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Hierarchical reinforcement learning guidance with threat avoidance

Journal of systems Engineering and Electronics 2022年第5期33卷 1173-1185页

作者： LI Bohao WU Yunjie LI Guofei State Key Laboratory of Virtual Reality Technology and System Beihang UniversityBeijing 100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beijing 100191China School of Astronautics Northwestern Polytechnical UniversityXi’an 710072China

The guidance strategy is an extremely critical factor in determining the striking effect of the missile operation.A novel guidance law is presented by exploiting the deep reinforcement learning(DRL)with the hierarchical deep deterministic policy gradient(DDPG)*** reward functions are constructed to minimize the line-of-sight(LOS)angle rate and avoid the threat caused by the opposed *** attenuate the chattering of the acceleration,a hierarchical reinforcement learning structure and an improved reward function with action penalty are put *** simulation results validate that the missile under the proposed method can hit the target successfully and keep away from the threatened areas effectively.

关键词： guidance law deep reinforcement learning(DRL) threat avoidance hierarchical reinforcement learning

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Utilizing Balanced and Unbalanced Partial Techniques in Co-Phase V/v Railway system for Improving Hybrid SVC Power Quality Conditioner 7

Utilizing Balanced and Unbalanced Partial Techniques in Co-P...

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7th IEEE International Conference on Recent Advances and Innovations in Engineering, ICRAIE 2022

作者： Habibolahzadeh, Mohammad Jalilian, Alireza Iran University of Science and Technology Department of Electrical Engineering Tehran Iran Iran University of Science and Technology Centre of Excellence for Power System Automation and Operation Department of Electrical Engineering Tehran Iran

ISBN: (纸本)9781665489102

This paper proposes a hybrid structure including static VAR compensator (SVC) and conventional hybrid power quality conditioner (HPQC) in co-phase traction railway system powered by V/v transformer. The SVC plays a vital role in compensating the full required load reactive power in addition to filtering the third and fifth harmonics, while the HPQC handles the left harmonics and negative sequence current of the grid side. Moreover, to keep the grid power factor flexibly within acceptable limits, a control strategy employs two partial compensation techniques, one balanced and one unbalanced (BPCT and UPCT, respectively). The proposed arrangement not only drastically improves power quality indices (PQI) but also reduces HPQC capacity by as much as 23%. Since the hybrid structure has a lower capacity and higher performance than the conventional one, it may be a viable option for achieving power quality targets in electric rail networks. © 2022 IEEE.

关键词： Reactive power

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Digital Twin-Based Obstacle Avoidance for Unmanned Aerial Vehicles Using Feedforward-Feedback Control

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IEEE Transactions on Vehicular technology 2025年

作者： Yang, Hongjiu Sun, Shaopeng Xia, Yuanqing Li, Peng Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Zhongyuan University of Technology School of Automation and Electrical Engineering Zhengzhou450007 China Beijing Institute of Technology School of Automation Beijing100081 China

In this paper, a digital twin (DT) system is designed for an unmanned aerial vehicle (UAV) in obstacle avoidance to enable autonomous navigation and control. The DT system for the UAV is composed of four components: Virtual space, physical space, application services and data processing. To reduce computational burden and sensor requirement on the UAV, a trajectory planning framework is designed for obstacle avoidance in the DT system. Multiple feasible trajectories are generated offline by an EGO-Planner algorithm in the virtual space. The optimal feasible trajectory is selected by trajectory length and completion time of the multiple feasible trajectories. To improve control performance, a feedforward-feedback control strategy is proposed for the UAV using the DT system. In the virtual space, feedforward control input of the physical UAV is obtained offline by tracking the optimal feasible trajectory using a model predictive controller. The model predictive controller is also used as feedback control input for the physical UAV in the physical space. Experimental results show effectiveness of the autonomous navigation and control method for a quadrotor using feedforward-feedback control based on the DT system. © 2025 IEEE.

关键词： Predictive control systems

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Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2022年第3期35卷 148-160页

作者： Kaijie Dong Duanling Li Xingyu Xue Chang Xu Haowei Wang Xianming Gao School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China th Research Institute of China Electronics Technology Group Corporation Hefei 340100China Beijing Institute of Spacecraft System Engineering China Academy of Space TechnologyBeijing 100094China College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 712000China

With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical *** bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and ***,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force *** optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search *** study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large ***,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU *** to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is *** proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.

