This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japo...This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.展开更多
In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data be...In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.展开更多
The liquid cooling system(LCS)of fuel cells is challenged by significant time delays,model uncertainties,pump and fan coupling,and frequent disturbances,leading to overshoot and control oscillations that degrade tempe...The liquid cooling system(LCS)of fuel cells is challenged by significant time delays,model uncertainties,pump and fan coupling,and frequent disturbances,leading to overshoot and control oscillations that degrade temperature regulation performance.To address these challenges,we propose a composite control scheme combining fuzzy logic and a variable-gain generalized supertwisting algorithm(VG-GSTA).Firstly,a one-dimensional(1D)fuzzy logic controler(FLC)for the pump ensures stable coolant flow,while a two-dimensional(2D)FLC for the fan regulates the stack temperature near the reference value.The VG-GSTA is then introduced to eliminate steady-state errors,offering resistance to disturbances and minimizing control oscillations.The equilibrium optimizer is used to fine-tune VG-GSTA parameters.Co-simulation verifies the effectiveness of our method,demonstrating its advantages in terms of disturbance immunity,overshoot suppression,tracking accuracy and response speed.展开更多
In this paper,a new study concerning the usage of artificial neural networks in the control application is given.It is shown,that the data gathered during proper operation of a given control plant can be used in the l...In this paper,a new study concerning the usage of artificial neural networks in the control application is given.It is shown,that the data gathered during proper operation of a given control plant can be used in the learning process to fully embrace the control pattern.Interestingly,the instances driven by neural networks have the ability to outperform the original analytically driven scenarios.Three different control schemes,namely perfect,linear-quadratic,and generalized predictive controllers were used in the theoretical study.In addition,the nonlinear recurrent neural network-based generalized predictive controller with the radial basis function-originated predictor was obtained to exemplify the main results of the paper regarding the real-world application.展开更多
This paper considers adaptive event-triggered stabilization for a class of uncertain time-varying nonlinear systems.Remarkably,the systems contain intrinsic time-varying unknown parameters which are allowed to be non-...This paper considers adaptive event-triggered stabilization for a class of uncertain time-varying nonlinear systems.Remarkably,the systems contain intrinsic time-varying unknown parameters which are allowed to be non-differentiable and in turn can be fast-varying.Moreover,the systems admit unknown control directions.To counteract the different uncertainties,more than one compensation mechanism has to be incorporated.However,in the context of event-triggered control,ensuring the effectiveness of these compensation mechanisms under reduced execution necessitates delicate design and analysis.This paper proposes a tight and powerful strategy for adaptive event-triggered control(ETC)by integrating the state-of-the-art adaptive techniques.In particular,the strategy substantially mitigates the conservatism caused by repetitive inequality-based treatments of uncertainties.Specifically,by leveraging the congelation-of-variables method and tuning functions,the conservatism in the treatment of the fast-varying parameters is significantly reduced.With multiple Nussbaum functions employed to handle unknown control directions,a set of dynamic compensations is designed to counteract unknown amplitudes of control coefficients without relying on inequality-based treatments.Moreover,a dedicated dynamic compensation is introduced to deal with the control coefficient coupled with the execution error,based on which a relativethreshold event-triggering mechanism(ETM)is rigorously validated.It turns out that the adaptive event-triggered controller achieves the closed-loop convergence while guaranteeing a uniform lower bound for inter-execution times.Simulation results verify the effectiveness and superiority of the proposed strategy.展开更多
