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
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
Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this...Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.展开更多
The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along hal...The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along halo orbits, a nonlinear output tracking control scheme based on the θ- D technique is proposed. Compared with the popular time-variant linear quadratic regulator （LQR） controller, this approach overcomes some limitations such as on-line computations of the algebraic Riccati equation. Besides, the obtained nonlinear suboptimal controller is in a closed form and easy to implement. Numerical simulations show that the TTS trajectories track the periodic reference orbit with low energy consumption in the presence of both tether and initial injection errors. The axis of rotation can keep pointing to an inertial specific object to fulfill an observation mission. In addition, the thrusts required by the controller are in an acceptable range and can be implemented through some low-thrust propulsion devices.展开更多
In order to make the information transmission more efficient and reliable in a digital communication channel with limited capacity, various encoding-decoding techniques have been proposed and widely applied in many br...In order to make the information transmission more efficient and reliable in a digital communication channel with limited capacity, various encoding-decoding techniques have been proposed and widely applied in many branches of the signal processing including digital communications, data compression,information encryption, etc. Recently, due to its promising application potentials in the networked systems(NSs), the analysis and synthesis issues of the NSs under various encoding-decoding schemes have stirred some research attention. However, because of the network-enhanced complexity caused by the limited network resources, it poses new challenges to the design of suitable encoding-decoding procedures to meet certain control or filtering performance for the NSs. In this survey paper, our aim is to present a comprehensive review of the encoding-decodingbased control and filtering problems for different types of NSs.First, some basic introduction with respect to the coding-decoding mechanism is presented in terms of its engineering insights,specific properties and theoretical formulations. Then, the recent representative research progress in the design of the encodingdecoding protocols for various control and filtering problems is discussed. Some possible further research topics are finally outlined for the encoding-decoding-based NSs.展开更多
This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays.In view of multi-input and multi-output(MIMO)NCSs with many independent sen...This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays.In view of multi-input and multi-output(MIMO)NCSs with many independent sensors and actuators,a continuous time model with distributed time-delays is proposed.Utilizing the Lyapunov stability theory combined with linear matrix inequalities(LMIs)techniques,some new delay-dependent stability criteria for NCSs in terms of generalized Lyapunov matrix equation and LMIs are derived.Stabilizing controller via state feedback is formulated by solving a set of LMIs.Compared with the reported methods,the proposed methods give a less conservative delay bound and more general results.Numerical example and simulation show that the methods are less conservative and more effective.展开更多
This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topolog...This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.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
Lithography machines operate in scanning mode for the fabrication of large-scale integrated circuits(ICs),requiring high-precision synchronous motion between the reticle and wafer stages.Disturbances generated by each...Lithography machines operate in scanning mode for the fabrication of large-scale integrated circuits(ICs),requiring high-precision synchronous motion between the reticle and wafer stages.Disturbances generated by each stage during high-acceleration movements are transmitted through the base frame,resulting in degradation of synchronization performance.To address this challenge,this paper proposes a tube-based model predictive control(tube-MPC)approach for synchronization in lithography machines.First,the proposed modeling method accurately characterizes the coupling disturbances and synchronization dynamics.Subsequently,a tube-MPC approach is developed to ensure that the states of the nominal system are constrained within the terminal constraint set.To reduce the complexity of online computations,an approach is employed to transform online optimization problems into offline problems by creating an online lookup table.This enables the determination of optimal control inputs via a simplified online optimization algorithm.The robustness and trajectory tracking performance of the proposed approach are verified through simulation experiments,demonstrating its effectiveness in enhancing the synchronization performance of multiple motion systems.展开更多
