The air supply system control strategy is a significant challenge issue of PEM(Polymer Electrolyte Membrane) fuel cells. In this paper, an observer-based model predictive control scheme is proposed for oxygen excess ratio control to avoid the oxygen starvation without using physical sensor of oxygen excess ratio based on a nonlinear dynamic model. Firstly, a sliding mode PI observer is proposed to estimate the cathode pressure and oxygen excess ratio, and the convergence is also discussed by a constructed Lyapunov function. Then, the observer-based model predictive controller is designed for the oxygen excess ratio control. Finally, the simulation validation is demonstrated to validate the effectiveness of the proposed observer and the control scheme by a high fidelity model.
{"title":"Observer-based Model Predictive Control Design for Air Supply System of Automotive PEM Fuel Cells","authors":"Weihai Jiang, Zhongwen Zhu, Cheng Li, Zhang Cheng, Zichen Zheng","doi":"10.23919/CCC50068.2020.9188663","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9188663","url":null,"abstract":"The air supply system control strategy is a significant challenge issue of PEM(Polymer Electrolyte Membrane) fuel cells. In this paper, an observer-based model predictive control scheme is proposed for oxygen excess ratio control to avoid the oxygen starvation without using physical sensor of oxygen excess ratio based on a nonlinear dynamic model. Firstly, a sliding mode PI observer is proposed to estimate the cathode pressure and oxygen excess ratio, and the convergence is also discussed by a constructed Lyapunov function. Then, the observer-based model predictive controller is designed for the oxygen excess ratio control. Finally, the simulation validation is demonstrated to validate the effectiveness of the proposed observer and the control scheme by a high fidelity model.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129459088","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9188576
Hui‐Jie Sun, A. Wu, Can Liu
In this paper, the H∞ controller design problem is investigated for the discrete-time Markovian jump linear system in the presence of incomplete transition descriptions. A less conservative criterion is presented such that the considered system is stochastically stable with a guaranteed H∞ performance index by using the properties of the transition probabilities. In addition, a H∞ state-feedback controller is proposed for the discrete-time Markovian jump system with incomplete transition description via LMI formulation. Finally, some simulation results are given to verify the effectiveness of the presented methods.
{"title":"H∞ Control for Markovian Jump Systems with Partly Known Transition Probabilities in Discrete-time Domain","authors":"Hui‐Jie Sun, A. Wu, Can Liu","doi":"10.23919/CCC50068.2020.9188576","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9188576","url":null,"abstract":"In this paper, the H∞ controller design problem is investigated for the discrete-time Markovian jump linear system in the presence of incomplete transition descriptions. A less conservative criterion is presented such that the considered system is stochastically stable with a guaranteed H∞ performance index by using the properties of the transition probabilities. In addition, a H∞ state-feedback controller is proposed for the discrete-time Markovian jump system with incomplete transition description via LMI formulation. Finally, some simulation results are given to verify the effectiveness of the presented methods.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129666836","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9189178
Zhang Yin, M. Fu, Kai Shen
For unmanned ground vehicles (UGV), reliable and precise navigation solution is a main challenge in complex environment, especially when measurements of global navigation satellite system (GNSS) are abnormal. In order to address this challenge, we propose an algorithmic solution strategy and present a novel robust Kalman filter for UGV positioning via fusing information from GNSS and inertial navigation system (INS). Firstly, we review the positioning requirements of UGVs by analyzing the technical needs of continuously determining a vehicle’s location on road and precise navigation of lane level. Secondly, a new robust algorithm of Kalman filter is designed to reduce the positioning errors of GNSS/INS integrated navigation system when GNSS signals are abnormal. Thirdly, the application of the proposed algorithm to UGV positioning is illustrated. Simulation results with real data sets gathered from road tests show that the new robust filter can help us to evaluate the information quality of measurement, and can further autonomously adjust the Kalman gain and error covariance estimation matrices online. As a result, the accuracy and robustness of integrated navigation with the new filter can be improved in GNSS-challenged environments.
