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Deep reinforcement learning using least-squares truncated temporal-difference

CAAI Transactions on intelligence technology 2024年第2期9卷 425-439页

作者： Junkai Ren Yixing Lan Xin Xu Yichuan Zhang Qiang Fang Yujun Zeng College of Intelligence Science and Technology National University of Defense TechnologyChangshaChina State Key Laboratory of Astronautic Dynamics Xi'an Satellite Control CenterXi'anChina

Policy evaluation(PE)is a critical sub-problem in reinforcement learning,which estimates the value function for a given policy and can be used for policy ***,there still exist some limitations in current PE methods,such as low sample efficiency and local convergence,especially on complex *** this study,a novel PE algorithm called Least-Squares Truncated Temporal-Difference learning(LST2D)is *** LST2D,an adaptive truncation mechanism is designed,which effectively takes advantage of the fast convergence property of Least-Squares Temporal Difference learning and the asymptotic convergence property of Temporal Difference learning(TD).Then,two feature pre-training methods are utilised to improve the approximation ability of ***,an Actor-Critic algorithm based on LST2D and pre-trained feature representations(ACLPF)is proposed,where LST2D is integrated into the critic network to improve learning-prediction *** simulation studies were conducted on four robotic tasks,and the corresponding results illustrate the effectiveness of *** proposed ACLPF algorithm outperformed DQN,ACER and PPO in terms of sample efficiency and stability,which demonstrated that LST2D can be applied to online learning control problems by incorporating it into the actor-critic architecture.

关键词： Deep reinforcement learning policy evaluation temporal difference value function approximation

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Curve-Suppression-Based Event-Triggered Mechanisms for Quasi-Synchronization of Fuzzy Delayed Neural Networks on Time Scales

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3174-3187页

作者： Wan, Peng Zhou, Yufeng Zeng, Zhigang Lai, Jingang Wuhan University of Science and Technology School of Artificial Intelligence and Automation Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan430081 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent control of Education Ministry of China Wuhan430074 China

The vast majority of published event-triggered mechanisms (ETMs) are constructed based on measurement errors, which introduces a problem naturally that they are updated when the measurement errors exceed the thresholds although the current obtained sampling states can make systems converge well. With this problem in mind, we redesign ETMs for quasi-synchronization of T-S fuzzy neural networks (FNNs) with time delays on time scales. First, a novel ETM is designed for continuous-time FNNs with time-varying delays to achieve quasi-synchronization, with which synchronization errors is suppressed to globally exponentially converge to a ball. Second, we introduce the ETM for continuous-time FNNs to discrete-time FNNs, owing to the existence of discrete-time states, the Lypunov function of synchronization errors run over the exponentially decay curve, but it can be suppressed to evolve under another exponentially decay curve. Third, for FNNs on time scales with constant and time-varying delays, we estimate the forward jump operator of the Lyapunov functions and design ETMs to guarantee that the Lypunov functions evolve under the exponentially decay curves, so quasi-synchronization can be achieved. Last but not least, we prove that Zeno behavior will not happen and four numerical examples are introduced to verify the validity and the superiority of the proposed ETMs in reducing information transmission. © 2013 IEEE.

关键词： Continuous time systems

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The Optimization of TSK Regression Model by FCM, Droprule and Lion 8

The Optimization of TSK Regression Model by FCM, Droprule an...

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Qin, Yuhong Wang, Likui Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

TSK (Takagi-Sugeno-Kang) fuzzy system is widely used because of its good approximation performance. In order to effectively optimize the regression problem of TSK fuzzy system, based on the recently proposed MBGD-RDA (mini-batch gradient descent with regularization, DropRule and AdaBound) algorithm, we also propose the FCM-Lion (Fuzzy c means with DropRule and Lion) algorithm. The algorithm uses FCM to cluster the input samples to obtain the required number of rules, thus avoiding the problem of rule explosion caused by the shared rule base. In addition, it combines the latest proposed lion (EvoLved Sign Momentum) optimizer to replace the AdaBound algorithm, becouse Lion uses sign function to ignore the length of the gradient and only retains the direction of the gradient, thus playing a regularization effect in optimization process. And since lion only maintains a momentum information, it consumes less memory, so our paper combines it with DropRule to further accelerate parameter optimization. The algorithm we proposed is compared with other four optimization algorithms to prove its superiority by experimenting on six regression datasets with different sizes and dimensions. The results show that the RMSEtest of FCM-Lion is basically the smallest, and the training time is lower than the other four algorithms, which proves the effectiveness of our proposed algorithm. © 2024 IEEE.