Optical-resolution photoacoustic microscopy is a novel imaging technique that combines the advantages of optical and ultrasound imaging,enabling high-resolution visualization of biological tissues at the micrometer sc...Optical-resolution photoacoustic microscopy is a novel imaging technique that combines the advantages of optical and ultrasound imaging,enabling high-resolution visualization of biological tissues at the micrometer scale.However,the divergence of the excited Gaussian beam limits the depth-of-field of the system to less than 100μm,which hinders accurate three-dimensional imaging of living tissues and restrictsits applicability in biological research.Therefore,there is an urgent need for an effective method to enhance the depth-of-field without altering the hardware configuration.This paper presents a photoacoustic microscopy depth-of-field extension method and system based on three-dimensional continuity and sparsity deconvolution.This method utilizes a depth-varying point spread function and incorporates continuity and sparsity con-straints into the deconvolution process to mitigate the effect of background noise,enhancing the stability and accuracy of the depth-of-field extension.Experimental results using tungsten wire phantoms suggest that the depth-of-field of system can be extended to 650 pm,which is 7.2 times greater than conventional system,while improving the resolution of the defocused region by an average factor of 3.5.Furthermore,experiments on zebrafish and nude mouse ears with irregular topologies demonstrate that the proposed method successfully overcomes image blurring and the loss of structural information due to limited depth-of-field.All the results suggest that the system with higher lateral resolution and enhanced depth-of-field has significant potential for a wide range of practical biomedical applications.展开更多
Based on Lyapunov stability theory, a novel adaptive controller is designed for a class of chaotic systems .The parameters identification and synchronization of chaotic systems can be carried out simultaneously. The c...Based on Lyapunov stability theory, a novel adaptive controller is designed for a class of chaotic systems .The parameters identification and synchronization of chaotic systems can be carried out simultaneously. The controller and the updating law of parameters identification are directly constructed by analytic formula. Simulation results with Chen’s system and R?ssler system show the effectiveness of the proposed controller.展开更多
In this paper,we propose a real-time energy-efficient anticipative driving control strategy for connected and automated hybrid electric vehicles(HEVs).Considering the inherent complexities brought about by the velocit...In this paper,we propose a real-time energy-efficient anticipative driving control strategy for connected and automated hybrid electric vehicles(HEVs).Considering the inherent complexities brought about by the velocity profile optimization and energy management control,a hierarchical control architecture in the model predictive control(MPC)framework is developed for real-time implementation.In the higher level controller,a novel velocity optimization problem is proposed to realize safe and energy-efficient anticipative driving.The real-time control actions are derived through a computationally efficient algorithm.In the lower level controller,an explicit solution of the optimal torque split ratio and gear shift schedule is introduced for following the optimal velocity profile obtained from the higher level controller.The comparative simulation results demonstrate that the proposed strategy can achieve approximately 13%fuel consumption saving compared with a benchmark strategy.展开更多
Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee joint.Taking the posture data of the human body such as walking,squa...Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee joint.Taking the posture data of the human body such as walking,squatting and landing buffer as initial learning objects,motion features are extracted.By simplifying the trajectories of different motion actions into key feature control points and flexible trajectory fitting,the trajectory of joint actions is optimized.This method can realize the adaptability of the hydraulic robot knee joint in different movements,and take the flexible action as the optimization goal under the condition of ensuring the movement performance,so as to reduce the damage to the knee joint caused by the foot impact in motion.The simulation model was built by Adams and Matlab to complete the performance analysis and motion optimization experiment of the knee joint.The simulation results show that the foot impact force of the experimental model decreases gradually through optimization.Finally,the method is applied to the hydraulic joint experimental prototype to prove its load capacity and flexible motion control performance.展开更多
It is our great pleasure and honor to organize this special issue"Frontiers of Control and Automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben M.Chen.Professor Chen o...It is our great pleasure and honor to organize this special issue"Frontiers of Control and Automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben M.Chen.Professor Chen obtained his B.Sc.degree in mathemat-ics and computer science in 1983 from Xiamen University,China;M.Sc.degree in electrical engineering in 1988 from Gonzaga University,Spokane,Washington,USA;and Ph.D.degree in electrical and computer engineering in 1991 from Washington State University,Pullman,Washington,USA.展开更多