{"title":"A Novel Robust Kalman Filter for Unmanned Ground Vehicles Positioning under GNSS Abnormal Measurements","authors":"Zhang Yin, M. Fu, Kai Shen","doi":"10.23919/CCC50068.2020.9189178","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9189178","url":null,"abstract":"For unmanned ground vehicles (UGV), reliable and precise navigation solution is a main challenge in complex environment, especially when measurements of global navigation satellite system (GNSS) are abnormal. In order to address this challenge, we propose an algorithmic solution strategy and present a novel robust Kalman filter for UGV positioning via fusing information from GNSS and inertial navigation system (INS). Firstly, we review the positioning requirements of UGVs by analyzing the technical needs of continuously determining a vehicle’s location on road and precise navigation of lane level. Secondly, a new robust algorithm of Kalman filter is designed to reduce the positioning errors of GNSS/INS integrated navigation system when GNSS signals are abnormal. Thirdly, the application of the proposed algorithm to UGV positioning is illustrated. Simulation results with real data sets gathered from road tests show that the new robust filter can help us to evaluate the information quality of measurement, and can further autonomously adjust the Kalman gain and error covariance estimation matrices online. As a result, the accuracy and robustness of integrated navigation with the new filter can be improved in GNSS-challenged environments.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130558650","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9188948
Xuefeng Zhang, Yangyang Liu
Stability and stabilization issues are fundamental to uncertain fuzzy systems, especially fuzzy system with fractional order. Based on the new linear matrix inequality (LMI) criteria of stability and stabilization of fractional order systems, this paper proposes criteria of stability and stabilization for uncertain Takagi-Sugeno (T-S) fuzzy fractional order systems. Through the new criteria in terms of LMI, two kinds of controllers are designed. One method is to design the different controllers for each sub-systems and another is to design the same controller for different sub-systems. The new controllers design methods are more effective and less conservative than the existing results and decrease the complexity of controllers and save the cost. Two numerical simulation examples are provided to illustrate the effectiveness of the proposed method.
{"title":"LMI based stability and stabilization for uncertain T-S fuzzy fractional order systems","authors":"Xuefeng Zhang, Yangyang Liu","doi":"10.23919/CCC50068.2020.9188948","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9188948","url":null,"abstract":"Stability and stabilization issues are fundamental to uncertain fuzzy systems, especially fuzzy system with fractional order. Based on the new linear matrix inequality (LMI) criteria of stability and stabilization of fractional order systems, this paper proposes criteria of stability and stabilization for uncertain Takagi-Sugeno (T-S) fuzzy fractional order systems. Through the new criteria in terms of LMI, two kinds of controllers are designed. One method is to design the different controllers for each sub-systems and another is to design the same controller for different sub-systems. The new controllers design methods are more effective and less conservative than the existing results and decrease the complexity of controllers and save the cost. Two numerical simulation examples are provided to illustrate the effectiveness of the proposed method.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126846575","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9188652
Heng Jin, Tian Wang, Mengyi Zhang, Mingmin Li, Yan Wang, H. Snoussi
Despite the high performance of neural style transfer on stylized pictures, we found that Gatys et al [1] algorithm cannot perfectly reconstruct texture style. Output stylized picture could emerge unsatisfied unexpected textures such like muddiness in local area and insufficient grain expression. Our method bases on original algorithm, adding the Gradient Gram description on style loss, aiming to strengthen texture expression and eliminate muddiness. To some extent our method lengthens the runtime, however, its output stylized pictures get higher performance on texture details, especially in the elimination of muddiness.