This paper investigates the problem of dynamic event-triggered control for a class of large-scale nonlinear systems.In particular,both neutral delays and unknown backlash-like hysteresis are considered.This requires t...This paper investigates the problem of dynamic event-triggered control for a class of large-scale nonlinear systems.In particular,both neutral delays and unknown backlash-like hysteresis are considered.This requires to integrate a compensation mechanism into the event-triggered control architecture.To this end,dynamic gain and adaptive control techniques are introduced to address the effects of neutral delays,unknown hysteresis and parameter uncertainties simultaneously.By introducing a non-negative internal dynamic variable,a dynamic event-triggered controller is designed using the hyperbolic tangent function to reduce the communication burden.By means of the Lyapunov–Krasovskii method,it is demonstrated that all signals of the closed-loop system are globally bounded and eventually converge to a tunable bounded region.Moreover,the Zeno behavior is avoided.Finally,a simulation example is presented to verify the validity of the control scheme.展开更多
This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The...This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.展开更多
The multi-agent controllability is intrinsically affected by the network topology and the selection of leaders.A focus of exploring this problem is to uncover the relationship between the eigenspace of Laplacian matri...The multi-agent controllability is intrinsically affected by the network topology and the selection of leaders.A focus of exploring this problem is to uncover the relationship between the eigenspace of Laplacian matrix and network topology.For strongly connected directed circle graphs,we elaborate how the zero entries in the left eigenvectors of Laplacian matrix L arise.The topologies arising from left eigenvectors with zero entries are filtered to construct essentially controllable directed circle graphs regardless of the choice of leaders.We propose two methods for constructing a substantial quantity of essentially controllable graphs,with a focus on utilizing essentially controllable circle graphs as the foundation.For a special directed graph-OT tree,the controllability is shown to be related with its substructure-paths.This promotes the establishment of a sufficient and necessary condition for controllability.Finally,a method is presented to check the controllable subspace by identifying the left eigenvectors and generalized left eigenvectors.展开更多
Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so...Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.展开更多
In this study,we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults.First,an inverse hysteresis dynamics model is introduced,and then...In this study,we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults.First,an inverse hysteresis dynamics model is introduced,and then the control input is divided into an expected input and an error compensator.Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis.Subsequently,by modifying the adaptive laws and local control laws,a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system.Through the direct Lyapunov theory,the proposed scheme allows the state errors to asymptotically converge to a specified interval.Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.展开更多
Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operato...Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operator training,etc.;thus,a hierarchical digital twin would be a comprehensive solution to that.In this study,a novel and general framework of the digital twin is proposed for operations in process industry.With the hierarchical structure,the framework can handle various tasks driven by different roles in process industry,including managers,engineers,and operators.To complete these tasks,the framework consists of three modules:OAS(Operation Analysis System),OMS(Operation Monitoring System),and OTS(Operator Training System).Each module focuses on one unique type of demand from the staff,as well as interactions among them enabling efficient data sharing.Based on the hierarchical framework,a digital twin system is applied for one complex industrial nitration process,which successfully enhances the operation efficiency and safety in several industrial scenarios with different demands.展开更多
Photoacoustic-computed tomography is a novel imaging technique that combines high absorption contrast and deep tissue penetration capability,enabling comprehensive three-dimensional imaging of biological targets.Howev...Photoacoustic-computed tomography is a novel imaging technique that combines high absorption contrast and deep tissue penetration capability,enabling comprehensive three-dimensional imaging of biological targets.However,the increasing demand for higher resolution and real-time imaging results in significant data volume,limiting data storage,transmission and processing efficiency of system.Therefore,there is an urgent need for an effective method to compress the raw data without compromising image quality.This paper presents a photoacoustic-computed tomography 3D data compression method and system based on Wavelet-Transformer.This method is based on the cooperative compression framework that integrates wavelet hard coding with deep learning-based soft decoding.It