关键词： Medical robot Bone-attached robot Parallel manipulator Workspace analysis Accuracy analysis

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Online Evaluation of Power Device Aging during AC Power Cycling 6

Online Evaluation of Power Device Aging during AC Power Cycl...

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6th IEEE International electrical and Energy Conference, CIEEC 2023

作者： Wu, Lixin Deng, Erping Wang, Yanhao Cao, Haiyang Huang, Yongzhang Ncepu Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing102206 China School of Electrical Engineering and Automation Hfut Anhui Province Hefei230009 China Shanghai Xpt Technology Limited Shanghai201805 China

ISBN: (纸本)9798350346671

Power devices are widely used in high-voltage converter valves as a core component. At present, standard aging test evaluate devices' reliability by using Direct Current (DC) power cycling test, without the converter conditions of high voltage and switching. Many researchers pay more attention to the actual aging of devices under converter conditions, which is called Alternating Current (AC) power cycling. Due to the complexity of AC power cycling control and the accuracy of junction temperature, it's difficult to achieve online measurements that includes measuring Rth and Vce% and evaluate power device junction temperature accurately at present. In this article, an AC power cycling circuit with accuracy junction temperature measurement is proposed. The equipment's novel features have special circuit and control strategy. A experiments and simulations of package and chip are tested for comparing the difference between AC and DC power cycling. © 2023 IEEE.

关键词： Junction temperature

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Optimal dispatch of integrated energy system considering time-space dimensional demand response based on time-of-use electricity price

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Frontiers in Energy Research 2025年 13卷

作者： Cheng, Tingli Zeng, Liqiang Tang, Hao Zhang, Yingying School of Electrical and Automation Engineering Hefei University of Technology Hefei China State Key Laboratory of Power Transmission Equipment & System Security and New Technology School of Electrical Engineering Chongqing University Chongqing China

Demand response has significant potential for enhancing energy utilization, thereby contributing to the advancement of integrated energy systems (IES). In this paper, an optimal IES dispatch model fully incorporating flexible loads on the demand sides is established. Firstly, based on time-of-use (ToU) electricity pricing, a flexible two-dimensional integrated demand response (IDR) model is presented, which is characterized by considering tightly spatial-temporal coupling characteristics of different loads. Subsequently, a day-ahead dispatch model for IES, incorporating ToU-based IDR, is developed to minimize the total operational cost. In this model, the optimal ToU pricing scheme is determined by comparing their economic efficiencies. The Particle Swarm Optimization (PSO) algorithm is then applied to solve the complex dispatch problem. Finally, the case study is conducted and the comparative results confirm that: 1) implementation of the IDR in time-space dimension can flatten the loads curves;2) the time-space IDR significantly promotes the economic benefits of IES dispatch;3) the proposed dispatch model is able to coordinate and optimize various types of energy and flexible loads. Copyright © 2025 Cheng, Zeng, Tang and Zhang.

关键词： Demand response

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Practical Distance-Based Formation Stabilization and Tracking of Nonholonomic Multi-agent systems 7th

Practical Distance-Based Formation Stabilization and Tracki...

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7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023

作者： Tang, Xiangyu Yu, Jianglong Dong, Xiwang Yang, Xiangyu Ren, Zhang School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733279

This paper investigates practical distance-based formation stabilization and tracking issues for nonholonomic multi-agent systems (MASs). Firstly, the agent’s nonholonomic kinematics is represented as a left invariant system on a Lie group. Through the introduction of an auxiliary state and a virtual control guided by the transverse function method, the original system is effectively converted into a fully actuated one. Secondly, under the assumption of infinitesimal and minimal rigidity in the graph, a gradient-descent-based virtual controller is devised for the transformed MASs, facilitating practical rigid formation stabilization. Thirdly, a discontinuous distributed velocity estimator is designed for formation tracking. The nonholonomic MASs achieve the desired formation shape while effectively tracking the reference trajectory. Finally, the effectiveness of the proposed method is verified by numerical examples. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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Eigen Analysis of Speed Controlling of Doubly-fed Induction Machine based Adjustable-Speed Pumped Storage Unit 12

Eigen Analysis of Speed Controlling of Doubly-fed Induction ...

