检索结果-内蒙古大学图书馆

Observer-Based Multi-Agent Reinforcement Learning for Pursuit-Evasion Game With Multiple Unknown Uncertainties

IEEE Transactions on automation Science and engineering 2025年 22卷 14332-14345页

作者： Liu, Yangyang Liu, Chun Meng, Yizhen Jiang, Bin Wang, Xiaofan Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Shanghai University School of Mechatronic Engineering and Automation Institute of Artificial Intelligence Shanghai200444 China Shanghai Aerospace Control Technology Institute National Key Laboratory of Space Target Awareness Shanghai China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai201109 China Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing210016 China Shanghai Institute of Technology Shanghai201418 China

This paper aims to investigate the challenging problem of a multi-agent game with multiple pursuers and a single evader in an environment with multiple unknown uncertainties. A coupled approach combining decentralized observers and reinforcement learning (RL) controllers is proposed to deal with this scenario. Firstly, decentralized observers driven by auxiliary control laws are introduced to estimate the states of uncertain systems, with their best responses obtained through the adaptive dynamic programming (ADP) method. The estimated states, which reflect the actual states of the pursuers’ systems, are concurrently transmitted to the RL controllers. Subsequently, the controllers are trained with observer-based heterogeneous-agent proximal policy optimization (OHAPPO) algorithm, in which a novel global multi-function cost is designed. The algorithm utilizes the advantage decomposition for policy updates in the way of credit assignment, resulting in more stable and efficient updates compared to traditional value decomposition. Moreover, to further enhance the performance of both observers and controllers, a sequential game is established between them, where observers’ policies are influenced by controllers’ optimal control and vice versa. Finally, the simulation results verify the effectiveness of the designed OHAPPO algorithm in the pursuit-evasion game. © 2004-2012 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Fractal approach to automation of conceptual design of control systems' elements for power engineering

Fractal approach to automation of conceptual design of contr...

引用

2021 International Conference on Electrotechnical Complexes and Systems, ICOECS 2021

作者： Shikulskaya, Olga Shikulskiy, Mikhail Abuova, Galina Urumbaeva, Olga Astrakhan State University of Architecture and Civil Engineering Fire Safety and Water Use Department Astrakhan Russia Astrakhan State Technical University Department of Applied Informatics in Economics Astrakhan Russia Astrakhan State Technical University Automation and Control Department Astrakhan Russia

ISBN: (纸本)9781665407274

Need of use of computer technology for conceptual design of control systems' elements for electric power system was proved. The known approaches to the solution of this task are analysed and need of their development is proved. New approach to conceptual design of control systems' elements on the basis of the fractal theory is observed. Two types of self-similarity for functional fractals were defined: rigid and non-rigid self-similarity. Use of this approach allows to model sensors of new generation, in particular, multiifunctional sensors. © 2021 IEEE.

关键词： Conceptual design

来源：评论

学校读者我要写书评

暂无评论

Spatial Coordination of Multiple Nonholonomic Agents With Sensory Connectivity Maintenance

引用

IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3425-3435页

作者： Chen, Xi Chen, Meimin Zhu, Lijun Chai, Li Wuhan University of Science and Technology Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan430081 China Shandong Huayu University of Technology School of Electrical Engineering Shandong253034 China School of Artificial Intelligence and Automation Wuhan430074 China Zhejiang University College of Control Science and Engineering Hangzhou310027 China

This article aims to propose a general control strategy for coordination of multiple nonholonomic agents in three dimensional space. For real-world applications, since the field sensor equipped on the mobile agents for local information detection and estimation has some limited detecting range, it is necessary to guarantee that the nearby agents must stay within this range of the onboard sensor. This is called sensory connectivity maintenance. A function termed as coordination function with sensory connectivity maintenance (CFSCM) is defined to describe the performances of the coordination as well as the sensory connectivity status between the agents. Then, a general control strategy is designed based on the proposed CFSCM for spatial coordination of multiple nonholonomic agents with sensory connectivity maintenance. Moreover, the applications of the proposed control strategy for formation with omnidirectional sensors and flocking with directional sensors are shown, respectively. Finally, some numerical examples are conducted to validate the theoretical analysis. © 2013 IEEE.