combines the multiscale analysis capability of wavelet transforms with the global feature modeling advantage of Transformers,achieving high-quality data compression and reconstruction.Experimental results using k-wave simulation suggest that the proposed compression system has advantages under extreme compression conditions,achieving a raw data compression ratio of up to 1:40.Furthermore,three-dimensional data compression experiment using in vivo mouse demonstrated that the maximum peak signal-to-noise ratio(PSNR)and structural similarity index(SSIM)values of reconstructed images reached 38.60 and 0.9583,effectively overcoming detail loss and artifacts introduced by raw data compression.All the results suggest that the proposed system can significantly reduce storage requirements and hardware cost,enhancing computational efficiency and image quality.These advantages support the development of photoacoustic-computed tomography toward higher efficiency,real-time performance and intelligent functionality.展开更多
Lacustrine groundwater discharge(LGD)plays an important role in water resources management.Previous studies have focused on LGD process in a single lake,but the differences in LGD process within the same region have n...Lacustrine groundwater discharge(LGD)plays an important role in water resources management.Previous studies have focused on LGD process in a single lake,but the differences in LGD process within the same region have not been thoroughly investigated.In this study,multiple tracers(hydrochemistry,𝛿D,𝛿18O and 222Rn)were used to compare mechanisms of LGD in Daihai and Ulansuhai Lake in Inner Mongoli1,Northwest China.The hydrochemical types showed a trend from groundwater to lake water,indicating a hydraulic connection between them.In addition,the𝛿D and𝛿18O values of sediment pore water were between the groundwater and lake water,indicating the LGD processes.The radon mass balance model was used to estimate the average groundwater discharge rates of Daihai and Ulansuhai Lake,which were 2.79 mm/day and 3.02 mm/day,respectively.The total nitrogen(TN),total phosphorus(TP),and fluoride inputs associated with LGD in Daihai Lake accounted for 97.52%,96.59%,and 95.84%of the total inputs,respectively.In contrast,TN,TP and fluoride inputs in Ulansuhai Lake were 53.56%,40.98%,and 36.25%,respectively.This indicates that the pollutant inputs associated with LGD posed a potential threat to the ecological stability of Daihai and Ulansuhai Lake.By comparison,the differences of LGD process and associated pollutant flux were controlled by hydrogeological conditions,lakebed permeability and human activities.This study provides a reference for water resources management in Daihai and Ulansuhai Lake basins while improving the understanding of LGD in the Yellow River basin.展开更多
Unmanned aircraft are highly vulnerable to crosswind-induced turbulence during complex maneuvers such as turning,which can significantly compromise control and reduce autopilot effectiveness.This paper presents a nove...Unmanned aircraft are highly vulnerable to crosswind-induced turbulence during complex maneuvers such as turning,which can significantly compromise control and reduce autopilot effectiveness.This paper presents a novel control strategy to improve the controllability of unmanned aircraft in challenging wind conditions.First,the equations of motion for the aircraft are reformulated as a system of stochastic differential equations,which are subsequently transformed into a deterministic form.By modeling turbulence as a Gaussian random process and incorporating it directly into the control system,the proposed method proactively compensates for the adverse effects of turbulence.The transformation is achieved using semi-invariant techniques.Second,the control problem is formulated as an optimization task,aiming to minimize the deviation between the actual and desired turn characteristics,specifically the angular velocity.Finally,a new numerical method with proven global convergence is employed to compute the optimal autopilot parameters.Simulation results using a medium-range unmanned aircraft model under continuous turbulent gusts demonstrate that the proposed method significantly outperforms existing approaches,ensuring both stability and precision in turbulent wind conditions.展开更多
