Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164356
Long Zhao, Rongjie Liu, Shi-Yu Li, Xiangyu Wang, De Bao
This paper proposes a strategy for improving the correct diagnosis of epilepsy based on electroencephalogram (EEG) using a spatio-temporal variable structure graph convolutional neural network. Specifically, this method is called the variable-structure graph convolutional neural network (VGCRN), which is derived by combining spatial information and noise removal through variable structured graph convolutional neural network and temporal information through recurrent neural network. Despite the potential benefits of EEG for diagnosing and monitoring neurological conditions, the low signal-to-noise ratio often hinders timely and accurate diagnosis in many clinical cases. Previous research on EEG data classification has mainly focused on extracting features from the time or frequency domain, disregarding the spatial features among electrodes. EEG can be viewed as a structured time series, consisting of multivariate time series data with prior information provided by the spatial location of electrodes on the patient’s scalp. Spatial information is just as crucial as time or frequency-domain information, but introducing unconstrained spatial features in topological map structures can result in noise and the aggregation of irrelevant information by nodes. The proposed method in this paper can better leverage the spatial and intrinsic temporal information of brain waves while reducing noise, thus enhancing the robustness and accuracy of the model.
{"title":"Spatio-Temporal Variable Structure Graph Neural Network for EEG Data Classification","authors":"Long Zhao, Rongjie Liu, Shi-Yu Li, Xiangyu Wang, De Bao","doi":"10.1109/ISAS59543.2023.10164356","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164356","url":null,"abstract":"This paper proposes a strategy for improving the correct diagnosis of epilepsy based on electroencephalogram (EEG) using a spatio-temporal variable structure graph convolutional neural network. Specifically, this method is called the variable-structure graph convolutional neural network (VGCRN), which is derived by combining spatial information and noise removal through variable structured graph convolutional neural network and temporal information through recurrent neural network. Despite the potential benefits of EEG for diagnosing and monitoring neurological conditions, the low signal-to-noise ratio often hinders timely and accurate diagnosis in many clinical cases. Previous research on EEG data classification has mainly focused on extracting features from the time or frequency domain, disregarding the spatial features among electrodes. EEG can be viewed as a structured time series, consisting of multivariate time series data with prior information provided by the spatial location of electrodes on the patient’s scalp. Spatial information is just as crucial as time or frequency-domain information, but introducing unconstrained spatial features in topological map structures can result in noise and the aggregation of irrelevant information by nodes. The proposed method in this paper can better leverage the spatial and intrinsic temporal information of brain waves while reducing noise, thus enhancing the robustness and accuracy of the model.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130365610","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164296
Hengjie Dai, Jianhua Lyu, Mejed Jebali
In the process of industrial production and to ensure the production order, it is necessary to monitor the process in real time, detect errors and take action in advance to reduce losses. Failure Mode and Effects Analysis (FMEA) is a systematic activity to analyze product modules, parts and various operations in the production process to identify potential failure modes and analyze their possible consequences. This leads to necessary actions being taken in advance to improve product quality and reliability. Efficient management of FMEA data is beneficial for controlling the production process and improving production quality. Based on the failure mode and effects analysis (FMEA) data of industrial systems, this paper builds a knowledge graph of failure modes and designs, and develops the corresponding modules for the management functions, including knowledge graph creation, knowledge graph storage, and knowledge graph retrieval. First, the ontology structure of the failure mode is designed in terms of the failure mode of industrial systems. Second, the facts are extracted from the unstructured data in FMEA, the structured data is cleaned, the abnormal data is eliminated, and the missing data is recovered. Third, according to the correlation between the pattern level ontology, the knowledge graph triplet is created and the FMEA knowledge graph is constructed; then the storage function of the FMEA knowledge graph is designed and implemented based on the graph database neo4j; finally, the KNN algorithm for the similarity search in the FMEA knowledge graph is proposed.