{"title":"Neural Style Transfer for Picture with Gradient Gram Matrix Description","authors":"Heng Jin, Tian Wang, Mengyi Zhang, Mingmin Li, Yan Wang, H. Snoussi","doi":"10.23919/CCC50068.2020.9188652","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9188652","url":null,"abstract":"Despite the high performance of neural style transfer on stylized pictures, we found that Gatys et al [1] algorithm cannot perfectly reconstruct texture style. Output stylized picture could emerge unsatisfied unexpected textures such like muddiness in local area and insufficient grain expression. Our method bases on original algorithm, adding the Gradient Gram description on style loss, aiming to strengthen texture expression and eliminate muddiness. To some extent our method lengthens the runtime, however, its output stylized pictures get higher performance on texture details, especially in the elimination of muddiness.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127048748","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9189538
Lingtao Huang, Jinsong Yang, Shui Ni, Bin Wang, Hongyan Zhang
As the traditional teaching technology can not meet the requirements of complex teaching tasks, this paper studies the direct teaching technology of robots based on the force sensor's gravity compensation and admittance control. Through the gravity compensation of the force sensor, the influence of the gravity of the robot end tool, the installation tilt angle of the robot base and the zero point of the force sensor on the force sensor is reduced, and the teaching accuracy is improved. Using the admittance control principle, the robot can move according to the traction of the teaching staff, and regularly record the teaching points in the process to form the teaching trajectory. Finally, a direct teaching system was established, and the proposed gravity compensation algorithm and direct teaching algorithm were experimentally verified. The experimental results show that the proposed gravity compensation algorithm can achieve better compensation effect. The direct teaching algorithm based on admittance control can simplify the teaching process and complete complex teaching tasks.
{"title":"Research on Robot Teaching for Complex Task","authors":"Lingtao Huang, Jinsong Yang, Shui Ni, Bin Wang, Hongyan Zhang","doi":"10.23919/CCC50068.2020.9189538","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9189538","url":null,"abstract":"As the traditional teaching technology can not meet the requirements of complex teaching tasks, this paper studies the direct teaching technology of robots based on the force sensor's gravity compensation and admittance control. Through the gravity compensation of the force sensor, the influence of the gravity of the robot end tool, the installation tilt angle of the robot base and the zero point of the force sensor on the force sensor is reduced, and the teaching accuracy is improved. Using the admittance control principle, the robot can move according to the traction of the teaching staff, and regularly record the teaching points in the process to form the teaching trajectory. Finally, a direct teaching system was established, and the proposed gravity compensation algorithm and direct teaching algorithm were experimentally verified. The experimental results show that the proposed gravity compensation algorithm can achieve better compensation effect. The direct teaching algorithm based on admittance control can simplify the teaching process and complete complex teaching tasks.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129175218","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9189010
Pingyue Zhang, Jingyu Zhang, Xianwei Du, Hao Xia, Yuhu Wu
In this paper, linear active disturbance rejection controller and nonlinear active disturbance rejection controller are designed for variable geometry turbine (VGT) and exhaust gas recirculation (EGR) system in diesel engine. The double-input double-output (DIDO) VGT-EGR system is designed as two single-input single-output (SISO) systems, in which the cross-coupling and unmodelled dynamics are considered as disturbances and decoupled through estimation and compensation. Through simulation, it is indicated that nonlinear active disturbance rejection controller has better tracking performance, disturbance resistance performance and robustness.
{"title":"Comparative Study on LADRC and NLADRC of VGT-EGR System in Diesel Engine","authors":"Pingyue Zhang, Jingyu Zhang, Xianwei Du, Hao Xia, Yuhu Wu","doi":"10.23919/CCC50068.2020.9189010","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9189010","url":null,"abstract":"In this paper, linear active disturbance rejection controller and nonlinear active disturbance rejection controller are designed for variable geometry turbine (VGT) and exhaust gas recirculation (EGR) system in diesel engine. The double-input double-output (DIDO) VGT-EGR system is designed as two single-input single-output (SISO) systems, in which the cross-coupling and unmodelled dynamics are considered as disturbances and decoupled through estimation and compensation. Through simulation, it is indicated that nonlinear active disturbance rejection controller has better tracking performance, disturbance resistance performance and robustness.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123819668","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9189625
Yuan‐wen Zhang, Le-ping Yang, Yanwei Zhu
Spacecraft docking controlled by inter-craft electromagnetic fields actuation not only hasn’t propellant consumption and plume contamination, but also provides high-precision control capability of continuous, reversible, synchronous and non-contacting. In addition, with electromagnetic/magnetic flux-pinning synergy, spacecraft docking has 6-DOF passive stability, stiffness and damping effect. This paper deals with the optimized electromagnetic moment design for magnetic flux-pinning and the handover control approach between the two actuation phases. Finally, several numerical simulations are utilized to verify the theoretical design.
