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2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Yi, Renkai Peng, Xiuhui Xie, Yuanbo Wang, Qishao College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Beihang University Department of Dynamics and Control Beijing China

ISBN: (纸本)9798350316308

This paper proposes a novel global path smoothing approach based on policy gradient parameter optimization. Firstly, an algorithm is introduced to sample path points suitable for computer processing on grid maps, resulting in a discrete set of sampled points defining the path. Secondly, a path smoothing strategy is designed by resorting to differential iteration. The smoothing parameters are optimized and trained with a policy gradient which allows the coordinates of each path point to converge to a state where a smooth optimized trajectory can be generated. Finally, the simulation and experimental results indicate the smooth output of continuous achievable paths can be obtained on the basis of discrete paths of rasterized maps for the quadrotor UAV. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Recognition of Hybrid PQ Disturbances Based on Multi-Resolution S-Transform and Decision Tree

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Energy engineering 2023年第5期120卷 1133-1148页

作者： Feng Zhao Di Liao Xiaoqiang Chen Ying Wang School of Automation and Electrical Engineering Lanzhou Jiaotong UniversityLanzhou730070China Key Lab of Opt-Electronic Technology and Intelligent Control of Ministry of Education Lanzhou Jiaotong UniversityLanzhou730070China

Aiming at the problems of multiple types of power quality composite disturbances,strong feature correlation and high recognition error rate,a method of power quality composite disturbances identification based on multiresolution S-transform and decision tree was ***,according to IEEE standard,the signal models of seven single power quality disturbances and 17 combined power quality disturbances are given,and the disturbance waveform samples are generated in ***,in order to improve the recognition accuracy,the adjustment factor is introduced to obtain the controllable time-frequency resolution through multi-resolution S-transform time-frequency domain *** this basis,five disturbance time-frequency domain features are extracted,which quantitatively reflect the characteristics of the analyzed power quality disturbance signal,which is less than the traditional method based on ***,three classifiers such as K-nearest neighbor,support vector machine and decision tree algorithm are used to effectively complete the identification of power quality composite *** results showthat the classification accuracy of decision tree algorithmis higher than that of K-nearest neighbor and support vector ***,the proposed method is compared with other commonly used recognition *** results show that the proposedmethod is effective in terms of detection accuracy,especially for combined PQ interference.

关键词： Hybrid power quality disturbances disturbances recognition multi-resolution S-transform decision tree

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A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

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Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Robotics Research Center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

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Elman neural network for predicting aero optical imaging deviation based on improved slime mould algorithm

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Optoelectronics Letters 2023年第5期19卷 290-295页

作者： XU Liang WANG Luyang XUE Wei ZHAO Shiwei ZHOU Liye Tianjin Key Laboratory of Complex Control Theory and Application School of Electronic Engineering and AutomationTianjin University of TechnologyTianjin 300384China China Academy of Aerospace Science and Innovation Beijing 100048China

This research suggests a methodology to optimize Elman neural network based on improved slime mould algorithm(ISMA) to anticipate the aero optical imaging *** improved Tent chaotic sequence is added to the SMA to initialize the population to accelerate the algorithm’s speed of ***,an improved random opposition-based learning was added to further enhance the algorithm’s performance in addressing problems that the SMA has such as weak convergence ability in the late iteration and an easy tendency to fall into local optimization in the optimization process when solving the optimization ***,the algorithm model is compared to the Elman neural network and the SMA optimization Elman neural network *** three models are assessed using four evaluation indicators,and the findings demonstrate that the ISMA optimization model can anticipate the aero optical imaging deviation in an accurate way.

关键词： neural Elman network

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Adaptive Multi-Dimensional Taylor Network Tracking control for Stochastic Nonlinear Systems with Full-State Constraints and Input Saturation 8

Adaptive Multi-Dimensional Taylor Network Tracking Control f...

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8th International Conference on Robotics and automation engineering, ICRAE 2023

作者： Zheng, Xiao-Yi Yan, Hong-Sen Ministry of Education School of Automation Southeast University Key Laboratory of Measurement Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9798350327656

In this study, an adaptive tracking controller using multi-dimensional Taylor network (MTN) is presented for state-constrained nonlinear stochastic systems with saturated input, in which MTN is implemented to model the unknown nonlinear functions. Firstly, the barrier Lyapunov function (BLF) and backstepping technique are combined under a unified framework to eliminate the impact of full-state constraints. Then, the effect raised by saturated input is solved by introducing an appropriate auxiliary system. Furthermore, by employing the Lyapunov stability theorem, the designed adaptive controller could ensure that all closed-loop signals are bounded in probability, the output signal can track the desired signal successfully, the tracking error is bounded by the expected bound, and the system state constraints are never violated. Finally, the efficiency of the suggested control methodology is confirmed by providing an example. © 2023 IEEE.

关键词： Lyapunov functions

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PI-Type Sliding Mode Fractional-Order Synchronization of a Memristive Chua Circuit

PI-Type Sliding Mode Fractional-Order Synchronization of a M...

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control, automation, and Instrumentation (IC2AI), International Conference on

作者： Dorukhan Astekin Fatih Adigüzel Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (数字)9798331529604

ISBN: (纸本)9798331529611

In this study, a sliding mode fractional-order synchronization is proposed for the memristive chaotic Chua system. After the integer-order model of the chaotic memristive Chua system is given, a PI-type sliding surface-based controller structure combined with the fractional derivative operator is devised. The stability analysis of the synchronization closed-loop system is proven in the sense of Lyapunov theory. To demonstrate the effectiveness and applicability of the proposed controller structure, the fractional-order derivative operator in the controller structure is considered with two different fractional orders, and computer-based numerical simulation studies are performed comparatively.

