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IEEE Transactions on Intelligent Vehicles 2024年 1-15页

作者： Ye, Bao-Lin Zhang, Jiajie Li, Lingxi Wu, Weimin Jiaxing Key Laboratory of Smart Transportations the School of Information Science and Engineering Jiaxing University China Elmore Family School of Electrical and Computer Engineering Purdue University Indianapolis USA State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Trajectory planning method is a research hotspot in autonomous driving. Existing reinforcement learning-based trajectory planning methods suffer from unstable performance due to the strong randomness of network weight parameter updates during the training process. Therefore, this paper proposes a novel trajectory planning method based on deep reinforcement learning trust region policy optimization (TRPO). Firstly, in order to enhance the robustness of the trajectory planning method based on deep reinforcement learning TRPO, a TRPO-LSTM based decision model was proposed. More specifically, a long short term memory (LSTM) based state feature extraction network was designed and embeded into a TRPO-based decision model to enhance the ability of TRPO to extract information from the environmental state space. Secondly, in order to make the planned trajectory adaptive to the dynamic changes of traffic environment, we presented a novel TRPO-LSTM trajectory fitting algorithm. To the best of our knowledge, this is the first work aiming at applying the TRPO-LSTM based decision model in the trajectory fitting process to search the optimal longitudinal trajectory speed. Finally, the proposed trajectory planning method was implemented and simulated on the CARLA simulator. The experimental results show that, compared with existing trajectory planning methods based on deep reinforcement learning algorithms, our proposed method achieves a cumulative reward improvement of over 28.9% in the scenario of four lane highway, and has better robustness. Meanwhile, the proposed method can achieve a lower collision rate of 0.93% while improving the average speed and comfort of vehicle driving. IEEE

关键词： Heuristic algorithms

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New Insights on the Stability of Sampled-Data-Based LFC for Power Systems: A Delay-Interval-Dependent LKF Approach

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IEEE Transactions on Smart Grid 2025年第4期16卷 3058-3069页

作者： Wang, Wei-Min Wang, Yan-Wu Wan, Qian Zeng, Hong-Bing Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Hunan University of Technology School of Electrical and Information Engineering Zhuzhou412007 China

This paper analyzes the stability problem of load frequency control (LFC) for power systems under uncertain transmission delays. First, an argumented LFC system model accounting for uncertainties in transmission delays is proposed. Then, a novel delay-interval-dependent Lyapunov-Krasovskii functional (LKF) that takes into account both the upper and lower bounds of the transmission delay is proposed. Several less conservative stability criteria are derived using the proposed LKF. Based on the stability criterion obtained, the sampling interval and the upper and lower bounds of the transmission delay are taken as the conditions to guide the controller design. Finally, case studies are conducted based on a one-area power system and a three-area power system, both integrated with wind and solar power generation. The simulation comparison results demonstrate that the proposed LFC scheme exhibits strong robustness against uncertain transmission delays, load fluctuations, and the intermittent generation of wind and solar power. © 2010-2012 IEEE.

关键词： Stability criteria

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Intelligent Proximate Analysis of Coal Based on Near-Infrared Spectroscopy and Multioutput Deep Learning

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第3期5卷 1398-1410页

作者： Zou, Liang Qiao, Jiahui Yu, Xinhui Chen, Xun Lei, Meng School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada Department of Electronic Engineering and Information Science University of Science and Technology of China Hefei230027 China

Proximate analysis of coal indicates the moisture, ash, volatile content, and calorific value, which has been widely utilized as the basis for coal characterization. It involves heating the coal under various conditions until a constant weight is obtained. Although it is a relatively simple process that does not require expensive analytical equipment, determining these characteristics is time consuming. An alternative way for proximate analysis is spectral analysis in combination with various machine learning methods. However, most previous works analyze individual characteristics and fail to explore the relationship among them. In this study, we propose a method for proximate analysis based on near-infrared spectroscopy and a multioutput attention Unet (MOA-Unet), which can predict multiple characteristics simultaneously. First, an attention-based Unet is designed as the shared feature extraction subnetwork, including an encoder, a decoder, convolutional block attention modules, and multiscale feature fusion modules, which can improve the representation power of the U-shape network through aggregating features of shallower layers and concatenating features of deeper layers. Second, four individual subnetworks with fully connected layers, designed for four outputs, are utilized for regressing those four characteristics. We employ the gradient normalization algorithm to alleviate the gradient magnitude masking effect caused by training imbalance among different tasks. The proposedMOA-Unet is compared with classical chemometric methods on 670 coal samples from on-site *** experimental results demonstrate that the proposedmodel achieves state-of-the-art performance with correlation coefficients of 0.9015, 0.9538, 0.8986, and 0.8884, corresponding to moisture, ash, volatile content, and calorific value, respectively. Impact Statement-The proximate analysis of coal has been widely utilized as the basis for determining the rank of coal which is in connection with coa

