检索结果-内蒙古大学图书馆

Deep Reinforcement Learning or Lyapunov Analysis?A Preliminary Comparative Study on Event-Triggered Optimal control

IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1702-1704页

作者： Jingwei Lu Lefei Li Qinglai Wei Fei-Yue Wang IEEE the Department of Industrial Engineering Tsinghua UniversityBeijing 100084China The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Dear Editor,This letter develops a novel method to implement event-triggered optimal control(ETOC) for discrete-time nonlinear systems using parallel control and deep reinforcement learning(DRL), referred to as Deep-ETOC. The developed Deep-ETOC method introduces the communication cost into the performance index through parallel control, so that the developed method enables control systems to learn ETOC policies directly without triggering conditions.

关键词： Deep letter enable

来源：评论

学校读者我要写书评

暂无评论

Design of unbiased reduced order filter for stochastic systems with sampled measurements 12

Design of unbiased reduced order filter for stochastic syste...

引用

12th International Conference on Mathematical Modeling in Physical Sciences, IC-MSQUARE 2023

作者： Kamenshchikov, Mikhail Lomonosov Moscow State University Faculty of Computational Mathematics and Cybernetics Department of Nonlinear Dynamical Systems and Control Processes Moscow119991 Russia V. A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Laboratory of Terminal Control Systems Moscow117997 Russia National University of Science and Technology "MISiS" Department of Engineering Cybernetics Moscow119049 Russia

The problem of synthesizing reduced order filter, that forms an unbiased estimate of linear functional from an unknown phase vector of a continuous time stochastic system with sampled measurements and additive noises, is considered in this work. The H2 norm of the weighted transfer function from input noises to estimation error is used as a performance criterion. The method for reduced order filter design is based on the expression of the explicit dependence of performance criterion on unknown parameters in the canonical basis and the application of the non-convex optimization technique. Numerical simulations are performed to illustrate the proposed approach. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

A Recurrent Neural Network Based Bicriteria Repetitive Motion Collision Avoidance Scheme for Motion Planning of Dual Redundant Manipulators 13

A Recurrent Neural Network Based Bicriteria Repetitive Motio...

引用

13th International Conference on Intelligent control and Information Processing, ICICIP 2025

作者： Chen, Shirui Gao, Huanli Hu, Shaolin Zhang, Zhijun The School of Automation Science and Engineering South China University of Technology Guangzhou510640 China The School of Automation Guangdong University of Petrochemical Technology Maoming Guangzhou525000 China The Guangzhou Key Laboratory of Brain-Computer Interaction and Applications Guangzhou China The Key Library of Autonomous Systems and Network Control Ministry of Education The School of Automation Science and Engineering South China University of Technology Guangzhou510640 China Guangzhou510555 China The Jiangxi Thousand Talents Plan Nanchang University Nanchang330031 China The College of Computer Science and Engineering Jishou University Jishou416000 China Guangzhou510335 China The Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Shaanxi University of Technology Hanzhong723001 China The School of Information Science and Engineering Changsha Normal University Changsha410100 China The School of Automation Science and Engineering Maoming525000 China The Institute of Artificial Intelligence and Automation Guangdong University of Petrochemical Technology Maoming525000 China

ISBN: (纸本)9798331516147

To achieve low joint-angle drift and avoid mutual collision between dual redundant manipulators (DRMs) when they are doing collaboration works, a recurrent neural network based bicriteria repetitive motion collision avoidance (BRMCA) scheme is proposed for motion planning of DRMs. By designing a combined optimization objective encompassing both repetitive motion criterion and collision avoidance criterion, the BRMCA scheme has larger feasible region and less constraint contradiction issues compared with traditional inequality constraints based method. Furthermore, by incorporating velocity-level kinematic model and physical limits of DRMs into the scheme, a time varying quadratic programming (TVQP) problem is formulated. The linear variational inequality-based primal–dual neural network (LVI-PDNN) is used to solve the proposed scheme due to the high accuracy and low computation complexity. Finally, through comparison simulations of tracking Circle-shape and C-shape trajectories between BRMCA scheme and minimum velocity norm (MVN) scheme, it exhibits that the proposed BRMCA scheme can achieve low joint-angle drift, collision avoidance and high tracking accuracy when DRMs are doing cooperative tasks. © 2025 IEEE.