关键词： Uncertainty Sensitivity System dynamics Simulation Main-secondary Stability analysis Robustness Synchronization Closed loop systems Integrated circuit modeling

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Prescribed-Time Stabilization of Singularly Perturbed Systems

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 569-571页

作者： Yan Lei Yan-Wu Wang Xiao-Kang Liu Wu Yang the School of Artificial Intelligence and Automation Huazhong University of Science and Technology(HUST)Wuhan 430074 Key Laboratory of Image Processing and Intelligent Control Ministry of EducationWuhan 430074China the School of Electrical Engineering Guangxi UniversityNanning 530004China

Dear Editor, This letter investigates the prescribed-time stabilization of linear singularly perturbed systems. Due to the numerical issues caused by the small perturbation parameter, the off-the-shelf control design techniques for the prescribed-time stabilization of regular linear systems are typically not suitable here. To solve the problem, the decoupling transformation techniques for time-varying singularly perturbed systems are combined with linear time-varying high gain feedback design techniques.

关键词： prescribed stabilization perturbed

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Self-supervised Depth Completion with Adaptive Online Adaptation 23

Self-supervised Depth Completion with Adaptive Online Adapta...

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7th International Conference on Machine Learning and Soft Computing, ICMLSC 2023

作者： Chen, Yang Tan, Yang Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China

ISBN: (纸本)9781450398633

Although depth completion has achieved remarkable performance relying on deep learning in recent years, these models tend to suffer a performance degradation when exposed to new environments. Online adaptation, where the model is trained in a self-supervised manner during testing, seems a promising technique to alleviate the drop. However, continuous online adaptation may cause the model to over-adapt and miss the optimal parameters, resulting in oscillation or even degradation of the model performance, in addition to wasting computational resources. Therefore, this paper proposes an adaptive online adaptation framework to make model adaptively trigger online adaptation when encountering novel environments and stop adaptation when model has adapted to the current environment. In detail, we design a trigger to detect the familiarity of model to the current scenario based on image similarity and then launch online adaptation when the scenario is novel. Besides, we elaborate a stopper to monitor the error between prediction and depth input and convert online adaptation to inference when online adaptation does not bring improvement for model. Experimental results demonstrate that our method improves the accuracy of model prediction and increases average running speed of the model on each frame in online adaptation. © 2023 ACM.

关键词： Deep learning

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An Adaptive Event-Triggered Secondary Regulation Strategy for Microgrids with Loss of Effectiveness Actuator Faults 49

An Adaptive Event-Triggered Secondary Regulation Strategy fo...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Qiu, Xuechao Wang, Xiangyu Niu, Dan Wang, Xiangyu School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9798350331820

In this paper, an adaptive event-triggered secondary regulation strategy is investigated for microgrids with loss of effectiveness actuator faults. In order to deal with unknown loss of effectiveness actuator faults, a distributed secondary regulation strategy is proposed, which achieves voltage and frequency regulations, as well as power sharing. Meanwhile, to save system resources and relieve the communication burden, an adaptive event-triggered mechanism is designed. Finally, some simulation results are given to validate the proposed strategy, which indicates that the proposed strategy reduces the controller updates and increases the reliability of system. © 2023 IEEE.

关键词： Actuators

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System for Determining the Shape of the Wavefront of a Nonsinusoidal Periodic Acoustic Wave 17

System for Determining the Shape of the Wavefront of a Nonsi...

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17th International Conference on engineering of Modern Electric Systems, EMES 2023

作者： Codoban, Adrian Coroiu, Laura Gergely, Eugen Sarosi, Jozsef University of Oradea Department Control Systems Engineering and Management Oradea Romania University of Szeged Department of Mechatronics and Automation Szeged Hungary

ISBN: (纸本)9798350310634

The shape of the wavefront is important for the most realistic reproduction of the acoustic wave. In acoustics, the wave front (or wave surface) is defined as the totality of points in the space of the propagating medium that have the same instantaneous elongation amplitude. In the ideal case, in a homogeneous and isotropic propagation medium without other disturbances, the wave has a spherical symmetry, i.e. the shape of the wavefront is circular and at large distances from the wave source, due to dispersion, the shape of the wavefront can be considered plan. In practice, however, due to the multiple component harmonics, reflections and possible summations of the primary acoustic wave, the elongation has a non-sinusoidal shape, and the wavefront may have an irregular random shape. Moreover, if the source of the wave or bodies from which it is reflected are in motion, the shape of the wavefront may even be variable in time. The paper presents a method for determining the shape of the wave front of a non-sinusoidal periodic plane acoustic wave, resulting from the addition of several harmonic components, reflected waves, etc. It uses an array of omnidirectional capacitive microphones arranged in line, at equal distances between them. At each of the microphones, the acoustic wave is captured out of phase depending on the position of the microphone in space and the shape of the wave front. These phase shifts placed next to each other give an image of the shape of the wavefront captured by the microphone system. The method presented in this paper reproduces sounds very realistically and can be used in Active Noise Cancel systems, in open spaces, with one or more mobile noise sources. One of the benefits is the increase in hearing comfort in noisy environments. Another is to record sounds with high fidelity. © 2023 IEEE.

关键词： Wavefronts

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