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intelligent PID controller Based on Deep Reinforcement Learning 8

Intelligent PID Controller Based on Deep Reinforcement Learn...

引用

8th international conference on robotics, control and Automation (ICRCA)

作者： Zhai, Yinhe Zhao, Qiang Han, Yinghua Wang, Jinkuan Zeng, Wenying Northeastern Univ Coll Informat Sci & Engn Shenyang Peoples R China Northeastern Univ Qinhuangdao Sch Control Engn Qinhuangdao Hebei Peoples R China Northeastern Univ Qinhuangdao Sch Comp & Commun Engn Qinhuangdao Hebei Peoples R China

ISBN: (纸本)9798350344738;9798350344721

PID control is still the most important and popular method in industrial control at present. PID control is easy to achieve and it can improve the steady-state performance and dynamic performance of the system. PID controller can be used for all objects, however, it has some problems with parameter adjustment and control effect. The proportional integral differential coefficient of PID control is fixed, and it can't change when disturbed, so the stability of the system will be affected. Moreover, PID control is prone to overshoot and can't be used in specific systems. Reinforcement learning (RL) algorithms have developed rapidly from discrete action to continuous action in recent years. It has aroused the high interest of researchers in the field of automatic control. RL control performs better in the degree of intelligence and dynamic performance, however, the steady-state performance is poor. The sensitive response of RL control will damage the actuator. In this paper, an adaptive PID controller based on deep reinforcement learning is proposed. By designing reward values, the desired control effect is described. In this way, an agent is trained to provide parameters to the PID controller in real time. It can improve the response speed of the system, suppress overshoot, and have a certain anti-disturbance ability by training the agent to achieve real-time PID parameter adjustment.

关键词： intelligent control RL PID DDPG

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Linear Encryption Techniques for Counteracting Information-based Stealthy Attacks 18

Linear Encryption Techniques for Counteracting Information-b...

引用

18th international conference on control Automation robotics and Vision

作者： Shang, Jun Zhang, Hanwen Rao, Weixiong Hong, Yiguang Tongji Univ Frontiers Sci Ctr Intelligent Autonomous Syst Shanghai Inst Intelligent Sci & Technol Natl Key Lab Autonomous Intelligent Unmanned Syst Shanghai 200092 Peoples R China Tongji Univ Dept Control Sci & Engn Shanghai 200092 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Key Lab Knowledge Automat Ind Proc Minist Educ Beijing 100083 Peoples R China Tongji Univ Sch Software Engn Shanghai 200070 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

This study explores linear encryption techniques to protect against information-based stealthy attacks on remote state estimation. Utilizing smart sensors equipped with local Kalman filters, the system transmits innovations rather than raw measurements via wireless networks. However, this transmission is susceptible to malicious data interception and manipulation by attackers. To safeguard against these stealthy threats, encryption and decryption modules are integrated into the system. This research aims to assess the effectiveness of the encryption strategy when faced with information-based stealthy attacks. A key contribution of this paper is the adoption of the most comprehensive attack models, moving away from the conventional reliance on innovation-based linear attack models. Our results demonstrate that the proposed linear encryption approach effectively mitigates stealthy attacks under certain mild conditions. The efficacy of the encryption is further validated through numerical examples, corroborating the theoretical advancements presented in this paper.

关键词： Encryption algorithms

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Design and implementation of self-balancing car based on Simulink 3

Design and implementation of self-balancing car based on Sim...

引用

3rd international conference on robotics, Artificial Intelligence and intelligent control (RAIIC)

作者： Yang, Qi Wang, Haoyang Lug, Peng Wang, Shengxue Gu, Mingxin Yang, Yan Chongqing Univ Arts & Sci Sch Intelligent Mfg Engn Chongqing Peoples R China Chongqing TO BEST Technol Co Ltd Chongqing Peoples R China Chongqing Univ Arts & Sci Sch Automot Engn Sch Intelligent Mfg Engn Chongqing Peoples R China TF Gorbachev Kuzbass State Tech Univ Chongqing Peoples R China

ISBN: (纸本)9798350352634;9798350352627

In this paper, the self-balancing control of a two-wheeled bicycle will be realized by model-based design (MBD). The self-balancing principle is based on the flywheel inverted pendulum, and the tipping is prevented according to the torque generated by the acceleration and deceleration of the flywheel. The control principle is to install a momentum flywheel on the car. When the car topples in a certain direction, the flywheel accelerates in the same direction to generate a reverse torque to bring the car back to the upright position. The PID method is used to control the posture and driving speed of the balanced bicycle. The experiment proves that the modified method has a good effect, and the bicycle can drive on the flat and inclined road without tipping, and travel at the expected speed.