关键词： Maintenance Robot sensing systems Kinematics Vectors Electronic mail Aerospace electronics Three-dimensional displays System dynamics Robot kinematics Multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Sliding mode active disturbance rejection control for uncalibrated visual servoing

引用

International Journal of Systems, control and Communications 2025年第2期16卷 133-151页

作者： Pu, Cuiping Wu, Yi Ren, Jie Ran, Chenyang College of Mechanical and Electrical Engineering Kunming University Kunming China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Department of Automation Shanghai Jiao Tong University Shanghai China

A sliding mode control algorithm based on a linear extended state observer is proposed to address the multi-source uncertainty of uncalibrated visual servoing in robotic arms. Uncertainty, nonlinearity, coupling, external disturbances, etc. are considered as total disturbances. The linear expansion state observer is designed to observe the total disturbance and compensate for it. This enhances the system’s anti-interference ability. The outer loop adopts sliding mode control law as state feedback. It suppresses the observation errors of the observer and ensures the stability of the system. Sliding mode control based on linear extended observer does not depend on specific tasks and system configurations. It provides a unified design framework for solving the problem of uncalibrated visual servoing. Through numerical simulations of three different disturbance cases, it was compared with PI linear extended state observer and linear active disturbance rejection to verify its good dynamic performance and disturbance rejection performance. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Silicon Optical Filter With Widely Tunable Bandwidth Driving by Intelligent Algorithms

引用

Journal of Lightwave Technology 2025年第11期43卷 5358-5365页

作者： Duan, Jiazhu Liu, Cangli Zhang, Dayong Zhao, Xiangjie Liu, Li China Academy of Engineering Physics Institute of Fluid Physics Mianyang621900 China China Academy of Engineering Physics Mianyang621900 China China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Capitalizing two silicon rings assisted a Mach-Zehnder interferometer (MZI) structure, we propose and demonstrate picometer narrowband optical filters featuring widely tunable bandwidths, high extinction ratios and low in-band ripples. By tuning the bandwidth of any ring or the resonance offset between the two rings, the filter bandwidth could be flexibly manipulated. Notably, by controlling the phase of the two rings and the MZI structures, the extinction ratios and shape factors of the filter could be commendably improved. It is worth mentioning that a genetic algorithm is employed to efficiently manipulate the various heaters on the optical filter, enabling the attainment of desired target filtering waveforms. Experimental results demonstrate the filter capability to widely adjust its 3dB-bandwidth while maintaining high extinction ratios, low in-band ripples and favorable shape factors. To the best of our knowledge, it is a record bandwidth tuning range among the algorithm-driven pm-narrowband optical filters. With the dominant advantages and high performance, the proposed optical filters are competent to dynamically process the on-chip narrowband signals. © 1983-2012 IEEE.

关键词： Mach-Zehnder interferometers

来源：评论

学校读者我要写书评

暂无评论

Enhancing Unmanned Ground Vehicle Evasion Through Generative Adversarial Imitation Learning in UAV Pursuit Scenarios

引用

Guidance,Navigation and control 2025年第1期05卷 149-154页

作者： Shuai Hao Zhaoyu Zhang Mengzhen Huo Chen Wei School of Automation Science and Electrical Engineering Beihang University National Key Laboratory of Aircraft Integrated Flight Control Beihang University

This study focuses on enhancing the evasion capabilities of unmanned ground vehicles(UGVs) using Generative Adversarial Imitation Learning(GAIL). The UGVs are trained to evade unmanned aerial vehicles(UAVs). A decision-making neural network has been trained via GAIL to refine evasion strategies with expert demonstrations. The simulation environment was developed with OpenAI Gym and calibrated with real-world data for the improvement of accuracy. The integrated platform including the proposed algorithm was tested in flight experiments. Results showed that the UGVs could effectively evade UAVs in the complex and dynamic environment.