It is our great pleasure to organize this special issue in Control Theory and Technology in honor of the 90th birthday of Professor Huashu Qin.She is one of the pioneers in control theory and applications in China,and...It is our great pleasure to organize this special issue in Control Theory and Technology in honor of the 90th birthday of Professor Huashu Qin.She is one of the pioneers in control theory and applications in China,and has made many truly outstanding contributions to the field including nonlinear dynamics and control,intelligent control,robotics and complex systems.It is no surprise that she was selected as a representative introduced significantly in“Women in Control”of IEEE Control Systems Magazine.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 paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variabl...The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.展开更多
This paper addresses a target-enclosing problem for multiple spacecraft systems by proposing a two-layer affine formation control strategy. Compared with the existing methods,the adopted two-layer network structure in...This paper addresses a target-enclosing problem for multiple spacecraft systems by proposing a two-layer affine formation control strategy. Compared with the existing methods,the adopted two-layer network structure in this paper is generally directed, which is suitable for practical space missions. Firstly, distributed finite-time sliding-mode estimators and formation controllers in both layers are designed separately to improve the flexibility of the formation control system. By introducing the properties of affine transformation into formation control protocol design,the controllers can be used to track different time-varying target formation patterns. Besides, multilayer time-varying encirclements can be achieved with particular shapes to surround the moving target. In the sequel, by integrating adaptive neural networks and specialized artificial potential functions into backstepping controllers, the problems of uncertain Euler-Lagrange models, collision avoidance as well as formation reconfiguration are solved simultaneously. The stability of the proposed controllers is verified by the Lyapunov direct method. Finally, two simulation examples of triangle formation and more complex hexagon formation are presented to illustrate the feasibility of the theoretical results.展开更多
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(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 by the National Natural Science Foundation of China(U1664263)。
文摘Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.
基金supported by the National Natural Science Foundation of China (No.61174200)
文摘The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along halo orbits, a nonlinear output tracking control scheme based on the θ- D technique is proposed. Compared with the popular time-variant linear quadratic regulator （LQR） controller, this approach overcomes some limitations such as on-line computations of the algebraic Riccati equation. Besides, the obtained nonlinear suboptimal controller is in a closed form and easy to implement. Numerical simulations show that the TTS trajectories track the periodic reference orbit with low energy consumption in the presence of both tether and initial injection errors. The axis of rotation can keep pointing to an inertial specific object to fulfill an observation mission. In addition, the thrusts required by the controller are in an acceptable range and can be implemented through some low-thrust propulsion devices.
基金supported in part by the Royal Society of the UK,the Nationa Natural Science,Foundation of China(61329301,61374039)the Program for Capability Construction of Shanghai Provincial Universities(15550502500)the Alexander von Humboldt Foundation of Germany
文摘In order to make the information transmission more efficient and reliable in a digital communication channel with limited capacity, various encoding-decoding techniques have been proposed and widely applied in many branches of the signal processing including digital communications, data compression,information encryption, etc. Recently, due to its promising application potentials in the networked systems(NSs), the analysis and synthesis issues of the NSs under various encoding-decoding schemes have stirred some research attention. However, because of the network-enhanced complexity caused by the limited network resources, it poses new challenges to the design of suitable encoding-decoding procedures to meet certain control or filtering performance for the NSs. In this survey paper, our aim is to present a comprehensive review of the encoding-decodingbased control and filtering problems for different types of NSs.First, some basic introduction with respect to the coding-decoding mechanism is presented in terms of its engineering insights,specific properties and theoretical formulations. Then, the recent representative research progress in the design of the encodingdecoding protocols for various control and filtering problems is discussed. Some possible further research topics are finally outlined for the encoding-decoding-based NSs.
基金This work was supported by the National Natural Science Foundation of China(No.60275013).
文摘This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays.In view of multi-input and multi-output(MIMO)NCSs with many independent sensors and actuators,a continuous time model with distributed time-delays is proposed.Utilizing the Lyapunov stability theory combined with linear matrix inequalities(LMIs)techniques,some new delay-dependent stability criteria for NCSs in terms of generalized Lyapunov matrix equation and LMIs are derived.Stabilizing controller via state feedback is formulated by solving a set of LMIs.Compared with the reported methods,the proposed methods give a less conservative delay bound and more general results.Numerical example and simulation show that the methods are less conservative and more effective.
