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Policy Gradient Adaptive Dynamic Programming for Model-Free Multi-Objective Optimal control

IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1060-1062页

作者： Hao Zhang Yan Li Zhuping Wang Yi Ding Huaicheng Yan the Department of Control Science and Engineering Tongji UniversityShanghai 200092China the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education School of Information Science and EngineeringEast China University of Science and TechnologyShanghai 200237China

Dear Editor,In this letter,the multi-objective optimal control problem of nonlinear discrete-time systems is investigated.A data-driven policy gradient algorithm is proposed in which the action-state value function is... 详细信息

关键词： policy gradient Optimal

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Simultaneous attitude and position tracking using dual quaternion parameterized dynamics 22

Simultaneous attitude and position tracking using dual quate...

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2024 IEEE 22nd World Symposium on Applied Machine Intelligence and Informatics, SAMI 2024

作者： Kimathi, Stephen Lantos, Bela Budapest University of Technology and Economics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (纸本)9798350317206

This paper presents the simultaneous attitude and position control of rigid bodies using the unit dual quaternion. A dual quaternion is a compound of a unit quaternion and a translational vector, using the dual number formalization, such that the real part represents the rotation and the dual part, the translation transformation. Since the unit dual quaternion can be used to represent the rigid body dynamics in the 3D space, then the error dual quaternion can be used to design feedback control laws for both set-point stabilization, and attitude and position tracking. Simulation results using a rigid-body model are presented to show the performance of the dual quaternion formalism for simultaneous attitude and position control. © 2024 IEEE.

关键词： Attitude control

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Integrated Path Tracking, and control of a Fixed Wing UAV based on Dual Quaternion Parameterized Dynamics 47

Integrated Path Tracking, and Control of a Fixed Wing UAV ba...

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47th ICT and Electronics Convention, MIPRO 2024

作者： Kimathi, Stephen Lantos, Bela Budapest University Of Technology And Economics Department Of Control Engineering And Information Technology Budapest Hungary

ISBN: (纸本)9798350382495

Based on the dual quaternion formalism, the dynamics of a fixed wing UAV are formulated for path tracking, by incorporating the nonlinear gyroscopic terms. A control strategy is developed by exploiting the logarithmic map of the unit dual quaternion so as to ensure asymptotic stability in the three-dimensional space. The control and stabilization of the UAV, is carried out using dual quaternion parameterized dynamics such that a state feedback control law comprising of a PD controller ensures the simultaneous attitude and position tracking. Simulation results are presented to illustrate the applicability of this integrated approach in the tracking of a three-directional path. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Data-driven output regulation control for constrained linear systems

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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.

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Path Planning for Data Collection Multiagent System with Priority and Moving Nodes in a Sensing Field with Obstacles

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2024年第3期68卷 309-318页

作者： Szénási, Sára Harmati, István Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok körútja 2 Budapest1117 Hungary

Nowadays there is a more and more common need for one-off data collection in a specified area. For example, in case of searching for the survivors of disasters or wars, or for skiers who get into trouble. The simplest way of collecting such data is using wireless sensor network (WSN). However, data transmission within the network uses great amount of energy that may significantly reduce the lifetime and operation time of the battery-operated sensors. For this reason, the data transfer between the given sensor nodes is carried out by robots. In order to minimize the latency of data collection, it is possible to use cooperating robots. It frequently occurs that one of the nodes requires more urgent visit than the other ones, for example, the serious injuries require urgent medical attendance. The sensor nodes can also be moved to collect more usable data in a larger field. To solve this, path planning for data collection from priority and moving nodes are also presented here. The algorithm developed here to perform the one-off data collection operates so that the agents start from preliminary determined or random points and then visit all the sensor nodes, download the data from these nodes and after this arrive at a designated point where they upload the collected information. The goal here is the minimization of cost that include not only the walk-through time but also the consequences of the late visit of the higher priority nodes. The optimization is solved using the ant colony optimization. © 2024 Budapest University of technology and Economics. All rights reserved.

关键词： Motion planning

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Enhanced UAV Pursuit-Evasion Using Boids Modelling:A Synergistic Integration of Bird Swarm Intelligence and DRL

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Computers, Materials & Continua 2024年第9期80卷 3523-3553页

作者： Weiqiang Jin Xingwu Tian Bohang Shi Biao Zhao Haibin Duan Hao Wu School of Information and Communications Engineering Faculty of Electronic and Information EngineeringXi’an Jiaotong UniversityXi’an710049China China Academy of Electronics and Information Technology China Electronics Technology Group Corporation(CETC)Beijing100041China Department ofAutomatic Control School of Automation Science and Electrical EngineeringBeihangUniversityBeijing100191China

TheUAV pursuit-evasion problem focuses on the efficient tracking and capture of evading targets using unmanned aerial vehicles(UAVs),which is pivotal in public safety applications,particularly in scenarios involving intrusion monitoring and *** address the challenges of data acquisition,real-world deployment,and the limited intelligence of existing algorithms in UAV pursuit-evasion tasks,we propose an innovative swarm intelligencebased UAV pursuit-evasion control framework,namely“Boids Model-based DRL Approach for Pursuit and Escape”(Boids-PE),which synergizes the strengths of swarm intelligence from bio-inspired algorithms and deep reinforcement learning(DRL).The Boids model,which simulates collective behavior through three fundamental rules,separation,alignment,and cohesion,is adopted in our *** integrating Boids model with the Apollonian Circles algorithm,significant improvements are achieved in capturing UAVs against simple evasion *** further enhance decision-making precision,we incorporate a DRL algorithm to facilitate more accurate strategic *** also leverage self-play training to continuously optimize the performance of pursuit *** experimental evaluation,we meticulously designed both one-on-one and multi-to-one pursuit-evasion scenarios,customizing the state space,action space,and reward function models for each *** simulations,supported by the PyBullet physics engine,validate the effectiveness of our proposed *** overall results demonstrate that Boids-PE significantly enhance the efficiency and reliability of UAV pursuit-evasion tasks,providing a practical and robust solution for the real-world application of UAV pursuit-evasion missions.