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12th International Conference on Renewable Power Generation, RPG 2023

作者： She, Zitu Peng, Xiaotao Yang, Dongjun Zhao, Hongsheng Wang, Bo Xu, Qiushi Hubei Key Laboratory of Power Equipment & System Security for Integrated Energy School of Electrical Engineering and Automation Wuhan University Wuhan China School of Electrical Engineering and Automation Wuhan University Wuhan China State Grid Economic and Technology Research Institute of Hubei Electric Power Co. LTD Wuhan China

Doubly Feed Induction Machine based Adjustable Speed Pumped Storage Units(DFIM-ASPSU) due to its advantages of wider operating range, higher efficiency and shorter switching time, it has gained wide attention. In this paper, aiming at the influence of the variation of the parameters of DFIM-ASPSU on the dynamic characteristics of the system speed controlling, a simplified mathematical model of DFIM-ASPSU ignoring the electromagnetic process is established, and then the Eigenvalue analysis method is adopted to obtain the variation trend of the Eigenvalue by using the parameter perturbation method. The analysis results show that, The change of static head has little influence on the stability of rotating speed under power generation conditions. The influence of parameters on the dynamic characteristics of oscillation modes is further studied by using damping ratio and oscillation frequency, and the rationality of theoretical analysis is verified by time domain simulation. © The Institution of Engineering & technology 2023.

关键词： Eigenvalues and eigenfunctions

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Development of a Bio-inspired Tailless FWMAV with High-Frequency Flapping Wings Trajectory Tracking Control

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Journal of Bionic Engineering 2024年第5期21卷 2145-2166页

作者： Qingcheng Guo Chaofeng Wu Yichen Zhang Feng Cui Wu Liu Xiaosheng Wu Junguo Lu National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai Jiao Tong UniversityShanghai200240China Department of Micro/Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai200240China Department of Automation Shanghai Jiao Tong UniversityShanghai200240China The Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China

The development of a tailless Flapping Wing Micro Aerial Vehicle(FWMAV)inspired by the hummingbird is presented in this *** implementing mechanical simplifications,it is possible to use planar machining technology for manufacturing of the FWMAV’s body,greatly reducing assembly ***,studies on flapping wing aircraft are limited to open-loop wing kinematics *** this work,an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’trajectory tracking *** control system is based on Field-Oriented Control(FOC)with a loop shaping compensation technique near the flapping *** frequency analysis,the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping *** implement the proposed controller,a compact autopilot board integrated with FOC hardware is designed,weighing only 2.5 *** utilizing precise wing trajectory tracking control,the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion.

关键词： Flapping Wing Micro Aerial Vehicle(FWMAV) Bio-inspired robotics Trajectory control Loop shaping compensator Field-Oriented Control(FOC)

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Flight Parameter Prediction and Fault Propagation based on Machine Learning and Symbolic Directed Graph 6

Flight Parameter Prediction and Fault Propagation based on M...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Wenzhuo Guo, Kun Cheng, Yuehua Hu, Hengsong Xu, Cheng Yu, Ziquan Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Institute of Mechanical and Electrical Engineering Beijing China

ISBN: (纸本)9798350316155

Fault influence and propagation analysis of flight vehicle systems is an important element of flight vehicle health management and also an important problem to be solved. A fault influence model based on data-driven is established, including a prediction model of flight parameters under fault, a dynamic influence path, and an influence degree model. Based on the historical experimental data, a long and short-term memory neural network (LSTM) model is proposed to predict the time-series data of each flight parameter of the flight vehicle under fault;based on the prediction results, a symbolic directed graph (SDG) is used to describe the fault of the flight vehicle system, and then introduce the concept of a compatible path with time-series characteristics to describe the dynamic propagation process of the fault. The case shows that the method proposed in this paper enables qualitative and quantitative analysis of the fault influence, and can reasonably describe the fault propagation path and influence characteristics. © 2023 IEEE.

关键词： Directed graphs

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