文摘This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.
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.
基金supported by National Natural Science Foundation of China(52375530,52075132)Natural Science Foundation of Heilongjiang Province(YQ2022E025)+2 种基金State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment(Guangdong University of Technology)(JMDZ202312)Fundamental Research Funds for the Central Universities(HIT.OCEF.2024034)Space Drive and Manipulation Mechanism Laboratory of BICE and National Key Laboratory of Space Intelligent Control(BICE-SDMM-2024-01).
文摘Lithography machines operate in scanning mode for the fabrication of large-scale integrated circuits(ICs),requiring high-precision synchronous motion between the reticle and wafer stages.Disturbances generated by each stage during high-acceleration movements are transmitted through the base frame,resulting in degradation of synchronization performance.To address this challenge,this paper proposes a tube-based model predictive control(tube-MPC)approach for synchronization in lithography machines.First,the proposed modeling method accurately characterizes the coupling disturbances and synchronization dynamics.Subsequently,a tube-MPC approach is developed to ensure that the states of the nominal system are constrained within the terminal constraint set.To reduce the complexity of online computations,an approach is employed to transform online optimization problems into offline problems by creating an online lookup table.This enables the determination of optimal control inputs via a simplified online optimization algorithm.The robustness and trajectory tracking performance of the proposed approach are verified through simulation experiments,demonstrating its effectiveness in enhancing the synchronization performance of multiple motion systems.
基金supported by the National Key R&D Program of China[Grant No.2022YFC2402400]the National Natural Science Foundation of China[Grant No.62275062]+2 种基金Project of Shandong Innovation and Startup Community of High-end Medical Apparatus and Instruments[Grant Nos.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 Province,and the Shandong Laboratory of Advanced Biomaterials and Medical Devices in Weihai[Grant No.ZL202402].
文摘Optical-resolution photoacoustic microscopy is a novel imaging technique that combines the advantages of optical and ultrasound imaging,enabling high-resolution visualization of biological tissues at the micrometer scale.However,the divergence of the excited Gaussian beam limits the depth-of-field of the system to less than 100μm,which hinders accurate three-dimensional imaging of living tissues and restrictsits applicability in biological research.Therefore,there is an urgent need for an effective method to enhance the depth-of-field without altering the hardware configuration.This paper presents a photoacoustic microscopy depth-of-field extension method and system based on three-dimensional continuity and sparsity deconvolution.This method utilizes a depth-varying point spread function and incorporates continuity and sparsity con-straints into the deconvolution process to mitigate the effect of background noise,enhancing the stability and accuracy of the depth-of-field extension.Experimental results using tungsten wire phantoms suggest that the depth-of-field of system can be extended to 650 pm,which is 7.2 times greater than conventional system,while improving the resolution of the defocused region by an average factor of 3.5.Furthermore,experiments on zebrafish and nude mouse ears with irregular topologies demonstrate that the proposed method successfully overcomes image blurring and the loss of structural information due to limited depth-of-field.All the results suggest that the system with higher lateral resolution and enhanced depth-of-field has significant potential for a wide range of practical biomedical applications.
基金Supported by National Natural Science Foundation of China (No. 60074008, 60274007).
文摘Based on Lyapunov stability theory, a novel adaptive controller is designed for a class of chaotic systems .The parameters identification and synchronization of chaotic systems can be carried out simultaneously. The controller and the updating law of parameters identification are directly constructed by analytic formula. Simulation results with Chen’s system and R?ssler system show the effectiveness of the proposed controller.
基金supported by in part by the China Automobile Industry Innovation and Development Joint Fund(No.U1864206)in part by the National Nature Science Foundation of China(No.62003244)+1 种基金in part by the Jilin Provincial Science and Technology Department(No.20200301011RQ)in part by the Jilin Provincial Science Foundation of China(No.20200201062JC).