关键词： Recurrent neural networks

来源：评论

学校读者我要写书评

暂无评论

Multi-Modal Based Fuzzy Atmosfield in Human-Robot Interaction 42

Multi-Modal Based Fuzzy Atmosfield in Human-Robot Interactio...

引用

42nd Chinese control Conference, CCC 2023

作者： Li, Xin-Heng Liu, Zhen-Tao Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789887581543

Recently, the emotional robot has basic functions of perceiving and expressing emotions, but it still hard to communicate naturally between humans and robots. One major reason is that communication atmosphere is seldom considered in Human-robot Interaction (HRI). We propose Multi-modal (i.e., music background, speech, and semantics) Based Fuzzy Atmosfield (FA), which can not only realize the dynamic adjustment of FA but also dynamically regulate human emotions. In the experiment, a Pepper robot is used and one hundred volunteers are invited for HRI, and soothing piano pieces are used as background music. Questionnaires were filled by the volunteers after the experiments, from which the results show that 90% of the volunteers felt the dynamic changes in the communication atmosphere and 77% of the volunteers felt significant emotional regulation, which demonstrates the effectiveness of our method. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Semantics

来源：评论

学校读者我要写书评

暂无评论

Learning Probabilistic Coordinate Fields for Robust Correspondences

引用

IEEE Transactions on Pattern Analysis and Machine Intelligence 2023年第10期45卷 12004-12021页

作者： Zhao, Weiyue Lu, Hao Ye, Xinyi Cao, Zhiguo Li, Xin Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Wuhan430074 China West Virginia University The Lane Department of Computer Science and Electrical Engineering MorgantownWV26506-6109 United States

We introduce Probabilistic Coordinate Fields (PCFs), a novel geometric-invariant coordinate representation for image correspondence problems. In contrast to standard Cartesian coordinates, PCFs encode coordinates in correspondence-specific barycentric coordinate systems (BCS) with affine invariance. To know when and where to trust the encoded coordinates, we implement PCFs in a probabilistic network termed PCF-Net, which parameterizes the distribution of coordinate fields as Gaussian mixture models. By jointly optimizing coordinate fields and their confidence conditioned on dense flows, PCF-Net can work with various feature descriptors when quantifying the reliability of PCFs by confidence maps. An interesting observation of this work is that the learned confidence map converges to geometrically coherent and semantically consistent regions, which facilitates robust coordinate representation. By delivering the confident coordinates to keypoint/feature descriptors, we show that PCF-Net can be used as a plug-in to existing correspondence-dependent approaches. Extensive experiments on both indoor and outdoor datasets suggest that accurate geometric invariant coordinates help to achieve the state of the art in several correspondence problems, such as sparse feature matching, dense image registration, camera pose estimation, and consistency filtering. Further, the interpretable confidence map predicted by PCF-Net can also be leveraged to other novel applications from texture transfer to multi-homography classification. © 1979-2012 IEEE.

关键词： Image registration

来源：评论

学校读者我要写书评

暂无评论

Design of An Intelligent control System for Underground Directional Drilling Trajectory in Coal Mines 41

Design of An Intelligent Control System for Underground Dire...

引用

第41届中国控制会议

作者： Wangnian Li Min Wu Ke Yao Quanxin Li Chengda Lu Sheng Du School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Xi'an Research Institute Co.Ltd. China Coal Technology and Engineering Group

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Directional drilling trajectory control technology is one of the key technologies to realize automation and intelligence of underground tunnel drilling in coal *** construction of directional drilling in underground coal mines mainly relies on manual observation of measurement-while-drilling parameters to control the drilling trajectory,which is highly dependent on manual *** paper designs an intelligent control system of underground directional drilling trajectory for coal *** the idea of hierarchical design and modular design,this system collects and displays geometric parameters,geological parameters,and engineering parameters of the directional drilling ***,an intelligent decision-making platform for directional drilling trajectory prediction and control is developed,laying a foundation for the research of directional drilling trajectory prediction and intelligent control for coal mines.