关键词： component Flywheel inverted pendulum PID control Simulink and microcontroller Balance bicycle

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Real-Time Hardware-In-The-Loop Simulation of IoT-Enabled Mini Water Treatment plant

Real-Time Hardware-In-The-Loop Simulation of IoT-Enabled Min...

引用

IEEE international conference on automatic control and intelligent Systems (I2CACIS)

作者： Miskon, Mohamad Taib Makmud, Mohamad Zul Hilmey Zacharee, Mohamad Abd Rahman, Abu Bakar Univ Teknol MARA Coll Engn Sch Elect Engn Dungun Terengganu Malaysia Univ Malaysia Sabah Fac Sci & Nat Resources Kota Kinabalu Sabah Malaysia

ISBN: (纸本)9798350372113;9798350372106

In this study, a Hardware-In-The-Loop (HIL) framework was adopted to support the development of an Electronic control Unit (ECU) for a mini water treatment plant in Lok Dangkaan, Sabah, Malaysia. The purpose was to conduct pre-deployment validation and reliability assessments, given that no physical prototype was available, and the deployment site is remotely located. The proposed system consisted of two sets of equipment, each representing a different location of the water storage tank at the target deployment site, with a Raspberry Pi serving as the core embedded controller. A graphical user interface (GUI) was employed to exhibit the current water level and the activation of pumps at each location. Information was relayed via the MQTT protocol, which was configured for the area. Results indicated a 100% prototype functionality and smooth connectivity between components were achieved. The GUI has also been responsive in accordance with the expected dynamics of water inflow and outflow. Future work may be directed towards integrating machine learning capabilities to analyze water usage trends and enhance facility maintenance, utilizing data recorded from the proposed HIL system.

关键词： Raspberry Pi Node-red MQTT Arduino Electronic control Unit (ECU)

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Tactile-Guided Automated Robotic Wiping 11

Tactile-Guided Automated Robotic Wiping

引用

11th IEEE international conference on Cybernetics and intelligent Systems (CIS) / 11th IEEE international conference on robotics, Automation and Mechatronics (RAM)

作者： Xu, Lan Liang, Wenyu Lee, Tong Heng Natl Univ Singapore Dept Elect & Comp Engn Singapore Singapore

ISBN: (纸本)9798350364200;9798350364194

To automate the wiping task using robots, it is crucial to endow the robot with the capability to maintain desired contact with target surfaces. However, challenges arise when geometric priors and visual feedback are not available or when detailed object information is needed. In this paper, a tactile-guided hybrid pose/force control scheme based on gain-scheduling proportional-integral-derivative (PID) is proposed to address these challenges. Leveraging a tactile sensor, three features are extracted from the tactile data and used in the control loop. The control scheme regulates the contact normal force on unknown surfaces with slowly changing curvature while following a trajectory on the surface. It also allows real-time adaptation of the desired contact force to varying surface conditions. The performance of the proposed scheme is evaluated on a robot manipulator equipped with a tactile sensor. Experimental results show that the proposed system can identify stains, guide itself to re-clean areas, and successfully accomplish the wiping task.

关键词： Manipulation sensor-based control applications

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Design of an Unmanned Bee breeding Box control System Based on stm32 10

Design of an Unmanned Bee breeding Box control System Based ...

引用

10th international conference on control, Automation and Robotic (ICCAR)

作者： Chen, Xiaoming Wang, Li Zhong, Junliang Guangzhou Inst Technol Coll Intelligent Mfg & Elect Engn Guangzhou Peoples R China

ISBN: (纸本)9798350373172;9798350373189

With the development of single-chip microcomputer technology, the demand for intelligent equipment is increasing. This paper introduces a digital bee hive monitoring system, which is used to solve the difficult problems in bee farming. The system mainly uses STM32F103C8T6 single chip microcomputer and DHT11 temperature and humidity sensor to achieve data acquisition, processing, display and other functions, can automatically adjust temperature and humidity parameters, easy to operate, can be unattended. This paper introduces the overall design block diagram and working principle of the system, details the hardware circuit design of each functional module, and expounds the application program design and the operation of wireless module to send information. The test results show that all functions can be realized and the power consumption and stability meet the design requirements. The design has feasibility and economic value, and provides a suitable monitoring platform for users.