Multivariate statistical process monitoring and control (MSPM&C) methods for chemical process monitoring with statistical projection techniques such as principal component analysis (PCA) and partial least squares ...Multivariate statistical process monitoring and control (MSPM&C) methods for chemical process monitoring with statistical projection techniques such as principal component analysis (PCA) and partial least squares (PLS) are surveyed in this paper. The four-step procedure of performing MSPM&C for chemical process, modeling of processes, detecting abnormal events or faults, identifying the variable(s) responsible for the faults and diagnosing the source cause for the abnormal behavior, is analyzed. Several main research directions of MSPM&C reported in the literature are discussed, such as multi-way principal component analysis (MPCA) for batch process, statistical monitoring and control for nonlinear process, dynamic PCA and dynamic PLS, and on-line quality control by inferential models. Industrial applications of MSPM&C to several typical chemical processes, such as chemical reactor, distillation column, polymerization process, petroleum refinery units, are summarized. Finally, some concluding remarks and future considerations are made.展开更多
The rapid desertification of grasslands in Inner Mongolia of China poses a significant ecological threaten to northern China. The combined effects of anthropogenic disturbances （e.g., overgrazing） and biophysical pr...The rapid desertification of grasslands in Inner Mongolia of China poses a significant ecological threaten to northern China. The combined effects of anthropogenic disturbances （e.g., overgrazing） and biophysical processes （e.g., soil erosion） have led to vegetation degradation and the consequent acceleration of regional desertification. Thus, mitigating the accelerated wind erosion, a cause and effect of grassland desertification, is critical for the sustainable management of grasslands. Here, a combination of mobile wind tunnel experiments and wind erosion model was used to explore the effects of different levels of vegetation coverage, soil moisture and wind speed on wind erosion at different positions of a slope inside an enclosed desert steppe in the Xilamuren grassland of Inner Mongolia. The results indicated a significant spatial difference in wind erosion intensities depending on the vegetation coverage, with a strong decreasing trend from the top to the base of the slope. Increasing vegetation coverage resulted in a rapid decrease in wind erosion as explained by a power function correlation. Vegetation coverage was found to be a dominant control on wind erosion by increasing the surface roughness and by lowering the threshold wind velocity for erosion. The critical vegetation coverage required for effectively controlling wind erosion was found to be higher than 60%. Further, the wind erosion rates were negatively correlated with surface soil moisture and the mass flux in aeolian sand transport increased with increasing wind speed. We developed a mathematical model of wind erosion based on the results of an orthogonal array design. The results from the model simulation indicated that the standardized regression coefficients of the main effects of the three factors （vegetation coverage, soil moisture and wind speed） on the mass flux in aeolian sand transport were in the following order： wind speed〉vegetation coverage〉soil moisture. These three factors had different levels of interactive effects on the mass flux in aeolian sand transport. Our results will improve the understanding of the interactive effects of wind speed, vegetation coverage and soil moisture in controlling wind erosion in desert steppes, and will be helpful for the design of desertification control programs in future.展开更多
An adaptive ant colony algorithm is proposed based on dynamically adjusting the strategy of updating trail information. The algorithm can keep good balance between accelerating convergence and averting precocity and s...An adaptive ant colony algorithm is proposed based on dynamically adjusting the strategy of updating trail information. The algorithm can keep good balance between accelerating convergence and averting precocity and stagnation. The results of function optimization show that the algorithm has good searching ability and high convergence speed. The algorithm is employed to design a neuro-fuzzy controller for real-time control of an inverted pendulum. In order to avoid the combinatorial explosion of fuzzy rules due tσ multivariable inputs, a state variable synthesis scheme is employed to reduce the number of fuzzy rules greatly. The simulation results show that the designed controller can control the inverted pendulum successfully.展开更多
基金CHINA POSTDOCTORAL SCIENCE FOUNDATION(Grant No.2025M771925)Young Scientists Fund(C Class)(Grant No.32501636)Special Fund of Fundamental Scientific Research Business Expense for Higher School of Central Government(Grant No.2572025JT04).
文摘This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.
基金supported in part by the National Natural Science Foundation of China(62125306)Zhejiang Key Research and Development Project(2024C01163)the State Key Laboratory of Industrial Control Technology,China(ICT2024A06)
文摘In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.
基金Supported by the Major Science and Technology Project of Jilin Province(20220301010GX)the International Scientific and Technological Cooperation(20240402071GH).
