explicit model predictive control, model predictive current control, model predictive torque control and commonly used improved model predictive control in motor drive systems. Thirdly, prospected the future development trend based on the current research status of model predictive control in motor drive system. Finally, the advantages and disadvantages of the continuous control set model predictive control and the finite control set model predictive control were comprehensively compared, and the ways in which the two algorithms act on the motor drive system were summarized.
{"title":"Summary of Model Predictive Control Methods in Motor Drive System","authors":"Hanshi Yang, Hong Wu","doi":"10.1109/ICCSSE52761.2021.9545123","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545123","url":null,"abstract":"Due to model predictive control can better deal with the constraints problem of nonlinear systems and improve the dynamic performance of the controlled system, therefore, this technology has attracted much attention in the field of motor drive. This article first introduced the basic principle of model predictive control, continuous control set model predictive control and finite control set model predictive control. Secondly, summarized the research status of generalized predictive control, explicit model predictive control, model predictive current control, model predictive torque control and commonly used improved model predictive control in motor drive systems. Thirdly, prospected the future development trend based on the current research status of model predictive control in motor drive system. Finally, the advantages and disadvantages of the continuous control set model predictive control and the finite control set model predictive control were comprehensively compared, and the ways in which the two algorithms act on the motor drive system were summarized.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126951481","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}
Aiming at meeting the precise temperature requirement (at mK level) of focal-plane in the remote sensing camera, this paper designs a highly accurate temperature control system based on a Pulse tube cryocooler. In order to ameliorate the control precision of temperature, firstly, the design of constant current source circuit is introduced, and the accuracy requirement of the constant current source is given in consideration of the temperature control requirement. Secondly, we devise the circuits for the two-stage amplifier and the filter, and the selection methods of parameters. Finally, the incremental PID control algorithm is introduced, and numerical experimental results of temperature control in vacuum environment are given: (1) The closed-loop accuracy of cryocooler system are given under different temperature control points, and the temperature control accuracy is all within 10mK; (2) When the temperature of the hot plate of cryocooler system changes within 5 °C, the cryocooler system reaches stability again, and the steady-state error is still within 10mK. Therefore, Experimental results indicate that the closed-loop control accuracy of cryocooler system is within 10mK, and it obtains certain robustness.
{"title":"Research on High Precision Cryocooler Control System for Satellite-Borne","authors":"Li Song, Ziyin Chen, Zhihong Liu, Zhanlei Jin, Rui Cheng, Lanjie Guo","doi":"10.1109/ICCSSE52761.2021.9545148","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545148","url":null,"abstract":"Aiming at meeting the precise temperature requirement (at mK level) of focal-plane in the remote sensing camera, this paper designs a highly accurate temperature control system based on a Pulse tube cryocooler. In order to ameliorate the control precision of temperature, firstly, the design of constant current source circuit is introduced, and the accuracy requirement of the constant current source is given in consideration of the temperature control requirement. Secondly, we devise the circuits for the two-stage amplifier and the filter, and the selection methods of parameters. Finally, the incremental PID control algorithm is introduced, and numerical experimental results of temperature control in vacuum environment are given: (1) The closed-loop accuracy of cryocooler system are given under different temperature control points, and the temperature control accuracy is all within 10mK; (2) When the temperature of the hot plate of cryocooler system changes within 5 °C, the cryocooler system reaches stability again, and the steady-state error is still within 10mK. Therefore, Experimental results indicate that the closed-loop control accuracy of cryocooler system is within 10mK, and it obtains certain robustness.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129461078","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545197
Ziyin Chen, S. Ge
This paper concerns the cascaded design for path-following control of an underactuated surface vehicle. Different from the traditional way in construction of the Lyapunov function for the overall system iteratively. By constructing the equivalent control for the kinematics, the path-following error dynamics can be transformed into a novel cascaded form, which can be viewed as a self-stable nominal system that is perturbed by a perturbing system through the interconnection and remove the persistent excitation condition constraint on yaw angle. The control of the overall system can be equivalent to stabilization of the perturbing system and analysis the properties of the interconnection function. Since the states in the perturbing system can be actuated directly, the sliding mode control (SMC) is employed to stabilize the perturbing system in the present of model uncertainties, the verification for the stability of the cascaded system is carried out the make sure the sufficient conditions are satisfied to guarantee the global asymptotic stable for all signals in the closed-loop. Finally, the simulation results are provided to illustrate the effectiveness of the proposed method.