关键词： Feature extraction

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Time delay recursive neural network-based direct adaptive control for a piezo-actuated stage

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Science China(Technological Sciences) 2023年第5期66卷 1397-1407页

作者： WANG YiFan ZHOU MiaoLei SHEN ChuanLiang CAO WenJing HUANG XiaoLiang Department of Control Science and Engineering Jilin UniversityChangchun130022China State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun130022China Department of Engineering and Applied Sciences Sophia UniversityTokyo102-8554Japan Department of Electrical Engineering Chalmers University of TechnologyGothenburg41296Sweden

Piezo-actuated stage is a core component in micro-nano manufacturing ***,the inherent nonlinearity,such as rate-dependent hysteresis,in the piezo-actuated stage severely impacts its tracking *** study proposes a direct adaptive control(DAC)method to realize high precision *** proposed controller is designed by a time delay recursive neural *** with those existing DAC methods designed under the general Lipschitz condition,the proposed control method can be easily generalized to the actual systems,which have hysteresis ***,a hopfield neural network(HNN)estimator is proposed to adjust the parameters of the proposed controller ***,a modular model consisting of linear submodel,hysteresis submodel,and lumped uncertainties is established based on the HNN estimator to describe the piezoactuated stage in this ***,the performance of the HNN estimator can be exhibited visually through the modeling *** proposed control method eradicates the adverse effects on the control performance arising from the inaccuracy in establishing the offline model and improves the capability to suppress the influence of hysteresis on the tracking accuracy of piezo-actuated stage in comparison with the conventional DAC *** stability of the control system is ***,a series of comparison experiments with a dual neural networks-based data driven adaptive controller are carried out to demonstrate the superiority of the proposed controller.

关键词： piezo-actuated stage direct adaptive control time delay recursive neural network hopfield neural network estimator

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Energy-Efficient Data Collection over Underwater MI-Assisted Acoustic Cooperative MIMO WSNs

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China Communications 2023年第11期20卷 96-110页

作者： Qingyan Ren Yanjing Sun Song Li Bin Wang Zhengda Yu School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China Department of Information Technology and Electrical Engineering ETH ZurichZurich 8092Switzerland School of Communication and Information Engineering Xi’an University of Science and TechnologyXi’an 710054China Xuzhou Engineering Research Center of Intelligent Industry Safety and Emergency Collaboration Xuzhou 221000China

Underwater magnetic induction(MI)-assisted acoustic cooperative multiple-input-multipleoutput(MIMO) has been recently proposed as a promising technique for underwater wireless sensor networks(UWSNs).For the more,the energy utilization of energy-constrained sensor nodes is one of the key issues in UWSNs,and it relates to the network *** this paper,we present an energy-efficient data collection for underwater MI-assisted acoustic cooperative MIMO wireless sensor networks(WSNs),including the formation of cooperative MIMO and relay link ***,the cooperative MIMO is formed by considering its expected transmission range and the energy balance of nodes with ***,from the perspective of the node’s energy consumption,the expected cooperative MIMO size and the selection of master node(MN) are ***,to improve the coverage of the networks and prolong the network lifetime,relay links are established by relay selection algorithm that using matching ***,the simulation results show that the proposed data collection improves its efficiency,reduces the energy consumption of the master node,improves the networks’ coverage,and extends the network lifetime.

关键词： cooperative MIMO cooperative MIMO size data collection heterogeneous UWSNs relay link establishment

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A Collaborative Graph-based SLAM Framework Using a Computationally Effective Measurement Algebra

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2023年第4期67卷 403-412页

作者： Péter, Gábor Kiss, Bálint Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Műegyetem rkp. 3. BudapestH-1111 Hungary

Simultaneous localization and mapping (SLAM) is an essential task for autonomous rover navigation in an unknown environment, especially if no absolute location information is available. This paper presents a computationally lightweight framework to enable agents with limited processing power to carry out the SLAM cooperatively and without absolute onboard localization sensors in a 2D environment. The proposed solution is built on a graph-based map representation, where nodes (resp. edges) represent landmarks (resp. odometry-based relative measurements), a measurement algebra with embedded uncertainty, and a compact database format that could be stored on a server in a centralized manner. The operations required by the agents to insert a new landmark in the graph, update landmark positions and combine measurements as a loop is closed in the graph are detailed. The resulting framework was tested in a laboratory environment and on a public dataset with encouraging results;hence our method can be used for cost-effective indoor mobile agents with limited computational resources and onboard sensors to achieve a mapping while keeping track of the agent’s position. The method can also be easily generalized for a 3D scenario. © 2023 Budapest University of technology and Economics. All rights reserved.