文摘The liquid cooling system(LCS)of fuel cells is challenged by significant time delays,model uncertainties,pump and fan coupling,and frequent disturbances,leading to overshoot and control oscillations that degrade temperature regulation performance.To address these challenges,we propose a composite control scheme combining fuzzy logic and a variable-gain generalized supertwisting algorithm(VG-GSTA).Firstly,a one-dimensional(1D)fuzzy logic controler(FLC)for the pump ensures stable coolant flow,while a two-dimensional(2D)FLC for the fan regulates the stack temperature near the reference value.The VG-GSTA is then introduced to eliminate steady-state errors,offering resistance to disturbances and minimizing control oscillations.The equilibrium optimizer is used to fine-tune VG-GSTA parameters.Co-simulation verifies the effectiveness of our method,demonstrating its advantages in terms of disturbance immunity,overshoot suppression,tracking accuracy and response speed.
文摘In this paper,a new study concerning the usage of artificial neural networks in the control application is given.It is shown,that the data gathered during proper operation of a given control plant can be used in the learning process to fully embrace the control pattern.Interestingly,the instances driven by neural networks have the ability to outperform the original analytically driven scenarios.Three different control schemes,namely perfect,linear-quadratic,and generalized predictive controllers were used in the theoretical study.In addition,the nonlinear recurrent neural network-based generalized predictive controller with the radial basis function-originated predictor was obtained to exemplify the main results of the paper regarding the real-world application.
基金supported in part by the National Natural Science Foundation of China(62033007)the Fundamental Research Program of Shandong Province(ZR2023ZD37).
文摘This paper considers adaptive event-triggered stabilization for a class of uncertain time-varying nonlinear systems.Remarkably,the systems contain intrinsic time-varying unknown parameters which are allowed to be non-differentiable and in turn can be fast-varying.Moreover,the systems admit unknown control directions.To counteract the different uncertainties,more than one compensation mechanism has to be incorporated.However,in the context of event-triggered control,ensuring the effectiveness of these compensation mechanisms under reduced execution necessitates delicate design and analysis.This paper proposes a tight and powerful strategy for adaptive event-triggered control(ETC)by integrating the state-of-the-art adaptive techniques.In particular,the strategy substantially mitigates the conservatism caused by repetitive inequality-based treatments of uncertainties.Specifically,by leveraging the congelation-of-variables method and tuning functions,the conservatism in the treatment of the fast-varying parameters is significantly reduced.With multiple Nussbaum functions employed to handle unknown control directions,a set of dynamic compensations is designed to counteract unknown amplitudes of control coefficients without relying on inequality-based treatments.Moreover,a dedicated dynamic compensation is introduced to deal with the control coefficient coupled with the execution error,based on which a relativethreshold event-triggering mechanism(ETM)is rigorously validated.It turns out that the adaptive event-triggered controller achieves the closed-loop convergence while guaranteeing a uniform lower bound for inter-execution times.Simulation results verify the effectiveness and superiority of the proposed strategy.
基金supported by the National Natural Science Foundation of China under Grant 62073190the Science Center Program of National Natural Science Foundation of China under Grant 62188101.
文摘This paper investigates the problem of dynamic event-triggered control for a class of large-scale nonlinear systems.In particular,both neutral delays and unknown backlash-like hysteresis are considered.This requires to integrate a compensation mechanism into the event-triggered control architecture.To this end,dynamic gain and adaptive control techniques are introduced to address the effects of neutral delays,unknown hysteresis and parameter uncertainties simultaneously.By introducing a non-negative internal dynamic variable,a dynamic event-triggered controller is designed using the hyperbolic tangent function to reduce the communication burden.By means of the Lyapunov–Krasovskii method,it is demonstrated that all signals of the closed-loop system are globally bounded and eventually converge to a tunable bounded region.Moreover,the Zeno behavior is avoided.Finally,a simulation example is presented to verify the validity of the control scheme.
基金supported by the National Natural Science Foundation of China(62303350).
文摘This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.
基金supported by the National Natural Science Foundation of China(62373205,62033007)Taishan Scholars Climbing Program of Shandong Province of China,and Taishan Scholars Project of Shandong Province of China(tstp20230624,ts20190930).
