Pub Date : 2022-12-15DOI: 10.1109/CRC55853.2022.10041232
Bo Huang, Yubiao Liu, Xinfeng Wu, Jiyuan Lv, Yusheng Liu
With the rapid development of computer science and technology, Model-Based Systems Engineering (MBSE) has been widely used in the field of system design and simulation, gradually replacing traditional text-based systems engineering methods. As a standard modeling language in the field of systems engineering, SysML, together with modeling tools and modeling methods, is called the three pillars of MBSE. Activity diagram is a kind of behavior diagram of SysML, and its simulation plays an important role in MBSE practice. Aiming at the problem that the activity diagram simulation capability of domestic SysML modeling software is insufficient, this paper implements the simulation function of SysML activity diagram based on the fUML specification.
{"title":"Design and Implementation of SysML Activity Diagram Simulation Function Based on fUML Specification","authors":"Bo Huang, Yubiao Liu, Xinfeng Wu, Jiyuan Lv, Yusheng Liu","doi":"10.1109/CRC55853.2022.10041232","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041232","url":null,"abstract":"With the rapid development of computer science and technology, Model-Based Systems Engineering (MBSE) has been widely used in the field of system design and simulation, gradually replacing traditional text-based systems engineering methods. As a standard modeling language in the field of systems engineering, SysML, together with modeling tools and modeling methods, is called the three pillars of MBSE. Activity diagram is a kind of behavior diagram of SysML, and its simulation plays an important role in MBSE practice. Aiming at the problem that the activity diagram simulation capability of domestic SysML modeling software is insufficient, this paper implements the simulation function of SysML activity diagram based on the fUML specification.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"304 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126931869","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041233
Yani Wang, Minyin Lu, Xinran Yu, An‐Min Zou
In this paper, we address the issue of distributed finite-time resilient formation control for multiple nonholonomic mobile robots with unknown communication link attacks. First, we design a distributed finite-time resilient state observer to estimate the leader's information. Second, we propose a finite-time resilient formation control law by use of the observers and the input-output feedback linearization technique. Theoretical analysis is presented to show that all follower robots can track a leader robot and maintain a desired geometric formation simultaneously in finite time. Finally, the performance of the derived resilient formation control protocol is illustrated by numerical simulation.
{"title":"Finite-Time Resilient Formation Tracking Control of Multiple Nonholonomic Mobile Robots with Communication Link Attacks","authors":"Yani Wang, Minyin Lu, Xinran Yu, An‐Min Zou","doi":"10.1109/CRC55853.2022.10041233","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041233","url":null,"abstract":"In this paper, we address the issue of distributed finite-time resilient formation control for multiple nonholonomic mobile robots with unknown communication link attacks. First, we design a distributed finite-time resilient state observer to estimate the leader's information. Second, we propose a finite-time resilient formation control law by use of the observers and the input-output feedback linearization technique. Theoretical analysis is presented to show that all follower robots can track a leader robot and maintain a desired geometric formation simultaneously in finite time. Finally, the performance of the derived resilient formation control protocol is illustrated by numerical simulation.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125081778","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041236
Guangkuo Zhang, Hailong Huo, Xiangzhong Zeng, F. Zhao
An Field Programmable Gate Array(FPGA)-based implementation scheme is proposed to address the problem of parallel conversion required for high-speed serial data output from Complementary Metal Oxide Semiconductor(CMOS) image sensors in digital camera development. The hardware circuit is designed to connect the Low-Voltage Differential Signaling(LVDS) exclusive interface of FPGA with the CMOS image sensor high-speed serial data LVDS output interface to ensure the reliability and stability of high-speed serial data transmission, and the FPGA program is designed to adopt a multi-level shift strategy to solve the contradiction between the high conversion frequency and FPGA resources in high-speed serial data to parallel data conversion. The solution has been verified in practice, not only realizing the problem of CMOS high-speed serial data output to parallel conversion, but also ensuring the real-time performance in conversion.