关键词： Mobile agents

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Effect of Testing Temperature Gradients on Dielectric Polarization Parameters of Transformer Oil-Paper Insulation

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IEEE Transactions on Dielectrics and electrical Insulation 2025年第3期32卷 1460-1467页

作者： Zhou, Jiacheng Liu, Jiefeng Jiang, Zaijun Gong, Heyan Fan, Xianhao Lin, Yongqing Wang, Qian Gao, Bing Guangxi University Guangxi Key Laboratory of Power System Optimization and Energy Technology Nanning530004 China Tsinghua University Department of Electrical Engineering Beijing100084 China Hunan University College of Electrical and Information Engineering Changsha410082 China

Frequency domain spectroscopy (FDS) plays an important role in analyzing the aging state of power transformer oil-paper insulation and ensuring the stability of power systems. However, in the existing research, the oil-paper insulation’s FDS is collected under a uniform testing temperature field, overlooking the impact of testing temperature gradients existing in actual transformers. To address this issue, the FDS of oil-paper insulation samples is measured under various temperature gradients. Subsequently, logarithmic-derivative spectroscopy (LDS) is obtained from the measured FDS, and an improved equation is proposed to fit the LDS and extract four polarization parameters related to the oil-paper insulation’s aging state. Furthermore, the changing patterns of the above parameters are analyzed at a microscopic scale based on the dielectric relaxation theory, and the quantitative equations between each polarization parameter and testing temperature gradients are established. To validate the accuracy of established equations, new samples are prepared and the calculated relative error (RE) in each parameter is less than 15%. Finally, this research provides a potential method for eliminating the impact of testing temperature gradients on oil-paper insulation’s FDS. © 1994-2012 IEEE.

关键词： Oil filled transformers

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Resilient control of Networked control Systems With Hidden DoS Attacks and Unknown Observation Probability

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IEEE Transactions on control of Network Systems 2025年第2期12卷 1313-1323页

作者： Wang, Yuan Yan, Huaicheng Park, Ju H. Zhang, Hao Shen, Hao East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China Suzhou University of Science and Technology School of Electronic and Information Engineering Suzhou215009 China East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education Shanghai200237 China Weifang University College of Machinery and Automation Weifang261061 China Yeungnam University Department of Electrical Engineering Gyeongsan38541 Korea Republic of Tongji University Department of Control Science and Engineering Shanghai200092 China Anhui University of Technology School of Electrical and Information Engineering Ma'anshan243002 China

This paper systematically studies the problem of resilient controller design for networked control systems under imperfect communication environments. The denial of service (DoS) attacks in the case of an imperfect network are remodeled. The semi-Markov chain is introduced in this paper to provide a suitable description of random attacks. On this basis, the double-layer stochastic process is constructed, which consists of an attack sequence and an observation one. Second, since the attack modes are inaccessible, a controller is constructed based on the observation sequence by virtue of the emission probability to stabilize the system under random attacks. Due to the complexity of the network, the probability that an observer can accurately detect an attack when it occurs is considered unknown. Based on the introduced double-layer stochastic process, a mode-associated Lyapunov function is constructed to facilitate the stability analysis. Building on this foundation, sufficient conditions that can ensure the δ-error mean square stability of the closed-loop system are derived. In the end, a simulation of the unmanned ground vehicle is presented, showcasing the feasibility and validity of the proposed control scheme. © 2025 IEEE.

关键词： Stochastic systems

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Fixed-time-synchronized control: a system-dimension-categorized approach

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Science China(information Sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

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Process Monitoring Based on Temporal Feature Agglomeration and Enhancement

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 825-827页

作者： Xiao Liang Weiwu Yan Yusun Fu Huihe Shao Department of Automation the School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Automation the School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

Dear Editor,This letter proposes a process-monitoring method based on temporal feature agglomeration and enhancement,in which a novel feature extractor called contrastive feature extractor(CFE)extracts the temporal and relational features among process *** the feature representations are enhanced by maximizing the separation among different classes while minimizing the scatter within each class.

关键词： among while letter

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