文摘The multi-agent controllability is intrinsically affected by the network topology and the selection of leaders.A focus of exploring this problem is to uncover the relationship between the eigenspace of Laplacian matrix and network topology.For strongly connected directed circle graphs,we elaborate how the zero entries in the left eigenvectors of Laplacian matrix L arise.The topologies arising from left eigenvectors with zero entries are filtered to construct essentially controllable directed circle graphs regardless of the choice of leaders.We propose two methods for constructing a substantial quantity of essentially controllable graphs,with a focus on utilizing essentially controllable circle graphs as the foundation.For a special directed graph-OT tree,the controllability is shown to be related with its substructure-paths.This promotes the establishment of a sufficient and necessary condition for controllability.Finally,a method is presented to check the controllable subspace by identifying the left eigenvectors and generalized left eigenvectors.
基金supported in part by the National Natural Science Foundation of China(62273255,62350003,62088101)the Shanghai Science and Technology Cooperation Project(22510712000,21550760900)+1 种基金the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Fundamental Research Funds for the Central Universities
文摘Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.
基金supported in part by the National Key Research and Development Program of China(2023YFB4706400)the National Natural Science Foundation of China(62273112,62073030,62203161)+6 种基金the Guangdong Basic and Applied Basic Research Foundation(2023B1515120018,2023B1515120019)the Open Project of Xiangjiang Laboratory(23XJ03012)the Natural Science Foundation of Hunan Province(2024JJ5087)the Natural Science Foundation of Jiangxi Province(20232BAB212024)the National Research Foundation of Korea funded by the Ministry of Science and ICT,South Korea(IRIS-2023-00207954)the Science and Technology Planning Project of Guangzhou,China(2023A03J0120)the Guangzhou University Research Project(RC2023037)
文摘In this study,we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults.First,an inverse hysteresis dynamics model is introduced,and then the control input is divided into an expected input and an error compensator.Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis.Subsequently,by modifying the adaptive laws and local control laws,a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system.Through the direct Lyapunov theory,the proposed scheme allows the state errors to asymptotically converge to a specified interval.Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.
基金support of the“Pioneer”and“Leading Goose”Research&Development Program of Zhejiang(2024C01028)the State Key Laboratory of Industrial Control Technology,China(ICT2024C04)are gratefully acknowledged.
文摘Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operator training,etc.;thus,a hierarchical digital twin would be a comprehensive solution to that.In this study,a novel and general framework of the digital twin is proposed for operations in process industry.With the hierarchical structure,the framework can handle various tasks driven by different roles in process industry,including managers,engineers,and operators.To complete these tasks,the framework consists of three modules:OAS(Operation Analysis System),OMS(Operation Monitoring System),and OTS(Operator Training System).Each module focuses on one unique type of demand from the staff,as well as interactions among them enabling efficient data sharing.Based on the hierarchical framework,a digital twin system is applied for one complex industrial nitration process,which successfully enhances the operation efficiency and safety in several industrial scenarios with different demands.
基金supported by the National Key R&D Program of China[Grant No.2023YFF0713600]the National Natural Science Foundation of China[Grant No.62275062]+3 种基金Project of Shandong Innovation and Startup Community of High-end Medical Apparatus and Instruments[Grant No.2023-SGTTXM-002 and 2024-SGTTXM-005]the Shandong Province Technology Innovation Guidance Plan(Central Leading Local Science and Technology Development Fund)[Grant No.YDZX2023115]the Taishan Scholar Special Funding Project of Shandong Provincethe Shandong Laboratory of Advanced Biomaterials and Medical Devices in Weihai[Grant No.ZL202402].