关键词： UAV pursuit-evasion swarm intelligence algorithm Boids model deep reinforcement learning self-play training

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controllability of heterogeneous networked sampled-data systems

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Science China(information Sciences) 2025年第3期68卷 302-318页

作者： Zixuan YANG Lin WANG Xiaofan WANG Guanrong CHEN Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China School of Mechatronic Engineering and Automation Shanghai University School of Electrical and Electronic Engineering Shanghai Institute of Technology Department of Electrical Engineering City University of Hong Kong

This study investigates the controllability of a general heterogeneous networked sampled-data system(HNSS) consisting of nonidentical node systems, where the inner coupling between any pair of nodes can be described by a unique *** signals on control and transmission channels are sampled and held by zero-order holders, and the control sampling period of each node can be different. Necessary and sufficient controllability conditions are developed for the general HNSS, using the Smith normal form and matrix equations, respectively. The HNSS in specific topology or dynamic settings is discussed subsequently with easier-to-verify conditions derived. These heterogeneous factors have been determined to independently or jointly affect the controllability of networked sampled-data systems. Notably, heterogeneous sampling periods have the potential to enhance the overall controllability, but not for systems with some special dynamics. When the node dynamics are heterogeneous,the overall system can be controllable even if it is topologically uncontrollable. In addition, in several typical heterogeneous sampled-data multi-agent systems, pathological sampling of single-node systems will necessarily cause overall uncontrollability.

关键词： network controllability sampled-data system heterogeneous system inner coupling multi-agent system

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Asymptotic analysis on bright solitons and breather solutions of a generalized higher-order nonlinear Schrödinger equation in an optical fiber or a planar waveguide

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Chinese Physics B 2024年第11期33卷 154-160页

作者： Xin Zhao Zhong Du Li-Jian Zhou Rong-Xiang Liu Xu-Hu Wang College of Information and Control Engineering Qingdao University of TechnologyQingdao 266520China Department of Mathematics and Physics and Hebei Key Laboratory of Physics and Energy TechnologyNorth China Electric Power UniversityBaoding 071003China

We study a generalized higher-order nonlinear Schr¨odinger equation in an optical fiber or a planar *** obtain the Lax pair and N-fold Darboux transformation(DT)with N being a positive *** on Lax pair obtained by us,we derive the infinitely-many conservation *** give the bright one-,two-,and N-soliton solutions,and the first-,second-,and Nth-order breather solutions based on the N-fold *** conclude that the velocities of the bright solitons are influenced by the distributed gain function,g(z),and variable coefficients in equation,h_(1)(z),p_(1)(z),r_(1)(z),and s_(1)(z)via the asymptotic analysis,where z represents the propagation variable or spatial *** also graphically observe that:the velocities of the first-and second-order breathers will be affected by h_(1)(z),p_(1)(z),r_(1)(z),and s_(1)(z),and the background wave depends on g(z).

关键词： optical fiber planar waveguide Darboux transformation bright soliton breather

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Robust Trajectory Tracking control of a Differentially Flat Overhead Crane Using Sliding Mode

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2024年第2期68卷 213-221页

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

The control of overhead cranes is a benchmark problem, since it is an underactuated mechanism and its mathematical model is nonlinear. During operation the mass of the load is unknown, representing an uncertainty in the inertial parameters, which requires robustness of the controlled system. Our paper proposes a novel robust control method, that combines the differentially flat property of the dynamics with the robustness of the sliding mode control. The sliding surface is constructed to ensure the tracking of the configuration variables whose accelerations is calculated using the flatness property of the dynamic model. This formulation also allows achieving the matching conditions of the parameter uncertainties. Considering a simplified overhead crane model where the load motion is restricted in a vertical plane, two sliding surfaces are defined for the rope angle and rope length, since the cart position can be calculated from the previous two. The suggested control method is successfully validated in simulations as well as using a reduced-size overhead crane. For the real crane, the rope angle was estimated by utilizing the dynamical model, which uses the estimated cart acceleration. © 2024 Budapest University of technology and Economics. All rights reserved.

关键词： Acceleration

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Algorithmic Decomposition of Railway Objects for Distributed Interlocking System

Periodica Polytechnica Electrical Engineering and Computer S...

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Periodica Polytechnica Electrical engineering and Computer Science 2024年第4期68卷 319-326页

作者： Arató, Péter Markovits, Tibor Gergely Rácz, György Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok krt. 2. BudapestH-1117 Hungary

Railway interlocking systems can be implemented as distributed systems, where each part of a station is handled by a separate logical unit. The logical units of such systems form a network and communicate by interchanging messages. Such distributed architectures are well known in large industrial control systems. There are several design practices and also algorithmic task partitioning methods that are applicable in distributed control systems. Some of such methods can also be adapted in designing of railway interlocking systems as well. In the case of such systems, the communication time between components must be kept low. Namely each separate controller in a given route must be able to exchange their internal state within a limited time in order to permit the train movement authorization. This limitation could cause high traffic load, if every logical unit would be interconnected with each other. Therefore, the main goal of the minimization is to reduce the number of connections between logical units. This can achieved by distributing and assigning the topological railway objects to certain logical units. © 2024 Budapest University of technology and Economics. All rights reserved.

关键词： Distributed parameter control systems

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