关键词： Unmanned ground vehicles unmanned aerial vehicles imitation learning flight experiment

来源：评论

学校读者我要写书评

暂无评论

Rolling Bearing Fault Diagnosis Based on MTF Encoding and CBAM-LCNN Mechanism

引用

Computers, Materials & Continua 2025年第3期82卷 4863-4880页

作者： Wei Liu Sen Liu Yinchao He Jiaojiao Wang Yu Gu School of Mechanical and Electrical Engineering Zhoukou Normal UniversityZhoukou466001China School of Information and Control Engineering Jilin Institute of Chemical TechnologyJilin132022China School of Automation Guangdong University of Petrochemical TechnologyMaoming525000China

To address the issues of slow diagnostic speed,low accuracy,and poor generalization performance in traditional rolling bearing fault diagnosis methods,we propose a rolling bearing fault diagnosis method based on Markov Transition Field(MTF)image encoding combined with a lightweight convolutional neural network that integrates a Convolutional Block Attention Module(CBAM-LCNN).Specifically,we first use the Markov Transition Field to convert the original one-dimensional vibration signals of rolling bearings into two-dimensional ***,we construct a lightweight convolutional neural network incorporating the convolutional attention module(CBAM-LCNN).Finally,the two-dimensional images obtained from MTF mapping are fed into the CBAM-LCNN network for image feature extraction and fault *** validate the effectiveness of the proposed method on the bearing fault datasets from Guangdong University of Petrochemical Technology’s multi-stage centrifugal fan and Case Western Reserve *** results show that,compared to other advanced baseline methods,the proposed rolling bearing fault diagnosis method offers faster diagnostic speed and higher diagnostic *** addition,we conducted experiments on the Xi’an Jiaotong University rolling bearing dataset,achieving excellent results in bearing fault *** results validate the strong generalization performance of the proposed *** method presented in this paper not only effectively diagnoses faults in rolling bearings but also serves as a reference for fault diagnosis in other equipment.

关键词： Rolling bearing fault diagnosis markov transition field lightweight convolutional neural network convolutional block attention module

来源：评论

学校读者我要写书评

暂无评论

Asymptotically Optimal Distributed control for Linear–Quadratic Mean Field Social Systems With Heterogeneous Agents

引用

IEEE Transactions on Automatic control 2025年第5期70卷 3197-3212页

作者： Liang, Yong Wang, Bing-Chang Zhang, Huanshui Shandong University School of Control Science and Engineering Jinan250061 China Shandong Normal University School of Information Science and Engineering Jinan250358 China Shandong University of Science and Technology College of Electrical Engineering and Automation Qingdao266590 China

The linear–quadratic mean field social control problem is studied in a large-population system with heterogeneous agents following the direct approach. A graph is introduced to represent the network topology of the large-population system, where nodes represent subpopulations called clusters and edges represent communication relationship. Agents in each cluster are homogeneous and coupled with each other through the global cluster mean field term, which is the stack of average state of agents in each cluster. First, under the centralized information pattern, we use variational analysis to obtain the necessary and sufficient conditions for the existence of optimal centralized open-loop controller characterized by a system of forward–backward stochastic differential equations (FBSDEs). Next, by tackling high-dimensional FBSDEs with two coupled low-dimensional Riccati equations, we construct the optimal centralized feedback controller, which composed of the individual state and the global cluster mean field term. Then, under the distributed information pattern, an asymptotically unbiased mean field estimator for each agent is designed to estimate the local cluster mean field terms according to the given network topology. Finally, a set of asymptotically optimal distributed controllers is proposed based on the mean field estimator and its asymptotically social optimality is further proved. A numerical simulation is conducted to demonstrate the effectiveness of the proposed distributed controller. © 1963-2012 IEEE.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Data-driven output regulation control for constrained linear systems

引用

Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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：