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Mean policy-based proximal policy optimization for maneuvering decision in multi-UAV air combat

Neural Computing and Applications 2024年第31期36卷 19667-19690页

作者： Zheng, Yifan Xin, Bin He, Bin Ding, Yulong Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai China School of Automation Beijing Institute of Technology Beijing China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Autonomous maneuvering decision-making is a crucial technology for Unmanned Aerial Vehicles (UAVs) to take the air domination in modern unmanned warfare. With the advantage of balancing exploration and exploitation, as well as the immediacy of end-to-end output by combining with deep neural network, multi-agent reinforcement learning (MARL) has made remarkable achievements in multi-UAV autonomous air combat maneuvering decision-making (MUAAMD). However, the implementation of effective cooperative policy learning remains a challenging issue for MARL methods with centralized training decentralized execution (CTDE) paradigm. This paper proposes a MARL-based method to improve the performance of cooperation in MUAAMD. Firstly, considering the constraints of dynamic and limited perception for UAVs in the realistic air combat scenario, the MUAAMD problem is formulated based on partially observable Markov game (POMG) model. Secondly, a novel efficient MARL algorithm named the mean policy-based proximal policy optimization (MP3O) is introduced. Specifically, a joint policy optimization mechanism is constructed by estimating the policies of neighboring agents in group as a mean-field approximation while training, which enables both centralized evaluation and improvement of cooperative policy under the CTDE paradigm. Thirdly, by combining with three improvement techniques, a cooperative decision-making framework for MUAAMD based on MP3O is proposed. Empirically, results of simulations and comparative experiments validate the effectiveness of proposed method in promoting cooperative policy learning in resolving MUAAMD problem. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Decision making

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Learning-based MPC for Autonomous Motion Planning at Freeway Off-ramp Diverging

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-11页

作者： Qi, Xudong Zhang, Libin Wang, Ping Yang, Jingwen Zou, Tao Liu, Wanquan School of Electronics and Control Engineering Chang'an University Xian Shaanxi China School of Intelligent Systems Engineering Sun Yat-Sen University Guangzhou Guangdong China School of Mechanical and Electrical Engineering Guangzhou University Guangzhou China

Off-ramp diverging road segment is the preparation area for vehicles driving away from the freeway, while it causes more traffic conflicts making it a typical safety bottleneck. Focusing on improving driving safety, a Learning-based Model Predictive control (LMPC) strategy is proposed to deal with the motion planning of autonomous vehicles (AVs) considering the dynamic driving behavior of surrounding traffic occupants in this area. The traditional MPC is combined with the reinforcement learning (RL) method to impose constraints for limitations to ensure safety while reducing conservatism. The Q-network of RL is used to build a terminal cost function to dynamically adjust the scale of the prediction horizon, which improves the speed of convergence while maintaining exploration of LMPC. Experimental testing scenarios are setup with considering different driving behaviors of surrounding vehicles to validate the performance of the proposed approach. The simulation results show that the LMPC can stably and flexibly plan the motion behavior of AVs, achieving a planning accuracy of 99.31%, which has the potential for practical application. IEEE

关键词： Model predictive control

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Nested Sliding Mode control Based Impact Angle Guidance with Bounded Input

Nested Sliding Mode Control Based Impact Angle Guidance with...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Surve, Prajakta Kumar, Shashi Ranjan Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this paper, a nonlinear guidance law for impact angle-constrained interception of nonmaneuvering targets, respecting the bounds on the control input - the commanded interceptor lateral acceleration, is proposed. By modeling the required interceptor lateral acceleration as a first-order dynamics, which is a function of the maximum permissible value of control input and guidance command, the control input is maintained within the predefined bounds. The dynamics is chosen in such a way that the resulting input will never violate the prescribed bounds. To design the guidance command, also known as commanded lateral acceleration, we employ a sliding surface based on the error between actual and desired line-of-sight (LOS) angles and the LOS rate, facilitating a collision course with zero miss distance. A secondary sliding surface is designed as a function of the primary sliding surface and its rate. This sliding surface enables the control over the required interceptor lateral acceleration. An effective guidance command for precise interception at given impact angle, considering the bounds on control input, is then derived using the sliding mode control technique. Numerical simulations validate the merits and claims of the presented guidance approach. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Sliding mode control

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Cooperative Output Regulation of Heterogeneous systems over Directed Graphs:A Dynamic Adaptive Event-Triggered Strategy

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Journal of systems Science & Complexity 2023年第3期36卷 909-921页

作者： SU Hang CHENG Bin LI Zhongkui State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of EngineeringPeking UniversityBeijing 100871China Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210China

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication *** that there exists an exosystem whose state information is not available to all agents,the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring *** should be pointed out that,two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network,and dynamic triggering conditions are designed to get rid of continuous *** the basis of the designed observers,the authors devise a local controller for each *** with the existing related works,the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.