文摘Photoacoustic-computed tomography is a novel imaging technique that combines high absorption contrast and deep tissue penetration capability,enabling comprehensive three-dimensional imaging of biological targets.However,the increasing demand for higher resolution and real-time imaging results in significant data volume,limiting data storage,transmission and processing efficiency of system.Therefore,there is an urgent need for an effective method to compress the raw data without compromising image quality.This paper presents a photoacoustic-computed tomography 3D data compression method and system based on Wavelet-Transformer.This method is based on the cooperative compression framework that integrates wavelet hard coding with deep learning-based soft decoding.It combines the multiscale analysis capability of wavelet transforms with the global feature modeling advantage of Transformers,achieving high-quality data compression and reconstruction.Experimental results using k-wave simulation suggest that the proposed compression system has advantages under extreme compression conditions,achieving a raw data compression ratio of up to 1:40.Furthermore,three-dimensional data compression experiment using in vivo mouse demonstrated that the maximum peak signal-to-noise ratio(PSNR)and structural similarity index(SSIM)values of reconstructed images reached 38.60 and 0.9583,effectively overcoming detail loss and artifacts introduced by raw data compression.All the results suggest that the proposed system can significantly reduce storage requirements and hardware cost,enhancing computational efficiency and image quality.These advantages support the development of photoacoustic-computed tomography toward higher efficiency,real-time performance and intelligent functionality.
基金supported by the Natural Science Foundation of Inner Mongolia Autonomous Region of China(No.2023QN04011)the National Natural Science Foundation of China(Nos.42307092 and 52279067)+1 种基金Ordos Science and Technology Major Project(No.ZD20232303)Project of Key Laboratory of River and Lake in Inner Mongolia Autonomous Region(No.2022QZBZ0003).
文摘Lacustrine groundwater discharge(LGD)plays an important role in water resources management.Previous studies have focused on LGD process in a single lake,but the differences in LGD process within the same region have not been thoroughly investigated.In this study,multiple tracers(hydrochemistry,𝛿D,𝛿18O and 222Rn)were used to compare mechanisms of LGD in Daihai and Ulansuhai Lake in Inner Mongoli1,Northwest China.The hydrochemical types showed a trend from groundwater to lake water,indicating a hydraulic connection between them.In addition,the𝛿D and𝛿18O values of sediment pore water were between the groundwater and lake water,indicating the LGD processes.The radon mass balance model was used to estimate the average groundwater discharge rates of Daihai and Ulansuhai Lake,which were 2.79 mm/day and 3.02 mm/day,respectively.The total nitrogen(TN),total phosphorus(TP),and fluoride inputs associated with LGD in Daihai Lake accounted for 97.52%,96.59%,and 95.84%of the total inputs,respectively.In contrast,TN,TP and fluoride inputs in Ulansuhai Lake were 53.56%,40.98%,and 36.25%,respectively.This indicates that the pollutant inputs associated with LGD posed a potential threat to the ecological stability of Daihai and Ulansuhai Lake.By comparison,the differences of LGD process and associated pollutant flux were controlled by hydrogeological conditions,lakebed permeability and human activities.This study provides a reference for water resources management in Daihai and Ulansuhai Lake basins while improving the understanding of LGD in the Yellow River basin.
基金co-supported by the Fund of Robot Technology Used for Special Environment Key Laboratory of Sichuan Province(No.22kftk01)the Key Research and Development Program of Heilongjiang,China(No.2024ZXJ07B05)the National Natural Science Foundation of China(No.92471103)。
文摘Unmanned aircraft are highly vulnerable to crosswind-induced turbulence during complex maneuvers such as turning,which can significantly compromise control and reduce autopilot effectiveness.This paper presents a novel control strategy to improve the controllability of unmanned aircraft in challenging wind conditions.First,the equations of motion for the aircraft are reformulated as a system of stochastic differential equations,which are subsequently transformed into a deterministic form.By modeling turbulence as a Gaussian random process and incorporating it directly into the control system,the proposed method proactively compensates for the adverse effects of turbulence.The transformation is achieved using semi-invariant techniques.Second,the control problem is formulated as an optimization task,aiming to minimize the deviation between the actual and desired turn characteristics,specifically the angular velocity.Finally,a new numerical method with proven global convergence is employed to compute the optimal autopilot parameters.Simulation results using a medium-range unmanned aircraft model under continuous turbulent gusts demonstrate that the proposed method significantly outperforms existing approaches,ensuring both stability and precision in turbulent wind conditions.
