检索结果-内蒙古大学图书馆

Computational Intelligence on engineering/Cyber Physical Systems (CIES), IEEE Symposium on

作者： Halil Ibrahim Ugurlu Adrian Redder Erdal Kayacan Department of Electrical and Computer Engineering Aarhus University Aarhus Denmark Department of Automatic Control Paderborn University Paderborn Germany

ISBN: (数字)9798331508272

ISBN: (纸本)9798331508289

The inherent black-box nature of deep reinforcement learning (DRL) poses challenges in ensuring safety constraints. This paper, therefore, introduces a DRL reward design inspired by Lyapunov stability theory for safe robot navigation in the presence of obstacles. The navigation problem is formulated as a state-space control problem with close obstacle locations integrated into the state representation. To ensure safe obstacle avoidance, we introduce a novel reward-shaping strategy utilizing a Lyapunov function that discourages fast movement toward obstacles. Our numerical experiments demonstrate the effectiveness of the reward design strategy compared to baselines in achieving consistent superior learning with higher mission completion rates while maintaining speeds closer to a desired target speed. In addition, we show that our reward design enables a generally smaller choice for the discount factor for value-function-based DRL algorithms, which can lead to faster convergence. This is possible since the reward design merely penalizes the one-step decay of the Lyapunov function. Furthermore, policy training simulations employ an early episode termination method to constrain exploration and add more valuable samples to the DRL training replay memory. Finally, real-world experiments with a quadrotor validate the ability of our method to safely navigate around varying densities of obstacles. The proposed method consistently takes cautious maneuvers near obstacles by slowing down, achieving greater obstacle clearance compared to baseline, although with an increase in mission completion time.

关键词： Training Navigation Deep reinforcement learning Safety Planning Collision avoidance Robots Lyapunov methods Quadrotors Convergence

来源：评论

学校读者我要写书评

暂无评论

Architecture of AC-DC Energy Nodes in Supergrids: A Technical Foundation for Future Renewable Integration

Architecture of AC-DC Energy Nodes in Supergrids: A Technica...

引用

Applied Research in electrical engineering (AREE), National and International Conference on

作者： Mohammad Hossein Mousavi Hassan Moradi Kumars Rouzbehi Department of Computer and Electrical Engineering Razi University Kermanshah Iran Department of System Engineering and Automatic Control University of Seville Seville Spain

ISBN: (数字)9798350377170

ISBN: (纸本)9798350377187

The AC-DC Energy Nodes (ADENs) concept offers a transformative approach to modernizing power grids, particularly in the context of supergrids. By centralizing power flows from diverse renewable energy sources, such as offshore wind farms, ADENs enable efficient long-distance power transmission through HVDC technology. This design enhances the balance of supply and demand across regions and countries, significantly improving grid stability and resilience. However, the implementation of ADENs presents substantial technical, regulatory, and cybersecurity challenges. This study delves into these challenges while also addressing the geopolitical complexities of transnational connections, underscoring the critical importance of policy alignment for successful deployment.

关键词： Renewable energy sources Supply and demand Protocols HVDC transmission Wind farms Power system stability Stability analysis computer security Protection Resilience

来源：评论

学校读者我要写书评

暂无评论

Distributed Estimation and Motion control in Multi-Agent Systems Under Multiple Attacks

引用

IEEE Transactions on Automation science and engineering 2025年 22卷 12548-12559页

作者： Jenabzadeh, Ahmadreza Shu, Zhan Huang, Tingwen Zhu, Quanmin Shang, Yilun Cui, Yukang Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Peng Cheng Laboratory Shenzhen518000 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China University of the West of England School of Engineering BristolBS16 1QY United Kingdom Northumbria University Faculty of Engineering and Environment Department of Computer and Information Sciences Newcastle upon TyneNE1 8ST United Kingdom

This paper addresses the problem of distributed estimation and motion control (DEMC) in multi-agent systems (MASs) with both linear and Lipschitz nonlinear dynamics. Unlike conventional DEMC methods designed for MASs under ideal conditions, this work investigates scenarios where all agents are vulnerable to various forms of attacks. The considered attacks comprise false-data injection (FDI) attacks and denial of service (DoS) attacks that affect the communication channels among agents to destabilize the MAS. Also, the unbounded actuator attacks which exist in practical environments to intentionally degrade the MAS performance is considered. To cope with these kinds of attacks, two novel resilient approaches are established aimed at estimating and following a mobile target under attacks. The proposed distributed attack-resilient control strategies are designed based on a dual-layer structure, guaranteeing effective DEMC with an ultimately bounded error. The results from two simulation examples are provided to validate the presented algorithms. © 2004-2012 IEEE.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

