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Reinforcement Learning Behavioral control for Nonlinear Autonomous System

IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1561-1573页

作者： Zhenyi Zhang Zhibin Mo Yutao Chen Jie Huang the College of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian ProvinceFuzhou 350108 G+Industrial Internet Institute Fuzhou UniversityFuzhou 350108China

Behavior-based autonomous systems rely on human intelligence to resolve multi-mission conflicts by designing mission priority rules and nonlinear *** this work,a novel twolayer reinforcement learning behavioral control(RLBC)method is proposed to reduce such dependence by trial-and-error ***,in the upper layer,a reinforcement learning mission supervisor(RLMS)is designed to learn the optimal mission *** with existing mission supervisors,the RLMS improves the dynamic performance of mission priority adjustment by maximizing cumulative rewards and reducing hardware storage demand when using neural *** the lower layer,a reinforcement learning controller(RLC)is designed to learn the optimal control *** with existing behavioral controllers,the RLC reduces the control cost of mission priority adjustment by balancing control performance and *** error signals are proved to be semi-globally uniformly ultimately bounded(SGUUB).Simulation results show that the number of mission priority adjustment and the control cost are significantly reduced compared to some existing mission supervisors and behavioral controllers,respectively.

关键词： Behavioral control mission supervisor nonlinear autonomous system reinforcement learning

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A Nonsmooth Observer Based on Friction Model Compensation for Sensorless Permanent Magnet Synchronous Motor 42

A Nonsmooth Observer Based on Friction Model Compensation fo...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Zaishan Zhu, Wenwu Yu, Ke Wang, Xiangyu Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China School of Electrical Engineering and Automation Hefei University of Technology Hefei230009 China

ISBN: (纸本)9789887581543

In this paper, a nonsmooth observer considering friction compensation is proposed for the sensorless permanent magnet synchronous motor (PMSM) to estimate the rotor position and speed. Friction is one of the main factors affecting the tracking accuracy of the motor at low speed, especially in the back and forth motion of the motor. Firstly, based on the Stribeck friction model, a nonlinear friction model of the motor is established. Secondly, a nonsmooth observer with friction compensation is designed to estimate the position and speed of the rotor, and the lumped disturbance of the system at the same time. Further, the stability analysis of this nonsmooth observer is given. Finally, the effectiveness of the proposed method is verified by the simulation results. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Sensorless control

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A Defect Detection Algorithm of Round Tablets Based on Image Information 9

A Defect Detection Algorithm of Round Tablets Based on Image...

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9th International Conference on Intelligent Computing and Signal Processing, ICSP 2024

作者： Zhang, Lianqi Zhou, Rui Sun, Yuan Chen, Xiaojin Yang, Zhiwang College of Electrical Engineering and Automation Xiamen University of Technology Fujian Xiamen China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Fujian Xiamen China

ISBN: (纸本)9798350376548

This paper presents a novel circular tablet defect detection algorithm based on machine learning techniques to address the challenge of insufficient data for training samples. Utilizing cameras, lenses, and light sources, we establish an image acquisition hardware system for capturing tablet images, and on the basis of image preprocessing, the designed defect detection algorithm is used for detection, forming a complete and efficient round tablet defect detection process. The experimental results have been demonstrated that the performance of the sample missed detection rate was 0.2%, the false detection rate is 0.6%, and the total error rate is 0.8%, all lower than 1%. The proposed detection algorithm does not require sample training and can be well applied to the identification of defects such as abnormal tablet circular areas and foreign matter on the surface of tablets. © 2024 IEEE.

关键词： Detection algorithm Image information Tablet defects

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Triggered Mechanism for Strict Feedback Systems under Unknown control Directions 14

Triggered Mechanism for Strict Feedback Systems under Unknow...

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14th Asian control Conference, ASCC 2024

作者： Liu, Guilong Wu, Hongda Yang, Yongliang Xie, Wei Zhang, Weidong School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9789887581598

This paper presents an event-based asymptotic tracking control scheme designed for strict feedback systems with unknown control directions. The control directions directly determine how the controller acts on the system, thus impacting the system's stability and convergence speed. When the control directions are unknown, it presents a significant challenge in controller design. To tackle this issue, the Nussbaum-type gains are introduced. However, this method increases communication overhead. Hence, an event-triggered mechanism is introduced to alleviate this burden. Additionally, to achieve and maintain desired target states, satisfying control requirements and performance demands, this paper improves the event-triggered mechanism to achieve asymptotic tracking. Finally, the feasibility and effectiveness of the proposed design are validated through a simulation example. © 2024 Asian control Association.

关键词： Feedback

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A Direct Vector control Strategy for Single-phase Differential Buck Inverter

A Direct Vector Control Strategy for Single-phase Differenti...

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2024 IEEE Energy Conversion Congress and Exposition, ECCE 2024

作者： Gao, Yanli Lin, Junhui Liu, Peng Zhang, Yonggao Xu, Shuang Chang, Liuchen East China Jiaotong University School of Electrical and Automation Engineering Nanchang China North China University of Technology Department of Electrical and Control Engineering Beijing China University of New Brunswick Fredericton Emera and Nb Power Research Centre for Smart Grid Technologies Fredericton Canada

ISBN: (纸本)9798350376067

This paper proposes an innovative vector control method for single-phase differential Buck inverters, advancing beyond the limitations of traditional control strategies. Unlike previous methods that require a T/4 delay for additional control freedom, the proposed vector control exploits the dual symmetrical DC-DC converter topology, inherently providing the necessary two degrees of freedom. This eliminates the need for virtual phase vector construction, which traditionally occupies significant processor register space and introduces delay. Despite initial vector control not meeting expectations, the adoption of a symmetrical component method to extract positive and negative sequences has refined the control design. Simulation and experimental results confirm the validity of proposed method's, offering improved steady-state performance and maintaining rapid dynamic responses, suitable for applications demanding high power quality. © 2024 IEEE.