基金Supported by the National High-Tech Development Program of China(No.863-511-920-011,2001AA411230).
文摘Multivariate statistical process monitoring and control (MSPM&C) methods for chemical process monitoring with statistical projection techniques such as principal component analysis (PCA) and partial least squares (PLS) are surveyed in this paper. The four-step procedure of performing MSPM&C for chemical process, modeling of processes, detecting abnormal events or faults, identifying the variable(s) responsible for the faults and diagnosing the source cause for the abnormal behavior, is analyzed. Several main research directions of MSPM&C reported in the literature are discussed, such as multi-way principal component analysis (MPCA) for batch process, statistical monitoring and control for nonlinear process, dynamic PCA and dynamic PLS, and on-line quality control by inferential models. Industrial applications of MSPM&C to several typical chemical processes, such as chemical reactor, distillation column, polymerization process, petroleum refinery units, are summarized. Finally, some concluding remarks and future considerations are made.
基金supported by the National Natural Science of Foundation of China(51769019)the Excellent Youth Foundation of Inner Mongolia Agricultural University(2014XYQ-8)
文摘The rapid desertification of grasslands in Inner Mongolia of China poses a significant ecological threaten to northern China. The combined effects of anthropogenic disturbances （e.g., overgrazing） and biophysical processes （e.g., soil erosion） have led to vegetation degradation and the consequent acceleration of regional desertification. Thus, mitigating the accelerated wind erosion, a cause and effect of grassland desertification, is critical for the sustainable management of grasslands. Here, a combination of mobile wind tunnel experiments and wind erosion model was used to explore the effects of different levels of vegetation coverage, soil moisture and wind speed on wind erosion at different positions of a slope inside an enclosed desert steppe in the Xilamuren grassland of Inner Mongolia. The results indicated a significant spatial difference in wind erosion intensities depending on the vegetation coverage, with a strong decreasing trend from the top to the base of the slope. Increasing vegetation coverage resulted in a rapid decrease in wind erosion as explained by a power function correlation. Vegetation coverage was found to be a dominant control on wind erosion by increasing the surface roughness and by lowering the threshold wind velocity for erosion. The critical vegetation coverage required for effectively controlling wind erosion was found to be higher than 60%. Further, the wind erosion rates were negatively correlated with surface soil moisture and the mass flux in aeolian sand transport increased with increasing wind speed. We developed a mathematical model of wind erosion based on the results of an orthogonal array design. The results from the model simulation indicated that the standardized regression coefficients of the main effects of the three factors （vegetation coverage, soil moisture and wind speed） on the mass flux in aeolian sand transport were in the following order： wind speed〉vegetation coverage〉soil moisture. These three factors had different levels of interactive effects on the mass flux in aeolian sand transport. Our results will improve the understanding of the interactive effects of wind speed, vegetation coverage and soil moisture in controlling wind erosion in desert steppes, and will be helpful for the design of desertification control programs in future.
文摘An adaptive ant colony algorithm is proposed based on dynamically adjusting the strategy of updating trail information. The algorithm can keep good balance between accelerating convergence and averting precocity and stagnation. The results of function optimization show that the algorithm has good searching ability and high convergence speed. The algorithm is employed to design a neuro-fuzzy controller for real-time control of an inverted pendulum. In order to avoid the combinatorial explosion of fuzzy rules due tσ multivariable inputs, a state variable synthesis scheme is employed to reduce the number of fuzzy rules greatly. The simulation results show that the designed controller can control the inverted pendulum successfully.
