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The application of optimal control theory in practical engineering is often limited by the modeling cost and complexity of the mathematical model of the controlled plant, and various constraints. To bridge the gap between the theory and practice, this paper proposes a model-free direct method based on the sequential sampling and updating of surrogate model, and extends the ability of direct method to solve model-free optimal control problems with general constraints. The algorithm selects sample points from the current actual trajectory data to update the surrogate model of controlled plant, and solve the optimal control problem of the constantly refined surrogate model until the result converges. The presented initial and subsequent sampling strategies eliminate the dependence on the model. Furthermore, the new stopping criteria ensure the overlap of final actual and planned trajectories. The several examples illustrate that the presented algorithm can obtain constrained solutions with greater accuracy and require fewer sample data.

In this paper, for macro–micro composite motion platform with piezoelectric hysteresis, an finite-time adaptive robust control method based on extended hysteresis observer is proposed. The dynamic model of macro–micro system is constructed at first. An extended hysteresis observer was designed to estimate the actual displacement and speed of motion system. Then, an adaptive robust control law is designed to eliminate the uncertain hysteresis model parameters. After this, exponential convergence result of the proposed control method is given and proved. By setting the expected bandwidth of macro–micro system, the gain adjustment process of the control method can be reduced in computation. The effectiveness of the proposed control method is demonstrated by comparison with other control methods in simulation, and the proposed control method has more stable tracking effect and smaller tracking error.

This study discusses a finite-time compensation tracking control method for a rehabilitative training walker. The dynamic model with input dead zone was constructed to describe the walker, and a finite-time disturbance forces observation method was proposed based on the impact mechanism on tracking performance. This approach is novel in that the disturbance forces were observed in reverse through their effects on tracking performance, thus successfully obtaining the disturbance forces of the walker. To ensure the practical finite-time stability of the system, the nonlinear finite-time compensation tracking controller with stochastic configuration networks (SCN) dead-zone estimation was built for the rehabilitative walker. Simulation results and comparative analyses confirmed that the proposed compensation control method effectively restrains dead zone and internal disturbance forces.

Spatially resolved capacitance-based stress self-sensing in unmodified concrete has been demonstrated. The spatial resolution is 45 mm in one dimension, which is in the direction of the capacitance measurement. Parallel coplanar component electrodes (aluminum, 5-mm wide), attached to the concrete using double-sided adhesive tape) separated by 45 mm are used to measure the in-plane capacitance in the direction perpendicular to the length of the electrodes. Combinations of component electrodes are electrically connected to form an electrode. The capacitance ranges from ∼200 pF to ∼750 pF. The greater is the number of component electrodes in an electrode, the higher is the capacitance. The compressive loading is applied at selected areas located between adjacent component electrodes. The stress (defined as load divided by the 300 ×300-mm² concrete area) is up to 3000 Pa. The load decreases the capacitance monotonically and reversibly. The fractional decrease in capacitance ranges from ∼0.1 % to ∼0.5 %. More spatially concentrated loading, as for loading near the edges of the specimen, gives greater fractional decrease in capacitance. The capacitance decreases with increasing inter-electrode distance. Embedded steel rebars with a 20.0-mm concrete cover do not affect the capacitance or capacitance-based sensing.

Prediction of Remaining Useful Life (RUL) for Rolling Element Bearings (REB) has attracted widespread attention from academia and industry. However, there are still several bottlenecks, including the effective utilization of multi-sensor data, the interpretability of prediction models, and the prediction across the entire life cycle, which limit prediction accuracy. In view of that, we propose a knowledge-based explainable life-cycle RUL prediction framework. First, considering the feature fusion of fast-changing signals, the Pearson correlation coefficient matrix and feature transformation objective function are incorporated to an Improved Graph Convolutional Autoencoder. Furthermore, to integrate the multi-source signals, a Cascaded Multi-head Self-attention Autoencoder with Characteristic Guidance is proposed to construct health indicators. Then, the whole life cycle of REB is divided into different stages based on the Continuous Gradient Recognition with Outlier Detection. With the development of Measurement-based Correction Life Formula and Bidirectional Recursive Gated Dual Attention Unit, accurate life-cycle RUL prediction is achieved. Data from self-designed test rig and PHM 2012 Prognostic challenge datasets are analyzed with the proposed framework and five existing prediction models. Compared with the strongest prediction model among the five, the proposed framework demonstrates significant improvements. For the data from self-designed test rig, there is a 1.66 % enhancement in Corrected Cumulative Relative Accuracy (CCRA) and a 49.00 % improvement in Coefficient of Determination (R²). For the PHM 2012 datasets, there is a 4.04 % increase in CCRA and a 120.72 % boost in R².