在工业生产过程中，为了保证生产秩序，需要对过程进行实时监控，发现错误并提前采取行动，以减少损失。失效模式与影响分析(Failure Mode and Effects Analysis, FMEA)是对产品模块、零部件和生产过程中的各种操作进行分析，以识别潜在失效模式并分析其可能后果的系统活动。这导致提前采取必要的措施来提高产品质量和可靠性。对FMEA数据进行有效的管理，有利于控制生产过程，提高生产质量。基于工业系统失效模式与影响分析(FMEA)数据，构建了失效模式知识图谱并进行了设计，开发了相应的管理功能模块，包括知识图谱创建、知识图谱存储和知识图谱检索。首先，从工业系统的失效模式出发，设计了失效模式本体结构;其次，对FMEA中的非结构化数据进行事实提取，对结构化数据进行清洗，剔除异常数据，恢复缺失数据;第三，根据模式级本体之间的关联关系，创建知识图谱三元组，构建FMEA知识图谱;然后基于图形数据库neo4j设计并实现了FMEA知识图谱的存储功能;最后，提出了用于FMEA知识图相似性搜索的KNN算法。
{"title":"Construction and management of industrial system failure mode knowledge graph","authors":"Hengjie Dai, Jianhua Lyu, Mejed Jebali","doi":"10.1109/ISAS59543.2023.10164296","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164296","url":null,"abstract":"In the process of industrial production and to ensure the production order, it is necessary to monitor the process in real time, detect errors and take action in advance to reduce losses. Failure Mode and Effects Analysis (FMEA) is a systematic activity to analyze product modules, parts and various operations in the production process to identify potential failure modes and analyze their possible consequences. This leads to necessary actions being taken in advance to improve product quality and reliability. Efficient management of FMEA data is beneficial for controlling the production process and improving production quality. Based on the failure mode and effects analysis (FMEA) data of industrial systems, this paper builds a knowledge graph of failure modes and designs, and develops the corresponding modules for the management functions, including knowledge graph creation, knowledge graph storage, and knowledge graph retrieval. First, the ontology structure of the failure mode is designed in terms of the failure mode of industrial systems. Second, the facts are extracted from the unstructured data in FMEA, the structured data is cleaned, the abnormal data is eliminated, and the missing data is recovered. Third, according to the correlation between the pattern level ontology, the knowledge graph triplet is created and the FMEA knowledge graph is constructed; then the storage function of the FMEA knowledge graph is designed and implemented based on the graph database neo4j; finally, the KNN algorithm for the similarity search in the FMEA knowledge graph is proposed.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133015477","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164609
Maomao Zhao, Shaojie Zhang, Bin Jiang
A novel potential function multi-agent deep deterministic policy gradient (PF-MADDPG) algorithm is proposed for the multi-agent Attacker-Defender-Target (ADT). A multi-agent continuous state space and a continuous action space are established. The potential function rewards of target and defenders are designed to accelerate the game confrontation training speed, and the MADDPG algorithm is utilized to obtain effective strategies, so as to describe the influence of different actions on attackers. Finally, simulations are given to verify the effectiveness of the proposed PF-MADDPG algorithm.
{"title":"Multi-Agent Cooperative Attacker-Defender-Target Task Decision Based on PF-MADDPG","authors":"Maomao Zhao, Shaojie Zhang, Bin Jiang","doi":"10.1109/ISAS59543.2023.10164609","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164609","url":null,"abstract":"A novel potential function multi-agent deep deterministic policy gradient (PF-MADDPG) algorithm is proposed for the multi-agent Attacker-Defender-Target (ADT). A multi-agent continuous state space and a continuous action space are established. The potential function rewards of target and defenders are designed to accelerate the game confrontation training speed, and the MADDPG algorithm is utilized to obtain effective strategies, so as to describe the influence of different actions on attackers. Finally, simulations are given to verify the effectiveness of the proposed PF-MADDPG algorithm.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133414032","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}
This paper addresses the global finite-time tracking control problem for nonlinear strict-feedback systems with non-vanishing uncertainties and arbitrary initial conditions. The objective is to establish a control framework that guarantees system performance throughout the control process. To achieve finite-time convergence of tracking errors and guaranteed performance, a new performance function is proposed. To ensure global transient and steady-state performance, a time-varying scaling transformation method is employed. Under the proposed control method, the output tracking error is ensured to converge to a neighborhood of the origin of the preassigned size within a prescribed time at a pre-specified convergence rate. Additionally, global uniform ultimate boundedness is ensured for all signals in the closed-loop systems. Simulation examples validate the effectiveness and benefits of the proposed approach.
