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Deep Reinforcement Learning-Based Decision Making of Lane Change Considering Rear Vehicle Deceleration

Journal of Institute of control, Robotics and systems 2022年第6期28卷 602-607页

作者： Jo, Gi-Hwan Park, Tae-Hyoung Department of Control Robot Engineering Chungbuk National University Korea Republic of Department of Intelligent Systems and Robotics Chungbuk National University Korea Republic of

This paper proposes a lane change judgment method based on deep reinforcement learning considering rear vehicle deceleration. In existing autonomous driving, the lane change problem focuses on maintaining speed or avoiding collisions. However, an accident may occur if the deceleration of the vehicle behind is not considered when changing lanes. In this paper, the network was designed to solve the lane change problem by applying the DQN (Deep Q-Network) and the Deep Sets network. Moreover, the compensation was designed based on the maintained speed and deceleration of the rear vehicle. A four-lane vehicle-only road environment was implemented as a simulation and compared with the existing method. The proposed method maintained speed and lowered the deceleration rate of the rear vehicle compared with the existing method. © ICROS 2022.

关键词： Reinforcement learning

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Distributed Augmented Primal-Dual Algorithm for Multi-Agent Constrained Optimization 43

Distributed Augmented Primal-Dual Algorithm for Multi-Agent ...

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43rd Chinese control Conference, CCC 2024

作者： Du, Kaixin Meng, Min Tongji University Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Tongji University College of Electronics and Information Engineering Department of Control Science and Engineering Shanghai201804 China

ISBN: (纸本)9789887581581

This paper deals with the distributed optimization problem while respecting coupled affine equality constraints. Resorting to the augmented Lagrangian function, a novel distributed augmented primal-dual algorithm is developed by virtue of the gradient tracking and dynamic consensus mechanisms. Based on the carefully constructed Lyapunov function, it is proved that the proposed algorithm can achieve linear convergence and an exact upper bound on the stepsize is given. Finally, a numerical example is presented to corroborate the effectiveness of the designed algorithm. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Consensus algorithm

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Resilient Time-Varying Formation-Tracking of Multi-UAV systems Against Composite Attacks: A Two-Layered Framework

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 969-984页

作者： Xin Gong Michael V.Basin Zhiguang Feng Tingwen Huang Yukang Cui School of Cyber Science and Engineering Southeast UniversityNanjing 210096the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072 Department of Mechanical Engineering The University of Hong KongHong Kong 999077China School of Physical and Mathematical Sciences the Autonomous University of Nuevo LeonNaevo Leon 66455Mexico Ningbo Institute of Intelligent Equipment Technology Ningbo 315299China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China Texas A&M University at Qatar Doha 23874Qatar Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots the College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060 Peng Cheng Laboratory Shenzhen 518000China

This paper studies the countermeasure design problems of distributed resilient time-varying formation-tracking control for multi-UAV systems with single-way communications against composite attacks,including denial-of-services(DoS)attacks,false-data injection attacks,camouflage attacks,and actuation attacks(AAs).Inspired by the concept of digital twin,a new two-layered protocol equipped with a safe and private twin layer(TL)is proposed,which decouples the above problems into the defense scheme against DoS attacks on the TL and the defense scheme against AAs on the cyber-physical ***,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources *** upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is ***,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is ***,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given *** practicability and validity of this new two-layered protocol are shown via a simulation example and a UAV swarm experiment equipped with both Ultra-WideBand and WiFi communication channels.

关键词： Composite attacks multi-UAV systems resilient control time-varying formation-tracking

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Optimizing Polynomial-Time Solutions to a Network Weighted Vertex Cover Game

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 512-523页

作者： Jie Chen Kaiyi Luo Changbing Tang Zhao Zhang Xiang Li the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004 Yuxi Middle School Taizhou 317399China IEEE the College of Physics and Electronics Information Engineering Zhejiang Normal UniversityJinhua 321004China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004China the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433 the Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 201210China

Weighted vertex cover(WVC)is one of the most important combinatorial optimization *** this paper,we provide a new game optimization to achieve efficiency and time of solutions for the WVC problem of weighted *** first model the WVC problem as a general game on weighted *** the framework of a game,we newly define several cover states to describe the WVC ***,we reveal the relationship among these cover states of the weighted network and the strict Nash equilibriums(SNEs)of the ***,we propose a game-based asynchronous algorithm(GAA),which can theoretically guarantee that all cover states of vertices converging in an SNE with polynomial ***,we improve the GAA by adding 2-hop and 3-hop adjustment mechanisms,termed the improved game-based asynchronous algorithm(IGAA),in which we prove that it can obtain a better solution to the WVC problem than using a the ***,numerical simulations demonstrate that the proposed IGAA can obtain a better approximate solution in promising computation time compared with the existing representative algorithms.