引用

Bulletin of the Polish Academy of sciences: Technical sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival Prediction for Mobile Robots

arXiv

引用

arXiv 2025年

作者： Sejersen, Jonas le Fevre Kayacan, Erdal Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

This study presents the conflict-aware multi-agent estimated time of arrival (CAMETA) framework, a novel approach for predicting the arrival times of multiple agents in unstructured environments without predefined road infrastructure. The CAMETA framework consists of three components: a path planning layer generating potential path suggestions, a multi-agent ETA prediction layer predicting the arrival times for all agents based on the paths, and lastly, a path selection layer that calculates the accumulated cost and selects the best path. The novelty of the CAMETA framework lies in the heterogeneous map representation and the heterogeneous graph neural network architecture. As a result of the proposed novel structure, CAMETA improves the generalization capability compared to the state-of-the-art methods that rely on structured road infrastructure and historical data. The simulation results demonstrate the efficiency and efficacy of the multi-agent ETA prediction layer, with a mean average percentage error improvement of 29.5% and 44% when compared to a traditional path planning method (A∗) which does not consider conflicts. The performance of the CAMETA framework shows significant improvements in terms of robustness to noise and conflicts as well as determining proficient routes compared to state-of-the-art multi-agent path planners. © 2025, CC BY.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Learn to Bid as a Price-Maker Wind Power Producer

arXiv

引用

arXiv 2025年

作者： Singhal, Shobhit Fochesato, Marta Aolaritei, Liviu Dörfler, Florian Automatic Control Laboratory ETH Zürich Switzerland Department of Electrical Engineering and Computer Sciences UC Berkeley United States

Wind power producers (WPPs) participating in short-term power markets face significant imbalance costs due to their non-dispatchable and variable production. While some WPPs have a large enough market share to influence prices with their bidding decisions, existing optimal bidding methods rarely account for this aspect. Price-maker approaches typically model bidding as a bilevel optimization problem, but these methods require complex market models, estimating other participants’ actions, and are computationally demanding. To address these challenges, we propose an online learning algorithm that leverages contextual information to optimize WPP bids in the price-maker setting. We formulate the strategic bidding problem as a contextual multi-armed bandit, ensuring provable regret minimization. The algorithm’s performance is evaluated against various benchmark strategies using a numerical simulation of the German day-ahead and real-time markets. Copyright © 2025, The Authors. All rights reserved.

关键词： Wind power

来源：评论

学校读者我要写书评

暂无评论

Policy for Optimal Avoidance of Multiple Engagement Zones

Policy for Optimal Avoidance of Multiple Engagement Zones

引用

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

作者： Milutinović, Dejan Von Moll, Alexander Weintraub, Isaac E. Casbeer, David Department of Electrical and Computer Engineering University of California Santa Cruz Santa CruzCA95064 United States Control Science Center Air Force Research Laboratory WPAFB OH45433 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This work formulates the feedback control strategies for vehicles to reach a goal point amongst a field of dynamic risk regions. Whereas previous work has considered deterministic versions of this problem, we consider the scenario in the context of uncertainty. This uncertainty could be due to unknown wind or other external disturbances. The risk regions’ dynamics are tightly coupled to the state of the vehicle and as a result the task of navigating through a field dynamically changes as the vehicle traverses through it. Rather than using a nonlinear program solver, the approach taken here is one of formulating the problem as a stochastic optimal control problem wherein a feedback control law is derived. This feedback control law allows a single or multiple vehicles to reach the desired goal location efficiently and with minimal risk incursion. When inside a risk region, there is a probability rate of the vehicle being neutralized. The stochastic dynamical system is modeled as a hybrid system, i.e., regime switching diffusion. The hybrid system is comprised of continuous spatial dynamics and discrete operational states corresponding to "normal" and "neutralized". The optimal control problem is discretized into a field of vehicle states and control. Using Value Iteration, the control signal at each discrete location is optimized, providing a feedback control strategy over the field. Following a discussion of the methods and approaches, this problem is formulated, simulations are performed, and conclusions and remarks are made © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Virtualizing Next-Generation Programmable Networks: Techniques, Use Cases, and Promising Future Directions

引用

IEEE Network 2025年第3期39卷 148-155页

作者： Chen, Xiang Du, Hongyang Liu, Wenjing Liu, Hongyan Zhang, Jianshan Yang, Xu Zhang, Dong Wu, Chunming Liu, Xuan Niyato, Dusit Zhejiang University College of Computer Science and Technology Hangzhou310027 China The University of Hong Kong Department of Electrical and Electronic Engineering Pokfulam Hong Kong Zhejiang Media Group Hangzhou310005 China Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Data Science Fuzhou350108 China Fuzhou University College of Computer and Data Science Fuzhou350108 China Yangzhou University College of Information Engineering College of Artificial Intelligence Yangzhou225009 China Nanyang Technological University College of Computing and Data Science Jurong West 639798 Singapore