{"title":"Realization of High-speed Serial Data to Parallel Data in Digital Camera","authors":"Guangkuo Zhang, Hailong Huo, Xiangzhong Zeng, F. Zhao","doi":"10.1109/CRC55853.2022.10041236","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041236","url":null,"abstract":"An Field Programmable Gate Array(FPGA)-based implementation scheme is proposed to address the problem of parallel conversion required for high-speed serial data output from Complementary Metal Oxide Semiconductor(CMOS) image sensors in digital camera development. The hardware circuit is designed to connect the Low-Voltage Differential Signaling(LVDS) exclusive interface of FPGA with the CMOS image sensor high-speed serial data LVDS output interface to ensure the reliability and stability of high-speed serial data transmission, and the FPGA program is designed to adopt a multi-level shift strategy to solve the contradiction between the high conversion frequency and FPGA resources in high-speed serial data to parallel data conversion. The solution has been verified in practice, not only realizing the problem of CMOS high-speed serial data output to parallel conversion, but also ensuring the real-time performance in conversion.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124415982","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041198
Zhijie Pan, Mengtang Li
Collaborative robots are widely utilized in biomedical labs to assist or even replace humans to conduct operations to promote efficiency and accuracy. Robot assisted operations also provide improved safety when dealing with biochemical or biomedical research. To achieve advanced robot assisted collaborative operations, a fast, efficient, and intelligent path planning algorithm is necessary. Current methods lack specific considerations for the complex biomedical lab environment, resulting in relatively slow, long, and potentially dangerous paths. To address these issues, this paper proposes a new path planing algorithm based on classical rapidly exploring random tree method. Adaptive searching step size, target orientated searching direction, and further path optimization to avoid obstacle outline following are added to obtain faster and safer robot motion paths in biomedical labs. Finally, Matlab and ROS/Gazebo simulations are conducted to demonstrate the efficacy and efficiency of the proposed method.
{"title":"Path Planning for Collaborative Robot under Complex Biomedical Lab Environment","authors":"Zhijie Pan, Mengtang Li","doi":"10.1109/CRC55853.2022.10041198","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041198","url":null,"abstract":"Collaborative robots are widely utilized in biomedical labs to assist or even replace humans to conduct operations to promote efficiency and accuracy. Robot assisted operations also provide improved safety when dealing with biochemical or biomedical research. To achieve advanced robot assisted collaborative operations, a fast, efficient, and intelligent path planning algorithm is necessary. Current methods lack specific considerations for the complex biomedical lab environment, resulting in relatively slow, long, and potentially dangerous paths. To address these issues, this paper proposes a new path planing algorithm based on classical rapidly exploring random tree method. Adaptive searching step size, target orientated searching direction, and further path optimization to avoid obstacle outline following are added to obtain faster and safer robot motion paths in biomedical labs. Finally, Matlab and ROS/Gazebo simulations are conducted to demonstrate the efficacy and efficiency of the proposed method.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"248 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114800252","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041200
Bochen Xie, Yongjian Deng, Z. Shao, Hai Liu, Qingsong Xu, Youfu Li
Event cameras asynchronously capture pixel-level intensity changes in scenes and output a stream of events. Compared with traditional frame-based cameras, they can offer competitive imaging characteristics: low latency, high dynamic range, and low power consumption. It means that event cameras are ideal for vision tasks in dynamic scenarios, such as human action recognition. The best-performing event-based algorithms convert events into frame-based representations and feed them into existing learning models. However, generating informative frames for long-duration event streams is still a challenge since event cameras work asynchronously without a fixed frame rate. In this work, we propose a novel frame-based representation named Compact Event Image (CEI) for action recognition. This representation is generated by a self-attention based module named Event Tubelet Compressor (EVTC) in a learnable way. The EVTC module adaptively summarizes the long-term dynamics and temporal patterns of events into a CEI frame set. We can combine EVTC with conventional video backbones for end-to-end event-based action recognition. We evaluate our approach on three benchmark datasets, and experimental results show it outperforms state-of-the-art methods by a large margin.
{"title":"Event Tubelet Compressor: Generating Compact Representations for Event-Based Action Recognition","authors":"Bochen Xie, Yongjian Deng, Z. Shao, Hai Liu, Qingsong Xu, Youfu Li","doi":"10.1109/CRC55853.2022.10041200","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041200","url":null,"abstract":"Event cameras asynchronously capture pixel-level intensity changes in scenes and output a stream of events. Compared with traditional frame-based cameras, they can offer competitive imaging characteristics: low latency, high dynamic range, and low power consumption. It means that event cameras are ideal for vision tasks in dynamic scenarios, such as human action recognition. The best-performing event-based algorithms convert events into frame-based representations and feed them into existing learning models. However, generating informative frames for long-duration event streams is still a challenge since event cameras work asynchronously without a fixed frame rate. In this work, we propose a novel frame-based representation named Compact Event Image (CEI) for action recognition. This representation is generated by a self-attention based module named Event Tubelet Compressor (EVTC) in a learnable way. The EVTC module adaptively summarizes the long-term dynamics and temporal patterns of events into a CEI frame set. We can combine EVTC with conventional video backbones for end-to-end event-based action recognition. We evaluate our approach on three benchmark datasets, and experimental results show it outperforms state-of-the-art methods by a large margin.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125791024","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041235
Xiaoyu Sun, Jianchang Liu, Xia Yu, Honghai Wang, Shubin Tan
Supervised multivariate statistical techniques are important tools for modeling the relationship between variables in dynamic processes. To building the dynamic relationship between variables, a supervised dynamic latent variable (LV) model with Gaussian inner structure is proposed to extract explicit LVs from the process and quality data with high collinearity. The outer dynamic latent structure gains stronger prediction ability by paying attention to both the variance and covariance of data while extracting LVs from the process and quality data. As a Gaussian process, the inner model is directly estimated as a function that is searched for within an infinite-dimensional space, such that an inner model with appropriate model order is obtained. Besides, the properties of the inner structure, such as exponential stability and smoothness, are integrated into the process of identifying the Gaussian model. As a result, the prediction capability of the proposed supervised LV model is enhanced. What's more, it is easy to interpret the results obtained by the proposed model as the dynamic LVs are directly extracted from the original process and quality data matrices rather than the augmented data matrices. The efficiency of the proposed model is demonstrated by modeling the glycemic dynamics of people with type 1 diabetes.