关键词： Game-based asynchronous algorithm(GAA) game optimization polynomial time strict Nash equilibrium(SNE) weighted vertex cover(WVC)

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A modular four-modal soft grasping device

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Science China(Technological Sciences) 2022年第8期65卷 1845-1858页

作者： GAI LingJie ZONG XiaoFeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.

关键词： four-modal soft grasping device modular suction cups soft wrapper soft fingers

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Containment control of Multi-Agent systems with Stochastic Multiplicative Noises

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Journal of systems Science & Complexity 2022年第3期35卷 909-930页

作者： REN Junhao ZONG Xiaofeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied *** on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure ***,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure *** is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent *** examples are also introduced to illustrate the effectiveness of the theoretical results.

关键词： Containment control multi-agent system multiplicative noises stochastic system

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A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range

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Journal of Bionic engineering 2022年第5期19卷 1334-1348页

作者： Lingjie Gai Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending *** device consists of soft gripper structures and a soft bionic bracket *** adopt the local thin-walled design in the soft gripper *** design improves the grippers’bending efficiency,and imitate human finger’s segmental bending *** addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing *** to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping ***,to grasp small objects reliably,we further present a new Pinching Grasping(PG)*** great performance of the fully SBGD is verified by *** work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.

关键词： Fully soft bionic grasping device Local thin-walled grippers Soft bionic bracket Adjust grasping range automatically Segmental bending shape New pinching grasping method

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State estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research Institute of Intelligent Control and Systems Harbin Institute of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of Control Science and Engineering Dalian University of Technology State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

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Research on Cognitive Mining Method of Ship Formation Behavior Law Based on Knowledge Graph and Fuzzy Association Logic

Research on Cognitive Mining Method of Ship Formation Behavi...

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2023 China Automation Congress, CAC 2023

作者： Wang, Hongrun Wang, Tao Li, Nannan Ding, Lin Xie, Tianle School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen China Beijing Institute of Control and Electronics Technology Beijing China

ISBN: (纸本)9798350303759

With the continuous development of sensor and communication technology, the ability to acquire the situation information of naval battle field has been continuously improved, and the importance of accurately understanding and explaining ship formation behavior for military decision-making has been realized. In order to solve the problem of inaccuracy and delay caused by manual analysis of situation information, this paper aims to explore a cognitive mining method of behavior law based on knowledge graph and fuzzy association logic, so as to deeply recognize and mine the target situation information of ship formation. Firstly, based on knowledge graph construction technology, knowledge extraction, knowledge fusion and knowledge processing, the multi-source data of ship formation is structurally represented, and the knowledge graph including ship formation, interception and interference is constructed. Then, the applicability and effectiveness of the fuzzy logic reasoning method in the mining of ship formation behavior law are analyzed by introducing fuzzy correlation logic. Then we study the effect of knowledge graph and fuzzy association logic reasoning on the mining of behavior rules, including association information introduction and fuzzy rule weighting. Finally, based on this method, the law mining and cognitive architecture of ship formation release behavior in chaff are constructed, including the dynamic updating of cognition and mining process and knowledge graph. It is found that the cognition and mining method based on knowledge graph and fuzzy correlation provides a feasible solution for the cognition and mining of ship formation behavior law. © 2023 IEEE.

关键词： Decision making

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Research on Fault Diagnosis Method for Rolling Bearings Based on Improved ConvNext V2

Research on Fault Diagnosis Method for Rolling Bearings Base...

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Qin, Feifan Zhang, Chao Wang, Jianguo Wu, Le Wu, Yangbiao Ouyang, Bing Liu, Guiyi College of Mechanical Engineering Inner Mongolia University of Science and Technology Baotou014010 China Inner Mongolia Key Laboratory for Intelligent Diagnosis and Control of Electromechanical Systems Baotou014010 China

ISBN: (纸本)9783031734069

Aiming to address issues such as insensitivity to fault characteristics, inadequate feature extraction, and susceptibility to external environmental interference in traditional bearing fault diagnosis methods, an improved approach to rolling bearing fault diagnosis based on ConvNext V2 is proposed. Firstly, leveraging the advantages of wavelet time-frequency analysis, one-dimensional vibration signals collected from the experimental setup are transformed into two-dimensional images containing abundant time-frequency information using continuous wavelet transform. Secondly, the next-generation convolutional neural network ConvNext V2 is introduced as the underlying network for rolling bearing fault diagnosis, and the Efficient Channel Attention (ECA) network is incorporated to enhance the feature extraction capability of the Block module in the base network. Subsequently, the wavelet time-frequency images are used as feature map inputs to the improved ConvNext V2 network for training, enabling the diagnosis and recognition of rolling bearing faults. Finally, experimental results demonstrate that the proposed method exhibits good fault recognition accuracy and stability in laboratory data, with high generalization capability, thereby offering a new solution for rolling bearing fault diagnosis. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Roller bearings

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