关键词： Fuzzy systems

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A Prediction Method of Phase Equilibrium Mass Fraction Based on Pre-training RoBERTa Model 8

A Prediction Method of Phase Equilibrium Mass Fraction Based...

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Yang, Guangyu Zhang, Wei Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

Phase equilibrium plays a crucial role in various industries such as chemical, petroleum, and pharmaceutical. However, conventional methods for predicting gas-liquid equilibrium have limited applicability and require specialized knowledge in chemistry. To address this issue, we propose a gas-liquid equilibrium prediction model based on pre-trained RoBERTa model. The model accurately predicts the mass fraction of liquid(x 1) and gas(y1) of component 1, and R2 reaches 0.8776, which shows that it has high accuracy. The performance metrics on the test set, including mean square error (MSE), root mean square error (RMSE), and average absolute error (MAE), stand at 0.0126,0.1124 and 0.0715, respectively, further affirming the model's precision. Notably, our model only needs to input smiles codes of two substances and the pressure and temperature of the reaction to make predictions, significantly lowering the prediction threshold. And it can be used in a wide range of temperature and pressure conditions of the water system. © 2024 IEEE.

关键词： Prediction models

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Active Disturbance Rejection control Method for Offshore Cranes Based on Differential Fatness 8

Active Disturbance Rejection Control Method for Offshore Cra...

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Li, Zhaoqi Chen, He Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

As important working equipment on the sea, offshore cranes play an important role in a series of activities at sea. Offshore crane is a kind of mechanical equipment specially used for lifting materials at sea. It is widely used in ports, ships, marine engineering and other fields. It is used for loading and unloading goods, installing equipment, maritime rescue, scientific research and detection tasks. In ship operation, due to the complexity of the marine environment and the instability of the hull, the lifting operation is often affected by the ship excitation and wind load, and the lifting load is prone to swing, which brings difficulties and risks to the operation and cargo transportation. Under the influence of interference such as sea waves, the payload of offshore cranes is prone to large swing in the process of transportation. If not controlled, it will cause adverse effects. It is very important to realize the accurate positioning of payloads in special application environment. Therefore, this paper proposes an active disturbance rejection control method for offshore cranes based on differential flatness technique. Specifically, the coupling problem of the system is solved by differential flatness technique, and effective flat outputs are constructed. Then, we design an active disturbance rejection controller using the constructed flat outputs. The expressions of the relationship between the flat outputs and the state variables can be calculated. Finally, in order to verify whether the method is true and effective, and can achieve the desired objectives, we conduct a set of simulation tests. © 2024 IEEE.

关键词： Disturbance rejection

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Application Exploration of Digital Twin technology in Second-Loop System of Nuclear Power Plants 8

Application Exploration of Digital Twin Technology in Second...

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Ma, Zheng Chen, Xi Gao, Zhanghui Jin, Qiang Wei, Hongli Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

In response to the intelligent needs of the development of nuclear power technology in recent years, this article proposes an application exploration of a nuclear power plant secondary control system based on digital twin technology. It introduces the research on nuclear power plant technology and the development status of digital twin technology, analyzes the specific requirements of nuclear power plant secondary control system, proposes a full lifecycle application framework, and provides a feasible implementation plan. The use of cutting-edge technologies that have not been used in nuclear power plants has improved the reliability and safety of nuclear power systems, and key technologies that may be applied in the future have been elaborated. © 2024 IEEE.