{"title":"Supervised Latent Variable Model with Gaussian Inner Structure for Dynamic PROCESS","authors":"Xiaoyu Sun, Jianchang Liu, Xia Yu, Honghai Wang, Shubin Tan","doi":"10.1109/CRC55853.2022.10041235","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041235","url":null,"abstract":"Supervised multivariate statistical techniques are important tools for modeling the relationship between variables in dynamic processes. To building the dynamic relationship between variables, a supervised dynamic latent variable (LV) model with Gaussian inner structure is proposed to extract explicit LVs from the process and quality data with high collinearity. The outer dynamic latent structure gains stronger prediction ability by paying attention to both the variance and covariance of data while extracting LVs from the process and quality data. As a Gaussian process, the inner model is directly estimated as a function that is searched for within an infinite-dimensional space, such that an inner model with appropriate model order is obtained. Besides, the properties of the inner structure, such as exponential stability and smoothness, are integrated into the process of identifying the Gaussian model. As a result, the prediction capability of the proposed supervised LV model is enhanced. What's more, it is easy to interpret the results obtained by the proposed model as the dynamic LVs are directly extracted from the original process and quality data matrices rather than the augmented data matrices. The efficiency of the proposed model is demonstrated by modeling the glycemic dynamics of people with type 1 diabetes.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129208534","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}
In this paper, the bipartite containment control problem of multi-agent systems (MASs) with unknown disturbances is studied. At first, a signed undirected graph is used to describe the Cooperative-Antagonistic interaction among the agents. Different from some conventional results of convergence in the infinite time domain, the control protocol proposed in this paper achieves the fixed-time convergence, and applies the fixed-time control and bipartite consensus to the containment control, making the proposed control protocol more practical. In addition, this paper also considers the existence of external disturbances and a novel fixed-time bipartite containment control protocol is proposed to eliminate them. Then, the stability analysis under the control protocol is completed by using the Lyapunov theory and mathematical theorem. Finally, the effectiveness of the proposed control scheme is verified by some simulation examples.
{"title":"Distributed Fixed-time Bipartite Containment Control of Multi-agent Systems with Unknown Disturbances","authors":"Shuguang Xin, Mengji Shi, Weihao Li, Jiangfeng Yue, Boxian Lin, Kaiyu Qin","doi":"10.1109/CRC55853.2022.10041227","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041227","url":null,"abstract":"In this paper, the bipartite containment control problem of multi-agent systems (MASs) with unknown disturbances is studied. At first, a signed undirected graph is used to describe the Cooperative-Antagonistic interaction among the agents. Different from some conventional results of convergence in the infinite time domain, the control protocol proposed in this paper achieves the fixed-time convergence, and applies the fixed-time control and bipartite consensus to the containment control, making the proposed control protocol more practical. In addition, this paper also considers the existence of external disturbances and a novel fixed-time bipartite containment control protocol is proposed to eliminate them. Then, the stability analysis under the control protocol is completed by using the Lyapunov theory and mathematical theorem. Finally, the effectiveness of the proposed control scheme is verified by some simulation examples.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124502750","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041228
Minghui Liu, Chenchuan Zhou, Xin Wu, Jiyuan Lv, Yusheng Liu
With the development of science and technology, the systems become more and more complex, and the difficulty of system development and maintenance also increases. To solve this problem, researchers propose MBSE(Model-Based Systems Engineering) and its standard system language SysML. At present, there are not many system modeling tools, and their scalability and quality need to be improved. This paper explores the design and testing of MOF(Meta Object Facility) based on the command pattern, trying to improve the expansibility and software quality of SysML modeling tools. Firstly, the MOF layer based on the command pattern is implemented to maintain the model data, then an existing modeling platform is refactored based on this base layer, and a large number of test codes are generated to ensure the reliability of the system. The experimental results show that the scalability and reliability of the system have been effectively improved.
