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910 publications from this institution

Recoil control of deepwater drilling riser systems via optimal control with feedforward mechanisms

This paper deals with the problem of dynamic modeling and the optimal recoil control of a deepwater drilling riser system subject to the friction force of drilling fluid discharge. First, based on the whole fluid column model of the friction force and the curve fitting method, a linear exosystem model is established to describe the dynamic properties of the friction force, where the friction force of drilling fluid discharge is formulated as an output of the exosystem. Then a recoil dynamic model of the drilling riser in the event of emergency disconnection is proposed to describe the recoil response characteristics. Third, an optimal recoil control scheme with discharge feedforward compensation is developed to refrain the recoil response of the riser system. The existence and uniqueness conditions of the optimal recoil controller are derived, and the gain matrices of the controller can be obtained by solving an algebraic Riccati equation and a Sylvester equation. It is found through simulation results that the proposed optimal recoil controller with feedforward compensation can reduce recoil response of the riser system significantly. Moreover, the proposed controller outperforms the existing optimal recoil control scheme in the sense of the quadratic performance indices of the riser system.

Yandong Zhao, Yue-Ting Sun, Bao‐Lin Zhang et al. 2022Article

A descriptor system approach to robust stability of uncertain neutral systems with discrete and distributed delays

The robust stability of uncertain linear neutral systems with discrete and distributed delays is investigated. The uncertainties under consideration are norm bounded, and possibly time varying. The proposed stability criteria are formulated in the form of a linear matrix inequality and it is easy to check the robust stability of the considered systems. Numerical examples are given to indicate significant improvements over some existing results.

Qinglong Qinglong Han 2004Article

First-order differential equations

No abstract is provided for this article.

Qinglong Qinglong Han 2011Chapter in a book

Resilient Tracking Control of Networked Control Systems Under Cyber Attacks

This article is concerned with the resilient tracking control of a networked control system under cyber attacks. The attacker is an active adversary whose aim is to severely degrade the tracking performance of the system by launching deception attacks on the sensor-to-controller communication channels and denial-of-service attacks on the controller-to-plant channels, respectively. First, a concept of resilient set-membership tracking control is presented, through which the system's true state is guaranteed to reside in a bounding ellipsoidal set of the reference state regardless of the existence of attacks and unknown-but-bounded (UBB) noises. Second, in the case that full information of the system's state is not implicitly trusted in the presence of attacks, a resilient set-membership estimation strategy is provided to secure the state estimates against the deception attacks. Furthermore, based on a recursive computation of a reference state ellipsoid and confidence state estimation ellipsoids, a convex optimization algorithm in terms of recursive linear matrix inequalities is proposed to obtain the gain parameters for both the desired resilient state estimator and the tracking controller. Finally, the effectiveness of the proposed method is illustrated through an Internet-based three-tank system.

Eman Mousavinejad, Xiaohua Ge, Qinglong Qinglong Han et al. 2019Article

Active Control of Offshore Steel Jacket Platforms

This is the first book to comprehensively and systematically discuss optimal control, sliding mode control, delayed feedback control, and network-based control schemes for offshore platforms, and to present the latest advances in these control schemes.

Bao‐Lin Zhang, Qinglong Qinglong Han, Xian‐Ming Zhang et al. 2018Book

$${H}_{\infty }$$ Filtering for NCSs with an Adaptive Event-Triggering Communication

In this chapter, an adaptive event-triggered communication scheme is used to save the limited network bandwidth, while preserving the desired $${H} _{\infty }$$ filter performance.

Chen Peng, Dong Yue, Qinglong Qinglong Han 2015Chapter in a book

Neural-Network-Based Output-Feedback Control Under Round-Robin Scheduling Protocols

The neural-network (NN)-based output-feedback control is considered for a class of stochastic nonlinear systems under round-Robin (RR) scheduling protocols. For the purpose of effectively mitigating data congestions and saving energies, the RR protocols are implemented and the resulting nonlinear systems become the so-called protocol-induced periodic ones. Taking such a periodic characteristic into account, an NN-based observer is first proposed to reconstruct the system states where a novel adaptive tuning law on NN weights is adopted to cater to the requirement of performance analysis. In addition, with the established boundedness of the periodic systems in the mean-square sense, the desired observer gain is obtained by solving a set of matrix inequalities. Then, an actor-critic NN scheme with a time-varying step length in adaptive law is developed to handle the considered control problem with terminal constraints over finite-horizon. Some sufficient conditions are derived to guarantee the boundedness of estimation errors of critic and actor NN weights. In view of these conditions, some key parameters in adaptive tuning laws are easily determined via elementary algebraic operations. Furthermore, the stability in the mean-square sense is investigated for the discussed issue in infinite horizon. Finally, a simulation example is utilized to illustrate the applicability of the proposed control scheme.