{"title":"Spacecraft self- and soft-docking control approach with electromagnetic/magnetic flux-pinning synergy","authors":"Yuan‐wen Zhang, Le-ping Yang, Yanwei Zhu","doi":"10.23919/CCC50068.2020.9189625","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9189625","url":null,"abstract":"Spacecraft docking controlled by inter-craft electromagnetic fields actuation not only hasn’t propellant consumption and plume contamination, but also provides high-precision control capability of continuous, reversible, synchronous and non-contacting. In addition, with electromagnetic/magnetic flux-pinning synergy, spacecraft docking has 6-DOF passive stability, stiffness and damping effect. This paper deals with the optimized electromagnetic moment design for magnetic flux-pinning and the handover control approach between the two actuation phases. Finally, several numerical simulations are utilized to verify the theoretical design.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121422737","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9189116
Zebin Chen, Xuesong Chen
We propose a gradient based iterative algorithm with multiple iterative factors (MGI) to find the solutions of the Sylvester discrete-time periodic matrix equations AjXj + Xj+1Bj = Cj(j = 1, 2,⋯, T ). It is proved that the exact solution of the periodic matrix equations can be converged by the MGI method for any initial matrices. Then, we study the optimal convergence rate of gradient based iterative algorithm with single iterative factor (SGI). Nextly, we compare the convergence rate of the two algorithms, and find that MGI is faster than SGI when the appropriate convergence factors μj are selected. Finally, a numerical example is given to verify that MGI is superior to SGI in both speed and iterative steps.
{"title":"On Iterative Solutions of Periodic Sylvester Matrix Equations","authors":"Zebin Chen, Xuesong Chen","doi":"10.23919/CCC50068.2020.9189116","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9189116","url":null,"abstract":"We propose a gradient based iterative algorithm with multiple iterative factors (MGI) to find the solutions of the Sylvester discrete-time periodic matrix equations AjXj + Xj+1Bj = Cj(j = 1, 2,⋯, T ). It is proved that the exact solution of the periodic matrix equations can be converged by the MGI method for any initial matrices. Then, we study the optimal convergence rate of gradient based iterative algorithm with single iterative factor (SGI). Nextly, we compare the convergence rate of the two algorithms, and find that MGI is faster than SGI when the appropriate convergence factors μj are selected. Finally, a numerical example is given to verify that MGI is superior to SGI in both speed and iterative steps.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114205827","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 : 2020-07-01DOI: 10.23919/CCC50068.2020.9189446
M. Hong, W. Yao, Zhihao Zhu, Yu Guo
To resolve the problems concerning with vibration suppression and position tracking of flexible joint manipulator system without link velocities information, a hybrid PID controller based on singular perturbation and state observer is presented. In order to estimate the velocities of links, a state observer is adopted instead of extra speed sensors on the link side. Singular perturbation theory is employed to decouple the system into a fast subsystem and a slow subsystem. For the fast subsystem, a PD controller which can damp out the vibration of flexible joints is designed. For the slow subsystem, a hybrid PID controller is proposed to realize desired position tracking. The effectiveness of the proposed control scheme is illustrated by theoretical analysis and simulation results.
{"title":"A Hybrid PID Controller for Flexible Joint Manipulator Based on State Observer and Singular Perturbation Approach","authors":"M. Hong, W. Yao, Zhihao Zhu, Yu Guo","doi":"10.23919/CCC50068.2020.9189446","DOIUrl":"https://doi.org/10.23919/CCC50068.2020.9189446","url":null,"abstract":"To resolve the problems concerning with vibration suppression and position tracking of flexible joint manipulator system without link velocities information, a hybrid PID controller based on singular perturbation and state observer is presented. In order to estimate the velocities of links, a state observer is adopted instead of extra speed sensors on the link side. Singular perturbation theory is employed to decouple the system into a fast subsystem and a slow subsystem. For the fast subsystem, a PD controller which can damp out the vibration of flexible joints is designed. For the slow subsystem, a hybrid PID controller is proposed to realize desired position tracking. The effectiveness of the proposed control scheme is illustrated by theoretical analysis and simulation results.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114370347","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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