{"title":"Cascaded Design for Robust Path Following Control of an Underactuatd Surface Vehicle","authors":"Ziyin Chen, S. Ge","doi":"10.1109/ICCSSE52761.2021.9545197","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545197","url":null,"abstract":"This paper concerns the cascaded design for path-following control of an underactuated surface vehicle. Different from the traditional way in construction of the Lyapunov function for the overall system iteratively. By constructing the equivalent control for the kinematics, the path-following error dynamics can be transformed into a novel cascaded form, which can be viewed as a self-stable nominal system that is perturbed by a perturbing system through the interconnection and remove the persistent excitation condition constraint on yaw angle. The control of the overall system can be equivalent to stabilization of the perturbing system and analysis the properties of the interconnection function. Since the states in the perturbing system can be actuated directly, the sliding mode control (SMC) is employed to stabilize the perturbing system in the present of model uncertainties, the verification for the stability of the cascaded system is carried out the make sure the sufficient conditions are satisfied to guarantee the global asymptotic stable for all signals in the closed-loop. Finally, the simulation results are provided to illustrate the effectiveness of the proposed method.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126798440","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545195
Julie N. Uy, J. Villaverde
Durian belongs to the genus Durio and a native fruit in tropical countries in the regions of Southeast Asia such as Malaysia, Indonesia, Thailand, and the Philippines. Durian can be easily recognized by its spiky husk and pungent aroma. There are plenty of varieties of Durian which are hard to differentiate by someone who is even an expert of the said fruit. This study is conducted to utilize Raspberry Pi. It will be used to implement image processing algorithms and to create a portable device to identify the fruit’s variety. Image Processing has been used in today’s modern technology like in medicine, media, or the like, and devices are portable for accessibility. The researcher has considered the usefulness of this study and to further understand and acquire useful information of the portable device that will be created to identify Durian variants. Due to the multiple numbers of Durian varieties, the researcher has to determine 6 variants. As the study focused on the unknown variant, the researcher will use a guide on the datasets that will be needed for the training and testing phase of the software. The whole device would then be inspected and would document the accuracy of each variant. The data that the researcher will need to determine the quality and the accuracy of the software, further training and more testing will be needed to get the required acceptable accuracy percentage.
{"title":"A Durian Variety Identifier Using Canny Edge and CNN","authors":"Julie N. Uy, J. Villaverde","doi":"10.1109/ICCSSE52761.2021.9545195","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545195","url":null,"abstract":"Durian belongs to the genus Durio and a native fruit in tropical countries in the regions of Southeast Asia such as Malaysia, Indonesia, Thailand, and the Philippines. Durian can be easily recognized by its spiky husk and pungent aroma. There are plenty of varieties of Durian which are hard to differentiate by someone who is even an expert of the said fruit. This study is conducted to utilize Raspberry Pi. It will be used to implement image processing algorithms and to create a portable device to identify the fruit’s variety. Image Processing has been used in today’s modern technology like in medicine, media, or the like, and devices are portable for accessibility. The researcher has considered the usefulness of this study and to further understand and acquire useful information of the portable device that will be created to identify Durian variants. Due to the multiple numbers of Durian varieties, the researcher has to determine 6 variants. As the study focused on the unknown variant, the researcher will use a guide on the datasets that will be needed for the training and testing phase of the software. The whole device would then be inspected and would document the accuracy of each variant. The data that the researcher will need to determine the quality and the accuracy of the software, further training and more testing will be needed to get the required acceptable accuracy percentage.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116096920","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545199
Yuting Cao, Wenjie Wang, Liping Ma, Xiaohua Wang
To overcome the shortcomings of conventional methods in solving inverse kinematics problems of redundant degree-of-freedom robots, this paper converts the inverse kinematics problems of the manipulator into target optimization problems, and it presents an Improved quantum particle swarm optimization algorithm (IQPSO), which is used to solve the inverse kinematics problems. In this algorithm, quantum behavior is added to the particle swarm optimization algorithm, and the improved contraction expansion coefficient with first large and then small is adopted, which can not only traverse the whole search space, but also improve the convergence speed and solution accuracy. Based on the forward kinematics equation, this paper takes the position error of the end-effector of the robot and the minimum energy consumption in the process of the robot motion as the optimization objectives, and it conducts simulation experiments on a 7-degree-of-freedom (7-DOF) robot. The experimental result shows that the IQPSO algorithm has faster convergence speed and higher solution accuracy than the traditional particle swarm optimization algorithm (PSO) and quantum particle swarm optimization algorithm (QPSO). It is an effective method to solve the inverse kinematics problem of the robot.