{"title":"Command Pattern-based MOF Design and Testing","authors":"Minghui Liu, Chenchuan Zhou, Xin Wu, Jiyuan Lv, Yusheng Liu","doi":"10.1109/CRC55853.2022.10041228","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041228","url":null,"abstract":"With the development of science and technology, the systems become more and more complex, and the difficulty of system development and maintenance also increases. To solve this problem, researchers propose MBSE(Model-Based Systems Engineering) and its standard system language SysML. At present, there are not many system modeling tools, and their scalability and quality need to be improved. This paper explores the design and testing of MOF(Meta Object Facility) based on the command pattern, trying to improve the expansibility and software quality of SysML modeling tools. Firstly, the MOF layer based on the command pattern is implemented to maintain the model data, then an existing modeling platform is refactored based on this base layer, and a large number of test codes are generated to ensure the reliability of the system. The experimental results show that the scalability and reliability of the system have been effectively improved.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129212685","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041237
X. Wang, Qidan Zhu
This paper proposed an Adaptive Forgetting Least Squares algorithm based on the Auto-regressive model for the very short-term deck motion prediction, which aims to increase the accuracy and convergence rate of system parameter identification. The main idea of our research is adaptively adjust the forgetting factor according to the input signal. By means of adaptive forgetting, the algorithm can improve the identification and prediction accuracy by 4.3%, and improve the convergence rate by 5.5%. Finally, the results show that the algorithm is available for complex sea states, even the system signal excitation ability is weak.
{"title":"Study of Deck Motion Prediction Based on Adaptive Forgetting Least Squares Algorithm","authors":"X. Wang, Qidan Zhu","doi":"10.1109/CRC55853.2022.10041237","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041237","url":null,"abstract":"This paper proposed an Adaptive Forgetting Least Squares algorithm based on the Auto-regressive model for the very short-term deck motion prediction, which aims to increase the accuracy and convergence rate of system parameter identification. The main idea of our research is adaptively adjust the forgetting factor according to the input signal. By means of adaptive forgetting, the algorithm can improve the identification and prediction accuracy by 4.3%, and improve the convergence rate by 5.5%. Finally, the results show that the algorithm is available for complex sea states, even the system signal excitation ability is weak.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116529732","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 : 2022-12-15DOI: 10.1109/CRC55853.2022.10041229
Hongwu Liu, Shuling Hu, Qingzhong Cai, Yongfeng Zhang, Kun Zhang
To realize the high-precision control of the inertial platform of fiber optic gyroscope (FOG) under the influence of multi-source nonlinear disturbance torques, a backstepping terminal sliding mode control method for the FOG inertial platform stability loop based on the extended state observer was proposed. Firstly, the mathematical model of velocity loop control and position loop control of the inertial platform stability loop was established by using FOG as the sensitive element. Secondly, the backstepping terminal sliding mode control law was designed, and the extended state observer was used to estimate the disturbances and unknown states of the velocity loop and position loop respectively. The chattering caused by the sliding mode control law was reduced. This method is compared with the traditional PID single-loop control method. Under the same disturbance, the results show that the maximum rotation angle of the platform body axis caused by step disturbance is reduced 12.6” and the amplitude of the rotation angle of the platform axis caused by sinusoidal disturbance is reduced 11.34”. The stability loop using the backstepping terminal sliding mode control law based on the extended state observer has high stability accuracy and strong anti-interference ability.
{"title":"Backstepping Terminal Sliding Mode Control of FOG Inertial Platform Stability Loop Based on Extended State Observer","authors":"Hongwu Liu, Shuling Hu, Qingzhong Cai, Yongfeng Zhang, Kun Zhang","doi":"10.1109/CRC55853.2022.10041229","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041229","url":null,"abstract":"To realize the high-precision control of the inertial platform of fiber optic gyroscope (FOG) under the influence of multi-source nonlinear disturbance torques, a backstepping terminal sliding mode control method for the FOG inertial platform stability loop based on the extended state observer was proposed. Firstly, the mathematical model of velocity loop control and position loop control of the inertial platform stability loop was established by using FOG as the sensitive element. Secondly, the backstepping terminal sliding mode control law was designed, and the extended state observer was used to estimate the disturbances and unknown states of the velocity loop and position loop respectively. The chattering caused by the sliding mode control law was reduced. This method is compared with the traditional PID single-loop control method. Under the same disturbance, the results show that the maximum rotation angle of the platform body axis caused by step disturbance is reduced 12.6” and the amplitude of the rotation angle of the platform axis caused by sinusoidal disturbance is reduced 11.34”. The stability loop using the backstepping terminal sliding mode control law based on the extended state observer has high stability accuracy and strong anti-interference ability.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116601719","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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