{"title":"Performance guaranteed prescribed-time control of nonlinear strict-feedback systems with non-vanishing uncertainties","authors":"Yunfei Dai, Chao Wang, Yue Xie, X. Li, Yujuan Wang, Qing Chen","doi":"10.1109/ISAS59543.2023.10164625","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164625","url":null,"abstract":"This paper addresses the global finite-time tracking control problem for nonlinear strict-feedback systems with non-vanishing uncertainties and arbitrary initial conditions. The objective is to establish a control framework that guarantees system performance throughout the control process. To achieve finite-time convergence of tracking errors and guaranteed performance, a new performance function is proposed. To ensure global transient and steady-state performance, a time-varying scaling transformation method is employed. Under the proposed control method, the output tracking error is ensured to converge to a neighborhood of the origin of the preassigned size within a prescribed time at a pre-specified convergence rate. Additionally, global uniform ultimate boundedness is ensured for all signals in the closed-loop systems. Simulation examples validate the effectiveness and benefits of the proposed approach.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122349946","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164331
Shanpeng Wang, Jian Yang, Xin Liu
Accurate calibration of installation errors is of paramount importance for achieving high-performance in integrated navigation systems. In this paper, a self-calibration method for addressing installation errors in an integrated inertial/polarization/celestial navigation system is proposed. The method utilizes the information from gravity, polarized E-vector, and sun to establish constrained relationship between the multiple vectors. By employing a nonlinear least squares method, the installation parameters are iteratively determined. The effectiveness of the proposed method is demonstrated through comprehensive simulation tests. The results reveal that the method achieves improved accuracy and robustness in estimating installation errors.
{"title":"A Self-Calibration Method for Installation Errors in IMU/Polarization Compass/Celestial Navigation System","authors":"Shanpeng Wang, Jian Yang, Xin Liu","doi":"10.1109/ISAS59543.2023.10164331","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164331","url":null,"abstract":"Accurate calibration of installation errors is of paramount importance for achieving high-performance in integrated navigation systems. In this paper, a self-calibration method for addressing installation errors in an integrated inertial/polarization/celestial navigation system is proposed. The method utilizes the information from gravity, polarized E-vector, and sun to establish constrained relationship between the multiple vectors. By employing a nonlinear least squares method, the installation parameters are iteratively determined. The effectiveness of the proposed method is demonstrated through comprehensive simulation tests. The results reveal that the method achieves improved accuracy and robustness in estimating installation errors.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123880917","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164394
Ming Du, Yue-Xiang Shi, Jing Zhao, Chongxing Liu
This study is investigates the trajectory tracking control problem of a quadrotor unmanned aerial vehicle (UAV). To ensure desired trajectory tracking performance despite modeled uncertainty and external gust interference, an active disturbance rejection control (ADRC) strategy is proposed, which separates the UAV control system into two parts. The ADRC strategy is applied in the attitude control (AC) system to address internal system uncertainty and ensure dynamic performance. In the position control (PC) system, sliding-mode control (SMC) with a high-gain observer is introduced to guarantee system robustness against external and internal disturbances. The quadrotor system can converge the tracking error to an arbitrarily small set of residuals by constructing a Lyapunov function. Numerical analysis demonstrates that the proposed control system has good trajectory tracking and anti-disturbance performance for the quadrotor.
{"title":"Active disturbance rejection control for a quadrotor: a high-gain observer-based sliding-mode technique","authors":"Ming Du, Yue-Xiang Shi, Jing Zhao, Chongxing Liu","doi":"10.1109/ISAS59543.2023.10164394","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164394","url":null,"abstract":"This study is investigates the trajectory tracking control problem of a quadrotor unmanned aerial vehicle (UAV). To ensure desired trajectory tracking performance despite modeled uncertainty and external gust interference, an active disturbance rejection control (ADRC) strategy is proposed, which separates the UAV control system into two parts. The ADRC strategy is applied in the attitude control (AC) system to address internal system uncertainty and ensure dynamic performance. In the position control (PC) system, sliding-mode control (SMC) with a high-gain observer is introduced to guarantee system robustness against external and internal disturbances. The quadrotor system can converge the tracking error to an arbitrarily small set of residuals by constructing a Lyapunov function. Numerical analysis demonstrates that the proposed control system has good trajectory tracking and anti-disturbance performance for the quadrotor.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115191202","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164540
Hei Wenjing, Wu Jiaju
In the future complex and dangerous combat environment, in view of the pilot’s difficulty in processing massive/incomplete information quickly, the lack of flight control ability, the conventional flight is difficult to deal with the battlefield environment and other problems, intelligent design ideas are introduced and the pilot intelligent assistant system is proposed. This paper first introduces the development history of pilot association system (PAS) at home and abroad, and puts forward the current design requirements. Finally, it systematically presents the challenges and key technologies in the overall architecture design, decision-making technology, human-computer interaction, autonomous learning and test verification.