For decades, network virtualization plays a crucial role in modern networks, e.g., 6G mobile networks: tenants construct arbitrary virtual networks on the same physical network. However, production networks are becoming programmable and need more ways of network configurations. So prior techniques like SDN hypervisors are deprecated since they cannot configure programmable networks. In response, a new category of network virtualization techniques has emerged recently to virtualize programmable networks, i.e., programmable network hypervisors (PNHs). This article first reviews this trend to comprehensively survey PNHs. To understand their benefits, we build a testbed with hardware switches and sophisticated topologies. Our testbed experiments stress-test hypervisors and demonstrate that they outperform prior works with higher acceptance ratios of virtual networks under large-scale scenarios and heavy loads. Finally, we highlight the open issues of these techniques to shed light on the future directions in this promising topic. © 1986-2012 IEEE.

关键词： Virtualization

来源：评论

学校读者我要写书评

暂无评论

Secure transmission of medical image using a wavelet interval type-2 TSK fuzzy brain-imitated neural network

引用

Soft Computing 2025年第4期29卷 2311-2329页

作者： Pham, Duc-Hung Huynh, Tuan-Tu Lin, Chih-Min Giap, Van Nam Vu, Van-Phong Department of Electrical Engineering Yuan Ze University No. 135 Yuandong Road Zhongli 320 Taoyuan Taiwan Faculty of Electrical and Electronic Engineering Hung Yen University of Technology and Education Hai Duong160000 Viet Nam Faculty of Mechatronics and Electronics Lac Hong University No. 10 Huynh Van Nghe Road810000 Bien Hoa Dong Nai Viet Nam School of Electrical & Electronic Engineering Hanoi University of Science and Technology Hai Ba Trung Hanoi100000 Viet Nam Department of Automatic Control Ho Chi Minh City University of Technology and Education Ho Chi Minh70000 Viet Nam

The purpose of this research is to develop a new design of a wavelet interval type-2 takagi–Sugeno-Kang fuzzy brain-imitated neural network (WIT2TFBINN), which is a combination of the mathematical models of a Takagi–Sugeno-Kang (TSK) fuzzy system based on wavelet interval type-2 function (WIT2) and a wavelet interval type-2 fuzzy brain imitated neural network (FBINN). The proposed WIT2TFBINN is used for synchronization control of a 4D Lorentz chaotic system and has the benefits of wavelet interval type-2 membership function, TSK fuzzy inference system, decision making, and emotional activity. To provide fast training, the proposed method's parameter update laws are derived using the gradient descent method. The proposed WIT2TFBINN synchronization technique is then applied to the transmission of medical images in a secure manner. As a cipher image, a medical image is encrypted into a chaotic trajectory. After transmission, the image can be decrypted using chaotic trajectory synchronization on the received signal. The simulation results show that the proposed neural network and the encryption/decryption method are powerful and effective. The results of the static test analysis (histogram, attack analysis, image with noise, image with cropping) show that the encryption/decryption method provides high security. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Membership functions

来源：评论

学校读者我要写书评

暂无评论

Multiphase LLC Resonant Converter with Natural Current Sharing and Phase-Shedding

引用

IEEE Transactions on Industry Applications 2025年

作者： Ahmad, Ubaid Giral, Roberto Olalla, Carlos Sangwongwanich, Ariya Davari, Pooya Blaabjerg, Frede Universitat Rovira i Virgili Països Catalans Department of Electrical Electronics and Automatic Control Engineering School of Electrical and Computer Engineering Catalonia Tarragona26 43007 Spain Aalborg University Department of Energy Aalborg Ost9220 Denmark

The multiphase LLC converter is commonly used for high-power and high step-down applications. However, the tolerances in the tank circuit parameters cause uneven current sharing (CS), reducing system reliability. Additionally, phase-shedding (PS) can improve converter efficiency at partial load by turning-OFF phases. This paper proposes a multiphase input-parallel output-parallel LLC resonant converter with a common inductor-capacitor branch, with the objective to achieve excellent CS and phase-shedding at the same time. Thanks to the shared branch, current-sharing is natural, and phase-shedding is realized without affecting the operating point. With fewer passive comp- onents and a simple phase connection, the design offers low-cost, high-power density, and improved light-load efficiency compared to existing solutions. Detailed analysis shows improved CS on both the primary and secondary sides, when compared to previous approaches. Simulation and experimental results for the proposed two-phase LLC resonant converter validate the analysis and illustrate the effectiveness of the CS and PS capabilities. At the rated load of 800 W, CS error is 2.48% on the primary side and 2.0% on the secondary side. Phase-shedding improves efficiency by 3.60% at 50% load and 6.82% at 25% load. © 1972-2012 IEEE.

关键词： Resonant converters

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：