关键词： Trajectory prediction trajectory control geometric parameters geological parameters engineering parameters

来源：评论

学校读者我要写书评

暂无评论

Exponentially convergent distributed Nash equilibrium seeking for constrained aggregative games

引用

Autonomous Intelligent systems 2022年第1期2卷 71-78页

作者： Shu Liang Peng Yi Yiguang Hong Kaixiang Peng Department of Control Science&Engineering Tongji UniversityShanghai200092China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China

Distributed Nash equilibrium seeking of aggregative games is investigated and a continuous-time algorithm is *** algorithm is designed by virtue of projected gradient play dynamics and aggregation tracking dynamics,and is applicable to games with constrained strategy sets and weight-balanced communication *** key feature of our method is that the proposed projected dynamics achieves exponential convergence,whereas such convergence results are only obtained for non-projected dynamics in existing works on distributed optimization and equilibrium *** examples illustrate the effectiveness of our methods.

关键词： Distributed algorithms Aggregative games Projected gradient play Weight-balanced graph Exponential convergence

来源：评论

学校读者我要写书评

暂无评论

Aerodynamic and aeroacoustic impact of the axial distance upon contra-rotating rotors during hovering condition

Aerodynamic and aeroacoustic impact of the axial distance up...

引用

AIAA Aviation and Aeronautics Forum and Exposition, AIAA AVIATION Forum 2023

作者： Li, Pengyu Yang, Yannian Zhang, Haoyu Liu, Yu Li, Qingxi Noack, Prof. Bernd Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South Guangdong510640 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China AVIC General Aircraft Research Institute Zhuhai Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong519040 China School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

Contra-rotating rotors have the advantage of compactness and redundancy, which can be observed in many unmanned aerial vehicles. One significant installation parameter for the contra-rotating rotors is the axial distance between the upper and lower rotors, which influences both the time-averaged and unsteady loading of the rotors, as well as the aeroacoustic noise emission. Through experimental methods, each rotor is mounted to a six-component balance to study the impact of the axial distance on the two rotors, and an microphone arc-array is used to study the noise emission and directivity in an anechoic chamber. Two rotors are set at the same rotational speed for all axial distance settings. The results indicate that the increase of axial distance is advantageous for the aerodynamic performance increase and noise reduction, especially in the axial range of 0.1 diameter. The recovery of aerodynamic performance is due to the fully developed slipstream which reduces the mutual influence between the two rotors. The noise reduction is mainly due to the reduced velocity fluctuation alleviates the inter actiontonal noise, although the broadband noise becomes larger as the axial distance increases. © 2023, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Noise abatement

来源：评论

学校读者我要写书评

暂无评论

Design of an Intelligent Monitoring System for Operating States in a Coal Mine Drilling Process 41

Design of an Intelligent Monitoring System for Operating Sta...

引用

第41届中国控制会议

作者： Xiao Yang Luefeng Chen Sheng Du Chengda Lu Wangnian Li Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Xi'an Research Institute Co.Ltd. China Coal Technology and Engineering Group

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development trend of intelligent drilling in coal mines,an intelligent monitoring system for operating states in a drilling process is developed to solve the problems of incomplete display of drilling parameters and ineffective *** system realizes the remote monitoring of drilling *** mainly adopts the Fuzzy C-Means clustering algorithm to cluster the drilling *** it combines expert empirical knowledge to classify coal seams into soft,hard and alternating soft and hard coal *** boundary values are calculated according to the boundary ***,three drilling operating states,rated,conservative and over-excited,are judged to provide guidance for the drilling process control.

关键词： Drilling process Intelligent monitoring Fuzzy C-Means clustering Operating states

来源：评论

学校读者我要写书评

暂无评论

A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

引用

16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：