关键词： STM32F103C8T6 single chip computer intelligent system bee box temperature and humidity monitoring Lora module infrared photoelectric module

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intelligent Modification Method for Individual Difference of Aero-engine based on CNN-GAN 9

Intelligent Modification Method for Individual Difference of...

引用

9th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Chen, Ying Zhou, Wenxiang Huang, Jinquan Nanjing Univ Aeronaut & Astronaut Coll Energy & Power Engn CO-210000 Nanjing Jiangsu Peoples R China

ISBN: (纸本)9798350385731;9798350385724

High-precision engine model is the basis of health management and intelligent control research, but deviations in the manufacturing process and losses in the operating process will lead to the existence of individual differences, which will reduce the accuracy of turbofan engine model. Aiming at the model accuracy problem caused by individual differences of aero-engines, integrating the strong information extraction ability of Convolutional Neural Network (CNN), a deterministic structural model updating method based on improved Generative Adversarial Network (GAN) is proposed to modify the individual difference deviation of multivariable turbofan engine model.

关键词： convolutional neural network generative adversarial network modification method areo-engine

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Research on Path Tracking control of Articulated Train Active Steering 3

Research on Path Tracking Control of Articulated Train Activ...

引用

3rd international conference on robotics, Artificial Intelligence and intelligent control (RAIIC)

作者： Song, Hongzheng Li, Xu Shandong Univ Sci & Technol Coll Transportat Qingdao Peoples R China

ISBN: (纸本)9798350352634;9798350352627

As articulated train is a kind of vehicle composed of tractor and semi-trailer with angular moving connection, the body structure is long, and the inner wheel difference is often large in the turning process, which poses a safety threat to pedestrians and vehicles inside the bend. In view of this, the turning dynamics model of articulated train is established in this paper, and the active steering control of the front axle of tractor and the rear axle of semi-trailer is carried out by PSO optimization model predictive control (MPC). Based on the joint simulation experiment platform of Trucksim and Simulink, the change of the position of the center of mass when the vehicle turns is analyzed. The results show that proper active steering of the front axle of the tractor and the rear axle of the semi-trailer can effectively reduce the inner wheel difference, reduce the yaw rate and improve the running stability of the articulated train.

关键词： articulated train Active steering MPC stability

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Event-Triggered Formation control of Heterogeneous Multiagent Systems under FDI Attacks and External Disturbances 18

Event-Triggered Formation Control of Heterogeneous Multiagen...

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18th international conference on control Automation robotics and Vision

作者： Zhi, Yongran Fan, Huijin Liu, Lei Wang, Bo Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Natl Key Lab Multispectral Informat Intelligent P Wuhan 430074 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

In this article, the leader-follower time-varying output formation control problem of heterogeneous multiagent systems(MASs) in the presence of continuous false data injection (FDI) attacks and unknown external disturbances is investigated. A hierarchical event-triggered control frame, including communication layer and controller layer, is constructed. In the communication layer, a distributed event-triggered estimator is proposed to estimate the leader's state and release the communication burden. In the controller layer, a robust adaptive state observer is firstly designed to estimate the follower's state with eliminating the influence of continuous FDI attacks and unknown external disturbances, then an output feedback event-triggered controller is developed to track the estimated leader's state. The proposed framework not only reduces the transmission burden but also eliminates the impact of attacks and disturbances. Finally, an illustrative simulation is provided to demonstrate the effectiveness of the proposed approach.

关键词： State estimation

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Angler: An Autonomy Framework for Intervention Tasks with Lightweight Underwater Vehicle Manipulator Systems

Angler: An Autonomy Framework for Intervention Tasks with Li...

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IEEE international conference on robotics and Automation (ICRA)

作者： Palmer, Evan Holm, Christopher Hollinger, Geoffrey Oregon State Univ Collaborat Robot & Intelligent Syst CoRIS Inst Corvallis OR 97331 USA

ISBN: (纸本)9798350384581;9798350384574

Developing autonomous intervention capabilities for lightweight underwater vehicle manipulator systems (UVMS) has garnered significant attention within recent years because of the opportunity for these systems to reduce intervention operating costs. Developing autonomous UVMS capabilities is challenging, however, because of the lack of available standardized software frameworks and pipelines. Previous works offer simulation environments and deployment pipelines for underwater vehicles, but fall short of providing a complete UVMS software framework. We address this gap by creating Angler: a software framework for developing localization, control, and decision-making algorithms with support for sim-to-real transfer. We validate this framework by implementing a state-of-the-art control architecture and demonstrate the ability to perform station keeping with a mean error below 0.25 m and waypoint tracking with an average final error of 0.398 m.

关键词： Manipulators

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