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Cooperative decision making for connected automated vehicles in multiple driving scenarios

IET INTELLIGENT TRANSPORT SYSTEMS 2023年第11期17卷 2131-2142页

作者： Wang, Jinzhu Ma, Zhixiong Zhu, Xichan Bai, Jie Huang, Libo Tongji Univ Sch Automot Studies Caoan Rd 4800 Shanghai Peoples R China Zhejiang Univ City Coll Hangzhou Zhejiang Peoples R China

To improve the application range of decision-making systems for connected automated vehicles, this paper proposes a cooperative decision-making approach for multiple driving scenarios based on the combination of multi-agent reinforcement learning with centralized planning. Specifically, the authors derived driving tasks from driving scenarios and computed the policy functions for different driving scenarios as linear combinations of policy functions for a set of specific driving tasks. Then, the authors classified vehicle coalitions according to the relationships between vehicles and used centralized planning methods to determine the optimal combination of actions for each coalition. Finally, the authors conducted tests in two driving scenarios considering different traffic densities to evaluate the performance of the developed approach. Simulation results demonstrate that the proposed approach exhibits good robustness in multiple driving scenarios while enabling cooperative decision making for connected automated vehicles, thereby ensuring safe and rational decision making.

关键词： centralized planning optimal combination mobile robots driving scenarios Knowledge based systems decision-making approach Mobile robots traffic engineering computing vehicle coalitions connected automated vehicles Reinforcement learning reinforcement learning Traffic engineering computing multi-agent systems linear combinations control engineering computing decision-making systems decision making multiple driving scenarios

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Inexact Newton-Kantorovich Methods for Constrained Nonlinear Model Predictive control

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IEEE TRANSACTIONS ON AUTOMATIC control 2019年第9期64卷 3602-3615页

作者： Dontchev, Asen L. Huang, Mike Kolmanovsky, Ilya V. Nicotra, Marco M. Amer Math Soc Providence RI 02904 USA Univ Michigan Ann Arbor MI 48109 USA Toyota Motor North Amer Res & Dev Ann Arbor MI 48105 USA Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA

In this paper, we consider Newton-Kantorovich type methods for solving control-constrained optimal control problems that appear in model predictive control. Conditions for convergence are established for an inexact version of the Newton-Kantorovich method applied to variational inequalities. Based on these results, two groups of algorithms are proposed to solve the optimality system. The first group includes exact and inexact Newton and Newton-Kantorovich implementations of the sequential quadratic programming. In the second group, exact and inexact Newton and Newton-Kantorovich methods are developed for solving a nonsmooth normal map equation equivalent to the optimality system. Numerical simulations featuring examples from the aerospace and automotive domain are presented, which show that inexact Newton-Kantorovich type methods can achieve significant reduction of the computational time.

关键词： Constrained systems control engineering computing inexact Newton-Kantorovich method linear convergence Newton method nonlinear dynamical systems nonlinear model predictive control optimal control quadratic programming strong regularity

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Autonomous reluctance generator

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IEE PROCEEDINGS-ELECTRIC POWER APPLICATIONS 2001年第2期148卷 105-110页

作者： Ben-Hail, N Rabinovici, R Ben Gurion Univ Negev Dept Elect & Comp Engn Beer Sheva Israel

A single-phase autonomous reluctance generator is analysed as an oscillator with time varying parameters. It is shown that the reluctance generator can be modelled by the parametric Hill's equation. The necessary condition for generating AC output power is obtained by using different methods of analysis. Furthermore. when the inductance varies as a square wave: using a piecewise method solves the RG differential equation in an exact manner. In this case, the RG could be driven at a different rotor velocity to elicit the same resonant current and voltage frequency. The analysis is verified by experimental and simulation results.

关键词： digital control differential equations Mathematical analysis piecewise linear techniques control engineering computing piecewise method Power engineering computing oscillator machine theory power engineering computing control system analysis time varying parameters resonant current rotors rotor velocity Synchronous machines machine control reluctance generators AC output power generation parametric Hills equation control system analysis and synthesis methods Numerical analysis machine testing Differential equations (numerical analysis) control of electric power systems differential equation voltage frequency single-phase autonomous reluctance generator

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Process control - the future

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computing & control engineering JOURNAL 1997年第4期8卷 161-166页

作者： Benson, R ICI Mfg Technol Middlesbrough Cleveland England

The process industries comprise the largest UK manufacturing sector, and include chemicals, pharmaceuticals, minerals and food. Process control is a critical component of their success, but its application has been variable. In the future the process industries will need to become even more competitive driven by global competition. Jointly exploiting process and control will intimately change the nature of the industry to meet the changing market needs.