文摘In this paper,we propose a real-time energy-efficient anticipative driving control strategy for connected and automated hybrid electric vehicles(HEVs).Considering the inherent complexities brought about by the velocity profile optimization and energy management control,a hierarchical control architecture in the model predictive control(MPC)framework is developed for real-time implementation.In the higher level controller,a novel velocity optimization problem is proposed to realize safe and energy-efficient anticipative driving.The real-time control actions are derived through a computationally efficient algorithm.In the lower level controller,an explicit solution of the optimal torque split ratio and gear shift schedule is introduced for following the optimal velocity profile obtained from the higher level controller.The comparative simulation results demonstrate that the proposed strategy can achieve approximately 13%fuel consumption saving compared with a benchmark strategy.
基金supported by the Top Discipline Plan of Shanghai Universities-Class I,the National Natural Science Foundation of China(52205279)the China National Postdoctoral Program for Innovative Talents(BX20190242)+1 种基金the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(GZKF-202017)the Open Foundation of the National Engineering Technology Research Center for Prefabrication Construction in Civil Engineering(2021CPCCE-K02).
文摘Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee joint.Taking the posture data of the human body such as walking,squatting and landing buffer as initial learning objects,motion features are extracted.By simplifying the trajectories of different motion actions into key feature control points and flexible trajectory fitting,the trajectory of joint actions is optimized.This method can realize the adaptability of the hydraulic robot knee joint in different movements,and take the flexible action as the optimization goal under the condition of ensuring the movement performance,so as to reduce the damage to the knee joint caused by the foot impact in motion.The simulation model was built by Adams and Matlab to complete the performance analysis and motion optimization experiment of the knee joint.The simulation results show that the foot impact force of the experimental model decreases gradually through optimization.Finally,the method is applied to the hydraulic joint experimental prototype to prove its load capacity and flexible motion control performance.
文摘It is our great pleasure and honor to organize this special issue"Frontiers of Control and Automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben M.Chen.Professor Chen obtained his B.Sc.degree in mathemat-ics and computer science in 1983 from Xiamen University,China;M.Sc.degree in electrical engineering in 1988 from Gonzaga University,Spokane,Washington,USA;and Ph.D.degree in electrical and computer engineering in 1991 from Washington State University,Pullman,Washington,USA.
文摘It is our great pleasure to organize this special issue in Control Theory and Technology in honor of the 90th birthday of Professor Huashu Qin.She is one of the pioneers in control theory and applications in China,and has made many truly outstanding contributions to the field including nonlinear dynamics and control,intelligent control,robotics and complex systems.It is no surprise that she was selected as a representative introduced significantly in“Women in Control”of IEEE Control Systems Magazine.
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 in part by the Australian Research Council Discovery Early Career Researcher Award(DE200101128)。
文摘The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.
基金sponsored by National Natural Science Foundation of China (Nos. 61673327, 51606161, 11602209, 91441128)Natural Science Foundation of Fujian Province of China (No. 2016J06011)China Scholarship Council (No. 201606310153)
文摘This paper addresses a target-enclosing problem for multiple spacecraft systems by proposing a two-layer affine formation control strategy. Compared with the existing methods,the adopted two-layer network structure in this paper is generally directed, which is suitable for practical space missions. Firstly, distributed finite-time sliding-mode estimators and formation controllers in both layers are designed separately to improve the flexibility of the formation control system. By introducing the properties of affine transformation into formation control protocol design,the controllers can be used to track different time-varying target formation patterns. Besides, multilayer time-varying encirclements can be achieved with particular shapes to surround the moving target. In the sequel, by integrating adaptive neural networks and specialized artificial potential functions into backstepping controllers, the problems of uncertain Euler-Lagrange models, collision avoidance as well as formation reconfiguration are solved simultaneously. The stability of the proposed controllers is verified by the Lyapunov direct method. Finally, two simulation examples of triangle formation and more complex hexagon formation are presented to illustrate the feasibility of the theoretical results.