{"title":"Inverse Kinematics Solution of Redundant Degree of Freedom Robot Based on Improved Quantum Particle Swarm Optimization","authors":"Yuting Cao, Wenjie Wang, Liping Ma, Xiaohua Wang","doi":"10.1109/ICCSSE52761.2021.9545199","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545199","url":null,"abstract":"To overcome the shortcomings of conventional methods in solving inverse kinematics problems of redundant degree-of-freedom robots, this paper converts the inverse kinematics problems of the manipulator into target optimization problems, and it presents an Improved quantum particle swarm optimization algorithm (IQPSO), which is used to solve the inverse kinematics problems. In this algorithm, quantum behavior is added to the particle swarm optimization algorithm, and the improved contraction expansion coefficient with first large and then small is adopted, which can not only traverse the whole search space, but also improve the convergence speed and solution accuracy. Based on the forward kinematics equation, this paper takes the position error of the end-effector of the robot and the minimum energy consumption in the process of the robot motion as the optimization objectives, and it conducts simulation experiments on a 7-degree-of-freedom (7-DOF) robot. The experimental result shows that the IQPSO algorithm has faster convergence speed and higher solution accuracy than the traditional particle swarm optimization algorithm (PSO) and quantum particle swarm optimization algorithm (QPSO). It is an effective method to solve the inverse kinematics problem of the robot.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123639001","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}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545103
Xinhua Zhao, X. Wang, Litao Jing, Kaiyan Niu
Supercavitation vehicle is a multivariable system with non-linear sliding force. In this paper, focus on the stability control of underwater supercavitating vehicle, a backstepping controller is presented for supercavitating vehicles based on cascade method. The nonlinear dynamic model of supercavitating vehicle is established, and the corresponding parameter matrix is given. Aiming at the highly coupled characteristic of a nonlinear mathematical model of supercavitating vehicle, a transformation is introduced to represent the state space model into a cascade form. A backstepping controller is designed, and the stability of backstepping controller is proved by Lyapunov stability principle. The simulation results show that the planing force converges to zero in a very short time, Moreover, the controller has good tracking effect, and the deflection angle is within the allowable range, which verifies the effectiveness of the controlled system.
{"title":"Backstepping Control Design of Supercavitating Vehicles Based on Cascade Method","authors":"Xinhua Zhao, X. Wang, Litao Jing, Kaiyan Niu","doi":"10.1109/ICCSSE52761.2021.9545103","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545103","url":null,"abstract":"Supercavitation vehicle is a multivariable system with non-linear sliding force. In this paper, focus on the stability control of underwater supercavitating vehicle, a backstepping controller is presented for supercavitating vehicles based on cascade method. The nonlinear dynamic model of supercavitating vehicle is established, and the corresponding parameter matrix is given. Aiming at the highly coupled characteristic of a nonlinear mathematical model of supercavitating vehicle, a transformation is introduced to represent the state space model into a cascade form. A backstepping controller is designed, and the stability of backstepping controller is proved by Lyapunov stability principle. The simulation results show that the planing force converges to zero in a very short time, Moreover, the controller has good tracking effect, and the deflection angle is within the allowable range, which verifies the effectiveness of the controlled system.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132047349","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}
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