Derui Ding, Zidong Wang, Qinglong Qinglong Han et al. 2018Article

Robust H ∞ Control and Filtering of Networked Control Systems

This chapter is concerned with the design of robust H ∞ controllers and H ∞ filters for uncertain networked control systems (NCS) with the effects of both the network-induced delay and data dropout taken into consideration. A new...

Dong Yue, Qinglong Qinglong Han, James Lam 2008Chapter in a book

Intelligent Equipment, Robots, and Vehicles

LSMS 2021 and ICSEE 2021 proceedings on life system modeling and simulation, and intelligent computing for sustainable energy and environment.

Qinglong Qinglong Han, Seán McLoone, Chen Peng et al. 2021Book

Hα Control for Offshore Structures with Persistent Disturbances

This paper investigates the problem of H infin control for offshore structures with persistent disturbances. The time delay is introduced into the controller as a positive factor to counteract the persistent disturbances, such as wind and wave loads. Using Lyapunov stability theory and an integral matrix inequality, a new bounded real lemma is derived and, based on this, an H infin controller with input delay for the system is designed. Finally, a numerical example is given to demonstrate effectiveness of the proposed methods

Dongsheng Han, Xiefu Jiang, Qinglong Qinglong Han 2006Article

Deep Learning-Based Autonomous Driving Systems: A Survey of Attacks and Defenses

The rapid development of artificial intelligence, especially deep learning technology, has advanced autonomous driving systems (ADSs) by providing precise control decisions to counterpart almost any driving event, spanning from anti-fatigue safe driving to intelligent route planning. However, ADSs are still plagued by increasing threats from different attacks, which could be categorized into physical attacks, cyberattacks and learning-based adversarial attacks. Inevitably, the safety and security of deep learning-based autonomous driving are severely challenged by these attacks, from which the countermeasures should be analyzed and studied comprehensively to mitigate all potential risks. This survey provides a thorough analysis of different attacks that may jeopardize ADSs, as well as the corresponding state-of-the-art defense mechanisms. The analysis is unrolled by taking an in-depth overview of each step in the ADS workflow, covering adversarial attacks for various deep learning models and attacks in both physical and cyber context. Furthermore, some promising research directions are suggested in order to improve deep learning-based autonomous driving safety, including model robustness training, model testing and verification, and anomaly detection based on cloud/edge servers.

Yao Deng, Tiehua Zhang, Guannan Lou et al. 2021Preprint

AerialMind: Towards Referring Multi-Object Tracking in UAV Scenarios

Referring Multi-Object Tracking (RMOT) aims to achieve precise object detection and tracking through natural language instructions, representing a fundamental capability for intelligent robotic systems. However, current RMOT research remains mostly confined to ground-level scenarios, which constrains their ability to capture broad-scale scene contexts and perform comprehensive tracking and path planning. In contrast, Unmanned Aerial Vehicles (UAVs) leverage their expansive aerial perspectives and superior maneuverability to enable wide-area surveillance. Moreover, UAVs have emerged as critical platforms for Embodied Intelligence, which has given rise to an unprecedented demand for intelligent aerial systems capable of natural language interaction. To this end, we introduce AerialMind, the first large-scale RMOT benchmark in UAV scenarios, which aims to bridge this research gap. To facilitate its construction, we develop an innovative semi-automated collaborative agent-based labeling assistant (COALA) framework that significantly reduces labor costs while maintaining annotation quality. Furthermore, we propose HawkEyeTrack (HETrack), a novel method that collaboratively enhances vision-language representation learning and improves the perception of UAV scenarios. Comprehensive experiments validated the challenging nature of our dataset and the effectiveness of our method.

C. Chen, Shaofeng Liang, Runwei Guan et al. 2026Article

Event-triggered control for networked systems based on network dynamics

This paper investigates the stability and stabilization of networked control systems under simultaneous consideration of control system performance and network dynamics. By constructing an information dispatching middleware, a framework of networked control systems is established. In terms of the middleware, a novel event-triggered scheme is developed to regulate the transmission of the sampled data by considering network dynamics. The main feature of the scheme is that the released sampled data is not only determined by the current control system state, and the error between the current data and the latest transmitted state of the control system, but also by the current state of the network dynamics. An augmented system of the proposed framework is formulated based on a fluid-flow model. By using Lyapunov-Krasovskii functional approach, sufficient conditions are derived for system analysis and synthesis, respectively. Under the proposed framework, a tradeoff is provided to balance the utilization of communication resources and the desired performance of the control systems. Finally, a numerical example is given to illustrate the merits and effectiveness of this proposed framework.