关键词： process control food processing industry process industries Food industry pharmaceutical industry future market needs mineral industry UK manufacturing sector control engineering computing Chemical industry chemical industry technological forecasting global competition Mining, oil drilling and natural gas industries control in industrial production systems Industrial processes Industrial applications of IT Pharmaceutical industry mineral processing industry

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Air-ground integrated deployment for UAV-enabled mobile edge computing: A hierarchical game approach

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IET COMMUNICATIONS 2020年第15期14卷 2491-2499页

作者： Yu, Xingyue Dong, Xu Yang, Xiaoqin Chen, Chaohui Ruan, Lang Song, Fei Gong, Yuping Army Engn Univ Coll Commun Engn Nanjing Peoples R China China Elect Syst Engn Co Beijing Peoples R China Guangzhou Haige Commun Grp Inc Co Guangzhou Peoples R China

In this study, the air-ground integrated deployment method is studied for the unmanned aerial vehicle (UAV)-enabled mobile edge computing (MEC) system. The UAV can help to reduce the delay and energy consumption of MEC. However, the limited coverage range of UAV limits the quality of data offloading. To improve the efficiency of data transmission, a hierarchical game model is designed. Ground nodes form multiple coalitions actively according to the position of UAV and the UAV adjusts the position based on the data distribution of ground networks. The relationship between the UAV and ground nodes is modelled as a Stackelberg game. A coalition formation game (CFG) is constructed for the data gathering among ground nodes. It is proved that the proposed CFG is an exact potential game with at least one Nash equilibrium. Moreover, the property of Stackelberg equilibrium is proven for the air-ground cooperative relationship. Based on the hierarchical model, a distributed air-ground integrated deployment algorithm is proposed to jointly optimise the position of the UAV and the coalition formation of ground nodes. The simulation results show that the proposed method promotes the efficiency of data transmission greatly and can converge to a stable state with reasonable iteration times.

关键词： game theory iterative methods autonomous aerial vehicles mobile computing control engineering computing CFG data transmission data offloading energy consumption MEC system hierarchical game approach UAV-enabled mobile edge computing distributed air-ground coalition formation game Stackelberg game ground networks ground nodes hierarchical game model unmanned aerial vehicle-enabled mobile edge computing system air-ground integrated deployment method

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Intelligent backstepping control for linear induction motor drive

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IEE PROCEEDINGS-control THEORY AND APPLICATIONS 2001年第3期148卷 193-202页

作者： Wai, RJ Lin, FJ Hsu, SP Yuan Ze Univ Dept Elect Engn Chungli 32026 Taiwan Natl Dong Hwa Univ Dept Elect Engn Hualien Taiwan Chung Yuan Christian Univ Dept Elect Engn Chungli 32023 Taiwan

The design and properties of an intelligent backstepping control system for a linear induction motor (LIM) drive to track periodic reference trajectories are studied. First, the dynamic model of a field-oriented control LIM drive is derived. Then a feedback linearisation controller is designed in the sense of the backstepping control technique. To relax the requirement for the bound of lumped uncertainty in the feedback linearisation control law, a recurrent fuzzy neural network (RFNN) uncertainty observer is proposed to estimate the lumped uncertainty in real time. In addition, an online parameter training methodology derived using the Lyapunov stability theorem and the gradient descent method is proposed to increase the learning capability of the RFNN. With the proposed intelligent backstepping control system, the mover position of the LIM drive possesses the advantages of good transient control performance and robustness to uncertainties for the tracking of periodic reference trajectories. The effectiveness of the proposed control scheme is verified by both simulated and experimental results.

关键词： lumped uncertainty Asynchronous machines machine vector control online parameter training methodology Simulation, modelling and identification recurrent fuzzy neural network uncertainty observer control engineering computing gradient descent method Lyapunov stability theorem Optimisation techniques observers dynamic model Optimisation field-oriented control feedback linear induction motor drive robustness control system analysis gradient methods transient control performance linear induction motors Lyapunov methods feedback linearisation controller learning capability Neurocontrol induction motor drives control system synthesis linearisation techniques multilayer perceptrons feedforward neural nets Neural computing techniques Linear machines periodic reference trajectories control system analysis and synthesis methods Fuzzy control Drives control of electric power systems intelligent control recurrent neural nets robust control Stability in control theory intelligent backstepping control

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ANALOGUE RECURSIVE COMPUTER

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1971年第3-4期118卷 486-&页

作者： LAMDEN, RJ ARCHER, J MAYBANKS, A Ultra Electronics Ltd. London UK

A control computer is described which uses a serial digital program to control an arithmetic unit and storage system working entirely in the analogue mode. Storage is capacitive, using field-effect-transistor switches for data selection. Using conventional techniques, speeds of 20μs per arithmetic operation are readily obtainable. The first application of this computer is to aircraft-gas-turbine control. A control program, for example, of a Rolls Royce Olympus 593B engine occupies 120 instructions, and the computation has a recursion time of 3ms. An accuracy of within 0.1% is obtainable.