关键词： digital twin life cycle nuclear power simulation

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Finite-Time Formation Tracking Under Event-Triggered Scheme of Multi-Agent Systems Subject to Input Saturation 8

Finite-Time Formation Tracking Under Event-Triggered Scheme ...

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Xing, Yunlong Liu, Jiao Ma, Xujie Li, Hongchao Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

This paper focuses on the finite-time time-varying formation tracking (TVFT) problem for multi-agent systems. Input saturation is taken into account, which can severely limit the performance of TVFT systems. The proposed control protocol solves the finite-time formation tracking problem under input saturation and the nonlinear external disturbances. To ensure the finite-time convergence of the multi-agent system, a stabilization procedure consisting of two steps is carried out. In addition, applying event-triggered scheme to TVFT control avoids constant communication between agents and no Zeno behavior. Finally, the theoretical results of this interrogation study is demonstrated through detailed simulations. © 2024 IEEE.

关键词： Multi agent systems

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Adaptive Output Feedback control for 2D TORA System Based on Velocity Observer 8

Adaptive Output Feedback Control for 2D TORA System Based on...

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Yang, Xinran Chen, He Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

The typical underactuated system two-dimensional translational oscillator with rotational actuator (2D TORA) that consist of two unactuated translational carts and an actuated rotational eccentric ball which acts as its control input. As an extension of TORA system, the 2D TORA system is more general, meanwhile, the dynamic characteristics of this system makes it challenging to design a proper control scheme. It is very important to realize the accurate positioning of payloads in special application environment. In this paper, an adaptive output feedback controller is proposed to realize all state variables positioning. Specifically, in order to solve the matter of uncertain friction and unknown disturbance, an adaptive method for unknown friction coefficient is designed. Moreover, we come up with a velocity observer to calculate the angular velocity instead of differentiating the output signals. Based on Lyapunov stability theory, the state convergence and stability of the 2D TORA system are analysed. Finally, simulation test results exhibit that the presented control method is effective. © 2024 IEEE.

关键词： Friction

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Finite-Time Consensus of Discrete-Time Multi-Agent Systems 8

Finite-Time Consensus of Discrete-Time Multi-Agent Systems

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Liang, Zhihong Ding, Sanbo Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

This paper studies the finite-time consensus of discrete-time multi-agent systems (MASs). First, a regionconditional switching controller is developed to realize finitetime consensus problem of the discrete-time system. Under this scheme, the controller is divided into two modes of operation, and whether or not the controller makes switching depends on a predetermined region condition. The study of finite-time consensus can achieve consistency by reducing the consumption of communication and computational resources. Compared with the existing results, the scheme realizes the complete consensus of the discrete-time system. It improves control performance and reduces excessive consumption of control resources. Then, the concept of finite-time consensus is introduced in discrete-time MASs to describe the control performance by the settling time function. The finite-time consensus criterion is obtained by constructing the Lyapunov function, and the settling time is obtained by solving difference fractional and linear matrix inequality. Finally, the validity of the method is verified through numerical simulation. © 2024 IEEE.

关键词： Discrete time control systems

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Integral Sliding-mode Disturbance Observer-based control for T-S Fuzzy Systems 8

Integral Sliding-mode Disturbance Observer-based Control for...

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8th International Symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Zhang, Lei Wang, Likui Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

This paper is concerned with stabilization for Takagi-Sugeno (T-S) fuzzy systems with the unmatched disturbance. In this paper, an integral fuzzy switching surface function (IFSSF) containing state-dependent input matrices is used. Based on this, the integral sliding mode control (ISMC) is devised to make sure that the reachability condition is achieved for a finite period of time and the DOB for estimating the disturbance is given. The design of the Lyapunov function utilizes the properties of the membership function with the assumption that its derivatives are bounded to introduce a zero matrix, which reduce the conservatism. Finally, the applicability of the proposed method is verified by a practical example and in simulation we verify that the assumption conditions of the premise is fulfilled. © 2024 IEEE.

关键词： Membership functions

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