Yufeng Lin, Qinglong Qinglong Han, Fuwen Yang 2013Article

Robust stability criteria for linear impulsive delay systems

This article is concerned with robust stability for linear impulsive delay systems with polytope uncertainties. For the linear impulsive delay systems without uncertainties, the stability is addressed by employing a Lyapunov‐Krasovskii‐like functional, which is comprised of a Lyapunov‐Krasovskii functional and an auxiliary functional. By introducing integrals of the state, an augmented Lyapunov‐Krasovskii‐like functional is constructed. With an integral inequality proposed to deal with the derivative of the Lyapunov‐Krasovskii‐like functional, a stability criterion is derived for the impulsive delay system. Then the stability criterion is extended to linear impulsive delay systems with polytope uncertainties, and a robust stability criterion is obtained. Examples are given to illustrate the stability results are valid or of less conservatism than some existing ones.

Hanyong Shao, Guangxia Yuan, Qinglong Qinglong Han 2021Article

Observer-based output tracking control for a class of linear networked control systems

This paper is concerned with the problem of model reference tracking control for a class of linear networked control systems (NCSs) in which a controlled plant is connected to an observer-based controller via a communication network. In the presence of network-induced delays and packet dropouts in the sensor-to-controller and controller-to-actuator connections, the inputs of the plant and the controller are updated in an asynchronous way. In this case, the resulting NCS is equivalent to a linear system with two interval time-varying delays. A sufficient stability condition that ensures the NCS with an H ∞ tracking performance is derived by using a Lyapunov Krasovskii functional approach. Due to the asynchronous input errors, a separation principle cannot be used to design the observer-based controller. A novel design algorithm of tracking control is presented by using the stability condition and a particle swarm optimization (PSO) technique. The effectiveness of the algorithm is illustrated by a numerical example.

Dawei Zhang, Qinglong Qinglong Han 2011Article

A New Approach to Sliding Observer Design and Stability for Linear System

The sliding observer, first introduced by Slotine in mid-1980s, is explored in details from the viewpoint of machine learning. A monarchacial forced learning concept that consists of a leading system and multiple followers is introduced to the named observer. In the learning process, the leader acts as a role model, which exhibits finite convergence property, for the followers to learn. By employing the weighted switching functions in each of the followers' subsystem, forced learning allows the followers to imitate the leader's convergence behaviour, thus, achieving their respective finite-time convergence. On the basis of this concept, a new design method, which greatly simplifies the process of sliding observer design, is proposed by adopting the idea of mapping functions in conjunction with Lyapunov stability theorem. Of the utmost importance, this method proves the existence of finite-time convergence property in the sliding observer as a whole. Numerical examples are presented to verify the theoretical analysis.

Yew Wee Wong, Zhihong Man, Jinchuan Zheng et al. 2018Article

Stability robustness analysis for observer-based uncertain continuous-time time-delay systems containing saturating actuators

This paper investigates the problem of the stabilization of uncertain time-delay systems containing a saturating actuator. The Lyapunov-Krasovskii technique is employed to analyse the stability robustness for the uncertain closed-loop system which is based on a state observer. Some sufficient criteria addressing the robust stabilization of such systems are proposed. These conditions are shown to be less restrictive than those given by Han et al. (1998) and So et al. (1989).

Qinglong Qinglong Han, D. Mehd, Zheng-Zhi Tang 2002Article

Fixed-Time Cooperative Control of Multi-Agent Systems

This monograph presents new theories and methods for fixed-time cooperative control of multi-agent systems. Fundamental concepts of fixed-time stability and stabilization are introduced, and solutions are presented for several problems of fixed-time cooperative control.

Zongyu Zuo, Qinglong Qinglong Han, Boda Ning 2019Book

Delayed non-fragile H<inf>&#x221E;</inf> control for offshore steel jacket platforms

This paper is concerned with non-fragile H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> control for offshore steel jacket platforms subject to self-excited nonlinear wave force and external disturbances. A delayed non-fragile H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller is designed to attenuate the oscillation amplitudes of the offshore platform. The positive effects of the time-delays on non-fragile H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> control for the offshore platform are investigated. It is shown through simulation results that (i) the proposed non-fragile H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller is effective to reduce the vibration of the offshore platform; (ii) the control force required by the delayed non-fragile H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller is smaller than the one by the delay-free non-fragile H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller; and (iii) the allowable maximum time-delay under the delayed non-fragile H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller is much larger than the one under the delayed dynamic output feedback controller.

Bao‐Lin Zhang, Zuo-Wu Huang, Qinglong Qinglong Han 2012Article

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