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Distributed Solving Linear Algebraic Equations with Switched Fractional Order Dynamics

Journal of systems Science & Complexity 2023年第2期36卷 613-631页

作者： YU Wenqiang CHENG Songsong HE Shuping Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China

This paper proposes a novel distributed optimization algorithm with fractional order dynamics to solve linear algebraic ***,the authors proposed“Consensus+Projection”flow with fractional order dynamics,which has more design freedom and the potential to obtain a better convergent performance than that of conventional first order ***,the authors prove that the proposed algorithm is convergent under certain iteration order and ***,the authors develop iteration order switching scheme with initial condition design to improve the convergence performance of the proposed ***,the authors illustrate the effectiveness of the proposed method with several numerical examples.

关键词： Distributed optimization fractional order dynamics initial condition iteration order linear equations

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Fractional Order Iteration for Gradient Descent Method Based on Event-Triggered Mechanism

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Journal of systems Science & Complexity 2023年第5期36卷 1927-1948页

作者： LU Jiajie WANG Yong FAN Yuan Department of Automation University of Science and Technology of ChinaHefei 230026China Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China

In this work,a novel gradient descent method based on event-triggered strategy has been proposed,which involves integer and fractional order ***,the convergence of integer order iterative optimization method and the stability of its associated system with integrator dynamics are *** on this result,a fractional order iteration approach has been developed by modelling the system with fractional order ***,to reduce the comsumption of computation,a feedback based event-triggered mechanism has been introduced to the gradient descent *** convergence of this new event-triggered optimization algorithm is guaranteed by using a Lyapunov method,and Zeno behavior is proved to be avoided ***,the effectiveness and advantages of the proposed algorithms are verified by numerical simulations.

关键词： Event-triggered mechanism fractional order iteration gradient descent Zeno behavior

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Event-Triggered Optimal Nonlinear systems Control Based on State Observer and Neural Network

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Journal of systems Science & Complexity 2023年第1期36卷 222-238页

作者： CHENG Songsong LI Haoyun GUO Yuchao PAN Tianhong FAN Yuan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China

This paper develops a novel event-triggered optimal control approach based on state observer and neural network(NN)for nonlinear continuous-time ***,the authors propose an online algorithm with critic and actor NNs to solve the optimal control problem and provide an event-triggered method to reduce communication and computation ***,the authors design weight estimation for critic and actor NNs based on gradient descent method and achieve uniformly ultimate boundednesss(UUB)estimation ***,by using bounded NN weight estimation and dead-zone operator,the authors propose a triggering condition,prove the asymptotic stability of closed-loop system from Lyapunov stability perspective,and exclude the Zeno ***,the authors provide a numerical example to illustrate the effectiveness of the proposed method.

关键词： Event-triggered control neural network optimal control state observer

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Fixed-Time Fault-Tolerant Sliding Mode Control for robot Manipulator 41

Fixed-Time Fault-Tolerant Sliding Mode Control for Robot Man...

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第41届中国控制会议

作者： Rong Cheng Lizhen Li Haoyun Li Songsong Cheng Xiaohan Fang Yuan Fan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper presents a fault-tolerant control with fixed time convergence for a class of robot manipulators over uncertainties,external disturbances and actuator *** design a disturbance observer to estimate and reject the external ***,based on the disturbance observer,we propose a sliding mode control method for the considered the uncertain robot ***,we show a numerical example to illustrate the effectiveness of the proposed method.

关键词： Fault-tolerant nonsingular fixed time sliding mode control Lyapunov stability theory

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Agent Maze Path Planning Based on Simulated Annealing Q-Learning Algorithm 41

Agent Maze Path Planning Based on Simulated Annealing Q-Lear...

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第41届中国控制会议

作者： Zhongtian Mao Zipeng Wu Xiaohan Fang Songsong Cheng Yuan Fan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The problem of path exploration and planning of agents in unknown environments is a popular application problem in the field of reinforcement *** this paper,we propose an improved reinforcement learning algorithm called the QLearning algorithm for adaptive exploration based on simulated annealing(AE-SAQL).We apply the algorithm to the agent path planning problem,improve the setting of the reward function and add the feedback information of the *** simulating the Metropolis criterion in the annealing algorithm and adding an adaptive adjustment mechanism,the agent fully explores the environment and makes full use of the environmental information,solving the exploration-utilization dilemma during the algorithm and finally enabling the agent to reach the target location *** with the standard Q-Learning algorithm and SARSA algorithm,AE-SAQL achieves better.