关键词： Vectors

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Spacecraft Integrated Pose Determination with Unknown Noise Covariances

Spacecraft Integrated Pose Determination with Unknown Noise ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Chen, Hang Hu, Qinglei Wu, Huai-Ning Duan, Chao Chen, Bin Zhang, Peng School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Beihang Hangzhou Innovation Institute Yuhang Hangzhou310023 China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Peng Cheng Laboratory Shenzhen518000 China Beijing Institute of Control Engineering Beijing100094 China

ISBN: (纸本)9789811966125

A novel robust unscented Kalman filter (UKF) is developed for orbiting spacecraft pose determination without knowing prior noise statistical characteristics by using dual quaternion formulation. First, an adjustment coefficient multiplied by a predesigned positive definite matrix is updated iteratively for the process noise covariance adaptation and the moving window of the measurement innovation are adopted for the measurement noise covariance estimation. Then, the adaptation method is incorporated into the dual-quaternion-based UKF procedure where the dual modified Rodrigues parameters (MRPs) are adopted for sigma points description to avoid violating the quaternion normalization constraint. Finally, the effectiveness and practical usefulness of the developed algorithm are verified via numerical simulation examples. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Covariance matrix

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Transient extraction from doppler-shifted signal for track-side acoustic bearing fault diagnosis 3

Transient extraction from doppler-shifted signal for track-s...

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3rd International Conference on Advanced Algorithms and Signal Image Processing, AASIP 2023

作者： Liu, Fang Xu, Yifan Zhai, Taotao Liu, Yongbin College of Electrical Engineering and Automation Anhui University Anhui Hefei230601 China National Engineering Laboratory of Energy-Saving Motor and Control Technology Anhui University Hefei230601 China

ISBN: (纸本)9781510668522

One of the main reasons for train derailment is the failure of wheel bearings, and the track-side acoustic detection system (TADS) is one of the effective means to achieve online health monitoring. TADS is based on the basic principle that the acoustic signals emitted by the wheel bearings during the running of the train contain a wealth of diagnostic-related information. The challenge of this technology is how to accurately extract information reflecting the health condition of the wheel bearing from the sound signal. One of the main influence factors is the Doppler effect. To solve this problem, A new "Doppler Single Transient Model (DSTM)"and the "one-by-one stripping"strategy is developed to handle with the periodic fluctuation signal with Doppler distortion in this paper. It consists of three steps: (1) Use the Doppler Periodic Transient Model (DPTM) roughly estimate the parameters of the transient model;(2) The DSTM is used to extract transients from the signal one by one. (3) The optimization algorithms is used to accurately identify parameters. Through the proposed DSTM and the transient extraction strategy, the transients can be matched more accurately. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Doppler effect

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Deep learning Based Glue Line Defect Detection 18

Deep learning Based Glue Line Defect Detection

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Tong, Yingnan Qiu, Jun Lin, Hongye Wang, Yongbin Zhejiang University School of Control Sciences and Engineering Hang Zhou China NingBoTech University School of Information Science and Engineering NingBo China Jiangxi University of Science and Technology School of Electrical Engineering and Automation Ganzhou China

ISBN: (纸本)9798350312201

Most factories use automatic dispensing machines for workpiece sealing, and the processing efficiency is very high. The traditional manual detection is inefficient and costly. Besides, the rate of false detection and missed detection of defect products remains high. In view of this problem, this paper proposes a glue line defect detection model based on Yolov5 and the self-built workpiece defect data set is used for the research. Firstly, some conventional convolution modules in Backbone network are replaced with the corresponding deformable convolution modules to improve the generalization ability of the model. Then in order to improve the feature extraction ability of the model, the coordinate attention module is embedded in the Backbone network. The results show that the mean average precision of the proposed algorithm can reach 95.62%, which is greatly higher than initial Yolov5 algorithm. And the detection rate reaches 28.67 FPS, which can meet the real time detection. © 2023 IEEE.

关键词： Convolution

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Fault Modeling and Diagnosis for Spacecraft Attitude control System Using Deep Learning

Fault Modeling and Diagnosis for Spacecraft Attitude Control...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Guo, Pengyu Hu, Qinglei Wu, Huai-Ning Duan, Chao Chen, Bin Zhang, Peng School of Automation Science and Electrical Engineering Beihang University Beijing100190 China Beihang Hangzhou Innovation Institute Yuhang Hangzhou310023 China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100190 China Peng Cheng Laboratory Shenzhen518000 China Beijing Institute of Control Engineering Beijing100094 China

ISBN: (纸本)9789811966125

The health monitoring system is significant for the reliable operation of spacecraft. In this paper, various fault models for controlling torque gyroscopes are established, and the learning network is trained with uniformly sampled data of fault. Then a data-driven fault diagnosis method based on deep learning is proposed. The method fully extracts the features to describe the classification of the multi-modal actuator faults, and trains the fault model with a large amount of spacecraft data under actuator faults. Then the rapid detection and classification of actuator faults are realized by the unknown fault model. Specifically, a spacecraft attitude control model is established to generate the sample data for the problem of insufficient fault data. Besides, the stack encoder is used to automatically reduce the data dimension and extract the main features from each set of data. Further, softmax classifier is introduced for fault model training. Finally, numerical simulations are illustrated to verify the reliability of the fault diagnosis method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Attitude control

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