To guarantee the safety and reliability of equipment operation, such as liquid rocket engine (LRE), carrying out system-level anomaly detection (AD) is crucial. However, current methods ignore the prior knowledge of mechanical system itself, and seldom unite the observations with the inherent relation in data tightly. Meanwhile, they neglect the weakness and nonindependence of system-level anomaly which is different from component fault. To overcome above limitations, we propose a separate reconstruction framework using worsened tendency for system-level AD. To prevent anomalous feature being attenuated, we first propose to divide single sample into two equal-length parts along the temporal dimension. And we maximize the mean maximum discrepancy (MMD) between feature segments to force encoders to learn normal features with different distributions. Then, to fully explore the multivariate time series, we model temporal-spatial dependence by temporal convolution and graph attention. Besides, a joint graph learning strategy is proposed to handle prior knowledge and data characteristics simultaneously. Finally, the proposed method is evaluated on two real multi-sensor datasets from LRE and the results demonstrate the effectiveness and potential of the proposed method on system-level AD.

Disturbance observer (DOB) and extended state observer (ESO) are extensively utilized to handle external disturbances and model uncertainties in the control system. Nevertheless, the integration of these two methods to improve disturbance suppression remains an open question. In this research, the disturbance compensation mechanism of DOB is employed to compensate the disturbance estimation error of ESO, thereby achieving an effective integration of DOB and ESO. Additionally, a generalized ESO (GESO) is proposed to replace ESO. A robust internal mode control (RIMC) scheme is then developed by incorporating GESO into a two-degree-of-freedom internal mode control (TDF-IMC) framework. Moreover, the equivalence of RIMC and classical TDF-IMC is given by a rigorous derivation under the frequency domain description. Finally, the RIMC is applied to the control of a two-inertia system to verify its superiority in terms of robustness, disturbance rejection, and resonance suppression.

This paper presents an altitude and attitude control system for a newly designed rocket-type unmanned aerial vehicle (UAV) propelled by a gimbal-based coaxial rotor system (GCRS) enabling thrust vector control (TVC). The GCRS is the only means of actuation available to control the UAV’s orientation, and the flight dynamics identify the primary control difficulty as the highly nonlinear and tightly coupled control distribution problem. To address this, the study presents detailed derivations of attitude flight dynamics and a control strategy to track the desired attitude trajectory. First, a Proportional-Integral-Derivative (PID) control algorithm is developed based on the formulation of linear matrix inequality (LMI) to ensure robust stability and performance. Second, an optimization algorithm using the Levenberg–Marquardt (LM) method is introduced to solve the nonlinear inverse mapping problem between the control law and the actual actuator outputs, addressing the nonlinear coupled control input distribution problem of the GCRS. In summary, the main contribution is the proposal of a new TVC UAV system based on GCRS. The PID control algorithm and LM algorithm were designed to solve the distribution problem of the actuation model and confirm altitude and attitude tracking missions. Finally, to validate the flight properties of the rocket-type UAV and the performance of the proposed control algorithm, several numerical simulations were conducted. The results indicate that the tightly coupled control input nonlinear inverse problem was successfully solved, and the proposed control algorithm achieved effective attitude stabilization even in the presence of disturbances.

Power generation systems using photovoltaic (PV) technology have become increasingly popular due to their high production efficiency. A partial shading defect is the most common defect in this system under the process of production, diminishing both the amount and quality of energy produced. This paper proposes an Artificial Neural Network and Golden Eagle Optimization based prediction of the fault and its detection in a standalone PV system to recover the optimum performance and diagnosis of the PV system. The proposed technique combines the Artificial Neural Network (ANN) and Golden Eagle Optimization (GEO) algorithm. The major contribution of this work is to raise PV systems' performance. The result is a defect in the classification and identification of an ANN is used. The use of GEO provides an efficient optimization technique for ANN training, which reduces the training time and improves the accuracy of the model. The proposed technique is executed on the MATLAB site and contrasted with different present techniques, like genetic algorithm (GA),Elephant Herding Optimization (EHO) and Particle Swarm Optimization (PSO). The findings displays that the proposed technique is more accurate and effective than the existing methodologies for detecting and diagnosing defects in PV systems.

Rolling bearing is the key component of rotating machinery, and its vibration signal usually exhibits nonlinear and nonstationary characteristics when failure occurs. Multiscale permutation entropy (MPE) is an effective nonlinear dynamics analysis tool, which has been successfully applied to rolling bearing fault diagnosis in recent years. However, MPE ignores the deep amplitude information when measuring the complexity of the time series and the original multiscale coarse-graining is insufficient, which requires further research and improvement. In order to protect the integrity of information structure, a novel nonlinear dynamic analysis method termed refined composite multiscale slope entropy (RCMSlE) is proposed in this paper, which introduced the concept of refined composite to further boost the performance of MPE in nonlinear dynamical complexity analysis. Furthermore, RCMSlE utilizes a novel symbolic representation that takes full account of mode and amplitude information, which overcomes the weaknesses in describing the complexity and regularity of bearing signals. Based on this, a GWO-SVM multi-classifier is introduced to fulfill mode recognition, and then a new intelligent fault diagnosis method for rolling bearing based on RCMSlE and GWO-SVM is proposed. The experimental results show that the proposed method can not only accurately identify different fault types and degrees of rolling bearing, but also has a short computation time and better performance than other comparative methods.