关键词： Adaptive control consensus cooperative output regulation directed graph event-triggered control multi-agent systems

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Adaptive Unscented Kalman Filter Based Sensor Fusion for Aircraft Positioning Relative to Unknown Runway

Adaptive Unscented Kalman Filter Based Sensor Fusion for Air...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ghosh, Nabarun Maity, Arnab Intelligent Systems and Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Maharashtra Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper proposes an estimator to provide precise position, velocity, and orientation for a landing aircraft relative to the runway based on image sensors, IMU sensor data, and barometric sensor measurements. This work excludes GPS data, as it is expected that the proposed estimator can be used for fault detection in GPS and instrument landing systems. The runway is unknown, and hence, its width is estimated online. An adaptive UKF-based approach is adopted to estimate the states. In order to verify the nearer-to-practical performance and accuracy of bias estimation, realistically simulated data that constitute noises and biases from the sensors are taken into consideration. The proposed approach provides a solution for nonlinear state estimation in the presence of measurement noises that are non-additive. In addition to this, it provides estimates of the unknown measurement noise covariance. A comparative study is conducted between the conventional UKF and the proposed AUKF to analyze the adopted approach. Results show that the proposed algorithm gives comparable estimation results and faster convergence than the conventional UKF. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Fault detection

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Formal management-specifying approach for model-based safety assessment

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Journal of systems engineering and Electronics 2023年第6期34卷 1589-1601页

作者： XU Changyi DUAN Yiman ZHANG Chao School of Control Science and Engineering Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of EducationDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

In the field of model-based system assessment,mathematical models are used to interpret the system ***,the industrial systems in this intelligent era will be more *** management operations will be dynamically set,and the system will be no longer static as it is initially ***,the static model generated by the traditional model-based safety assessment(MBSA)approach cannot be used to accurately assess the *** mainly exists three ***:huge and complex behaviors make the modeling to be trivial manual;Dynamic:though there are thousands of states and transitions,the previous model must be resubmitted to assess whenever new management arrives;Unreusable:as for different systems,the model must be resubmitted by reconsidering both the management and the system itself at the same time though the management is the *** by solving the above problems,this research studies a formal management specifying approach with the advantages of agility modeling,dynamic modeling,and specification design that can be ***,three typical managements are specified in a series-parallel system as a demonstration to show the potential.

关键词： model-based safety assessment(MBSA) management availability reliability maintainability continuous time Markov chain.

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Equalizer Zero-Determinant Strategy in Discounted Repeated Stackelberg Asymmetric Game

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Journal of systems Science & Complexity 2024年第1期37卷 184-203页

作者： CHENG Zhaoyang CHEN Guanpu HONG Yiguang Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology10044 StockholmSweden. Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 210201China

This paper focuses on the performance of equalizer zero-determinant(ZD)strategies in discounted repeated Stackelberg asymmetric *** the leader-follower adversarial scenario,the strong Stackelberg equilibrium(SSE)deriving from the opponents’best response(BR),is technically the optimal strategy for the ***,computing an SSE strategy may be difficult since it needs to solve a mixed-integer program and has exponential complexity in the number of *** this end,the authors propose an equalizer ZD strategy,which can unilaterally restrict the opponent’s expected *** authors first study the existence of an equalizer ZD strategy with one-to-one situations,and analyze an upper bound of its performance with the baseline SSE *** the authors turn to multi-player models,where there exists one player adopting an equalizer ZD *** authors give bounds of the weighted sum of opponents’s utilities,and compare it with the SSE ***,the authors give simulations on unmanned aerial vehicles(UAVs)and the moving target defense(MTD)to verify the effectiveness of the proposed approach.

关键词： Discounted repeated Stackelberg asymmetric game equalizer zero-determinant strategy strong Stackelberg equilibrium strategy

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Group Hybrid Coordination control of Multi-Agent systems With Time-Delays and Additive Noises

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 737-748页

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

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this *** group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,*** MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,*** developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,*** is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented ***,the validity of the group control results is verified by several simulation examples.

关键词： Additive noises consensus control containment control group hybrid coordination control multi-agent systems(MASs) time-delays

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Robust Model Predictive control with Predefined Performance for Spacecraft Rendezvous

Robust Model Predictive Control with Predefined Performance ...

引用

2024 China Automation Congress, CAC 2024

作者： Li, Yuan Yang, Xuebo Zheng, Xiaolong Chen, Zhongbo Wang, Jiatong The Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China College of Control Science and Engineering Bohai University Jinzhou China

ISBN: (纸本)9798350368604

Safety is paramount for the rendezvous mission of spacecraft. A key quantitative indicator of safety is achieving zero overshoot control during the rendezvous. This paper proposes a model predictive control (MPC) method with performance constraints. These performance constraints are represented as state constraints within the MPC optimization problem. The boundaries forming these constraints are exponentially convergent, time-varying functions, theoretically ensuring zero overshoot in the system output. Additionally, this paper introduces a function-adaptive law to estimate and compensate for unknown disturbances in the aerospace environment, thereby enhancing the control accuracy of spacecraft rendezvous. The paper provides a theoretical analysis of the recursive feasibility and stability of the designed MPC and verifies the controller’s effectiveness through a set of simulation experiments. © 2024 IEEE.

关键词： Predictive control systems

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Event-triggered consensus control of heterogeneous multi-agent systems: model-and data-based approaches

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Science China(Information Sciences) 2023年第9期66卷 151-167页

作者： Xin WANG Jian SUN Fang DENG Gang WANG Jie CHEN School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This article addresses the model-and data-based event-triggered consensus of heterogeneous leader/follower multi-agent systems(MASs). A dynamic periodic transmission protocol is developed to alleviate the communication and computational burden, where the followers can interact locally with neighbors to approach the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived as linear matrix inequalities(LMIs), along with a design method for obtaining distributed event-triggered controllers and the associated triggering *** collecting noise-corrupted state-input measurements in offline open-loop experiments, a data-based leader/follower MAS representation is derived and employed to address the data-driven consensus control problem without explicit MAS models. This result is subsequently generalized to guarantee an H∞-consensus control performance. Finally, a simulation example is given to corroborate the efficiency of the proposed distributed triggering scheme and the data-driven consensus controller.

关键词： data-driven control multi-agent system consensus looped-functional LMI

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