{"title":"Research on Key Technologies of pilot assistant system","authors":"Hei Wenjing, Wu Jiaju","doi":"10.1109/ISAS59543.2023.10164540","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164540","url":null,"abstract":"In the future complex and dangerous combat environment, in view of the pilot’s difficulty in processing massive/incomplete information quickly, the lack of flight control ability, the conventional flight is difficult to deal with the battlefield environment and other problems, intelligent design ideas are introduced and the pilot intelligent assistant system is proposed. This paper first introduces the development history of pilot association system (PAS) at home and abroad, and puts forward the current design requirements. Finally, it systematically presents the challenges and key technologies in the overall architecture design, decision-making technology, human-computer interaction, autonomous learning and test verification.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116293686","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164552
Xiaoyu Wang, Yi Dong
This paper addresses a safety critical control problem for a second-order nonlinear system, and is then applied into a planar biped robotic system. Our design, composed of a tracking controller and a safety controller, is capable of preliminarily guaranteeing the safety of the system and achieving the asymptotic tracking of a dynamic nonlinear reference signal if the reference is safe.
{"title":"Safety Critical Control Design of Second-order Nonlinear System and Its Application in Biped Robot","authors":"Xiaoyu Wang, Yi Dong","doi":"10.1109/ISAS59543.2023.10164552","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164552","url":null,"abstract":"This paper addresses a safety critical control problem for a second-order nonlinear system, and is then applied into a planar biped robotic system. Our design, composed of a tracking controller and a safety controller, is capable of preliminarily guaranteeing the safety of the system and achieving the asymptotic tracking of a dynamic nonlinear reference signal if the reference is safe.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114442177","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164412
Zhipeng Zhang, Jun Shen
In this paper, the problem of robust anti-disturbance control of a quadrotor unmanned aerial vehicle (UAV) with input saturation and disturbance is investigated. A sliding mode trajectory tracking control method based on nonlinear extended state observer (NLESO) is presented. This approach first designs a NLESO for estimating all states and total disturbances in the quadrotor UAV. Then, a hyperbolic tangent function is introduced to approach the actuator saturation function. Combined with the traditional sliding mode control method, a second-order auxiliary dynamic system is adopted to compensate for the influence of input saturation. Moreover, the trajectory tracking capability of all signals of the closed-loop system is demonstrated by Lyapunov stability. Finally, quadrotor UAV model-based data simulation is presented to illustrate the theoretical results.
{"title":"Nonlinear Extended State Observer Based Robust Control for Quadrotor UAV Trajectory Tracking with Input Saturation*","authors":"Zhipeng Zhang, Jun Shen","doi":"10.1109/ISAS59543.2023.10164412","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164412","url":null,"abstract":"In this paper, the problem of robust anti-disturbance control of a quadrotor unmanned aerial vehicle (UAV) with input saturation and disturbance is investigated. A sliding mode trajectory tracking control method based on nonlinear extended state observer (NLESO) is presented. This approach first designs a NLESO for estimating all states and total disturbances in the quadrotor UAV. Then, a hyperbolic tangent function is introduced to approach the actuator saturation function. Combined with the traditional sliding mode control method, a second-order auxiliary dynamic system is adopted to compensate for the influence of input saturation. Moreover, the trajectory tracking capability of all signals of the closed-loop system is demonstrated by Lyapunov stability. Finally, quadrotor UAV model-based data simulation is presented to illustrate the theoretical results.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125578094","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 : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164358
Yuzhan Wu, Meng Li, Chenlong Li
This paper presents a theoretical analysis of control stability in unmanned ground vehicles under the influence of external disturbances, focusing on exponentially input-to-state stability. External disturbances can originate from a variety of sources, such as uneven terrain, obstacles, or other environmental factors, and can significantly affect the performance and stability of unmanned ground vehicles. In this paper, detailed derivations and proofs are given, which theoretically shows that the system is exponentially input-to-state stable with certain constraints, and corresponding simulation experiments also confirmed the theoretical derivation.
{"title":"Control Stability Analysis of Unmanned Ground Vehicles Under External Disturbance","authors":"Yuzhan Wu, Meng Li, Chenlong Li","doi":"10.1109/ISAS59543.2023.10164358","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164358","url":null,"abstract":"This paper presents a theoretical analysis of control stability in unmanned ground vehicles under the influence of external disturbances, focusing on exponentially input-to-state stability. External disturbances can originate from a variety of sources, such as uneven terrain, obstacles, or other environmental factors, and can significantly affect the performance and stability of unmanned ground vehicles. In this paper, detailed derivations and proofs are given, which theoretically shows that the system is exponentially input-to-state stable with certain constraints, and corresponding simulation experiments also confirmed the theoretical derivation.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126246203","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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