关键词： aerospace applications of computers gas turbines analogue recursive computers analogue computers computing in other engineering fields control engineering applications of computers control engineering computing Analogue and hybrid computers and systems aircraft engine control field effect switches for data selection

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Integrated predictive control and scheduling co-design for networked control system

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IET control THEORY AND APPLICATIONS 2008年第1期2卷 7-15页

作者： Zhao, Y. B. Liu, G. P. Rees, D. Univ Glamorgan Fac Adv Technol Pontypridd CF37 1DL M Glam Wales

A predictive control and scheduling co-design approach is proposed to deal with the controller and scheduler design for a set of networked control systems which are connected to a shared communication network. In the proposed approach, a predictive controller is applied to generate the control predictions for each system using delayed sensing data and previous control information, and a time delay compensator is designed at the actuator side to actively compensate for the network-induced delay in the forward channel when the control action is taken. Two different scheduling algorithms, the existing static rate monotonic (R-M) scheduling algorithm and a new dynamic scheduling algorithm called dynamic feedback scheduling (DFS), are considered to schedule the transmissions of the control signals generated by the predictive controller, which are packed and transmitted to the actuator in one packet Simultaneously. Both the scheduling algorithms are designed with the guarantee of the stability of all the systems, which is achieved by ensuring that the time delay of the systems do not exceed the upper bound under which the systems are stable. It is also pointed out that the RM algorithm is a special case of the proposed DFS algorithm, in the sense that the former can work only in a private network environment, whereas the latter extends its application to such networks where other components occupying the network. Simulations for both the RM and the DFS algorithms, illustrate the validity of the proposed approach.

关键词： compensation scheduling feedback dynamic feedback scheduling time delay compensator design control system synthesis predictive control stability static rate monotonic scheduling shared communication network delays control engineering computing forward channel networked control system

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Bluetooth wireless technology in the home

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ELECTRONICS & COMMUNICATION engineering JOURNAL 2001年第5期13卷 195-203页

作者： Shepherd, R Cambridge Consultants Ltd Cambridge CB4 0DW England

The Bluetooth(TM)* wireless technology is a cable replacement technology that exploits the wireless interconnectivity that is possible with radio. Bluetooth chips are already available and early applications include cordless connections from mobile phones to laptop computers and wireless headsets. Even if only 10% of mobile phones and computers were to incorporate Bluetooth chips, then the technology would achieve the critical mass necessary for chip prices to fall below $5 and for the standard to become firmly established in the market-place. It is expected that Bluetooth products will be present in the home, where applications will include: conversion of the humble cellphone to a short-range cordless handset;providing a link from a PC to the Internet;home automation and cable replacement;toys and white goods. This paper introduces the Bluetooth wireless technology and its applications and provides a concise description of its air interface and protocol stack.

关键词： cordless connections Protocols Other computer networks wireless interconnectivity Bluetooth chips short-range cordless handset picocellular radio white goods Mobile radio systems Internet mobile phones Telephone stations cordless telephone systems cellular radio telephone sets Computer communications Automated buildings wireless headsets protocols piconet cellphone home automation Bluetooth wireless technology laptop computers radio equipment protocol stack Home computing air interface control engineering computing toys radio networks home network home computing

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SENSITIVITY METHOD FOR ONLINE OPTIMIZATION OF A SYNCHRONOUS-GENERATOR EXCITATION controlLER

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1977年第7期124卷 631-638页

作者： WINNING, DJ ELSHIRBEENY, EHT THOMPSON, EC MURRAYSMITH, DJ UNIV GLASGOW DEPT ELECTR & ELECT ENGN GLASGOW G12 8QQ SCOTLAND

The paper describes a technique for the optimisation of the parameter settings of the excitation controller of a synchronous machine which is suitable for on-site use. The optimisation method is based on an integral squarederror criterion, and involves the use of parameter sensitivity functions to estimate the parameter changes needed to alter system responses to approach some predetermined or desirable form. The computation of the parameter sensitivity functions is achieved by a direct method, which does not demand explicit identification of the controlled system and which yields the sensitivity functions of all output variables to all adjustable parameters from the results of a single-step test. The technique may be implemented using a small digital computer. The paper includes the results of simulation studies on unsynchronised and on loaded generators, together with results of micromachine experiments.

关键词： online optimisation micromachine experiments single step test synchronous generators Synchronous machines parameter setting optimisation control engineering computing control of electric power systems digital computer controllers synchronous generator excitation controller control system analysis and synthesis methods parameter sensitivity functions control system analysis computing Optimal control computation optimal control control system synthesis integral squared error criterion

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