关键词： Reinforcement learning Q-Learning Simulated annealing algorithm Maze path planning

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Optimized event-triggered control for linear systems with state observer 33

Optimized event-triggered control for linear systems with st...

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第33届中国控制与决策会议

作者： Haoyun Li Lizhen Li Rong Cheng Yuan Fan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui University

ISBN: (纸本)9781665431293

In this paper,an optimal event-triggered control method based on observer for linear systems is *** order to reduce resource consumption and computing cost,we propose an event-triggered strategy,a linear state observer based on event-triggered mechanism is *** the event-based strategy,the signal transmitting and controller updating occur in an aperiodic *** is proved that the linear system using the event-triggered optimal control strategy is asymptotically stable and the event-triggered method can avoid the existence of Zeno *** results have proved the effectiveness of the proposed method.

关键词： Event-Triggered Control Observer Optimal Control and Zeno Behavior

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Periodic Sample Based Event-Triggered Control for Linear systems with State Observer 2

Periodic Sample Based Event-Triggered Control for Linear Sys...

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2nd International Conference on Electrical engineering and Control Science, IC2ECS 2022

作者： Wan, Shiwang School of Electrical Engineering and Automation Anhui University Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment Hefei Anhui China

ISBN: (纸本)9798350399165

To save communication traffic, this paper considers event-Triggered Control for linear systems with state observer and period sampling strategies, which are mostly periodically sampled in conventional control and waste communication resources when the load is too high. Designing a state observer to observe the system state and to implement full-state feedback control. Periodic sampling of the event-Triggered column effectively avoids Zeno's behavior and saves communication resources. Finally, through experiments that the modified algorithm can achieve the stability of the system. © 2022 IEEE.

关键词： Linear systems

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Policy iteration-based adaptive optimal control for Markov jump systems: a transition-probability-free asynchronous approach

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Science China(Information Sciences) 2024年第11期67卷 363-364页

作者： Weidi CHENG Chengcheng REN Shuping HE Changyin SUN Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Engineering Research Center of Autonomous Unmanned System Technology (Ministry of Education) School of Artificial Intelligence Anhui University

The controller and filter design problems of Markov jump systems(MJSs) have gained significant attention over the past few decades. These studies include various aspects,including stochastic stabilization [1], optimal tracking control [2], and dissipative filter design [3]. Although numerous publications address the optimal controller design for MJSs, the issue of hidden MJSs, particularly those with mismatched jumping modes between the system and the controller, has rarely been explored.

关键词： Markov processes

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A line segment detector based on subanchor point and line segment combination method 37

A line segment detector based on subanchor point and line se...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Fan, Fuyou Jiang, Yuanhui Han, Ke Li, Hong Fang, Xiaohan Fan, Yuan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering Automation Anhui University Hefei230601 China

ISBN: (纸本)9781665465366

Linear segment features contains rich geometric information and it is crucial to perform accurate linear segment detection. We propose a temporal line segment detector based on subanchor point and line segment combination approach, which gives more accurate results without adjusting the parameters. The speed remains essentially the same as the fastest running line segment detectors (EDLines) existing and is 89' faster compared to the conventional LSD line extraction algorithm. The proposed algorithm introduces bilateral filtering and line segment combination methods based on EDLines. The bilateral filter is used after the image input to remove the noise and retain the edge information of the image well. The short line segments that exist homologous are combined to generate clearer long line segments, which overcomes the problem of broken lines in LSD algorithm and excessive filtering of short line segments in EDLines algorithm. We validate the effectiveness of the proposed algorithm in experiments of line feature extraction for multiple sets of images in different scenes. © 2022 IEEE.

关键词： Extraction

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Event-Triggered Trajectory Tracking for Nonholonomic Mobile robot Using Dynamic Event Design 37

Event-Triggered Trajectory Tracking for Nonholonomic Mobile ...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Gao, Zhiliang Wu, Zipeng Han, Ke Fang, Xisohan Fan, Yuan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering Automation Anhui University Hefei230601 China

ISBN: (纸本)9781665465366

In this note, we investigate the trajectory tracing for nonholonomic mobile robot using the dynamic event-triggered control method. Firstly, we propose the system model and take the input control as an update to the nonholonomic mobile robot system. Then, we propose two kind of the trigger conditions and provide the corresponding. finally, the simulation clearly illustrates that the proposed dynamic event-triggered controller is able to reduce more communication burden compared to a classical event-triggered. © 2022 IEEE.

关键词： Lyapunov functions

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