检索结果-内蒙古大学图书馆

第36届中国控制会议

作者： Ting Fei Xin Chen Min Wu Chi Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

A cooperative multi-agent system entitles some independent agents to complete complex tasks through coordination and *** the dynamics of physical agents are so complex that the environment of learning is indeed stochastic,the paper introduces the decentralized multi-agent reinforcement learning（MARL） algorithm,named as Decentralized Concurrent Learning with Cooperative Policy Exploration（DCL-CPE）,in order to solve cooperative learning within stochastic *** investigate its feasibility in practical multi-agent systems,the box-pushing test with DCL-CPE is designed with a group of two-wheel driven robots acting as learning *** to physical properties,such as nonholonomic dynamics,rolling and sliding frictions,unreliable sense,rigid body collision,etc.,the cooperative learning is a high stochastic learning *** simulation test in Webots shows that DCL-CPE is good at exploring best cooperative policy in a decentralized way,even as state transition and rewards are all stochastic.

关键词： Multi-agent system Decentralized cooperative learning Stochastic environment Webots

来源：评论

学校读者我要写书评

暂无评论

Consensus control of second-order stochastic discrete-time multi-agent systems without velocity transmission

引用

control Theory and Technology 2023年第4期21卷 591-601页

作者： Zi-Xuan Wang Xiaofeng Zong Ling-Jie Gai School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems WuhanHubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhanHubeiChina

This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative ***,a control law based on the absolute velocity and relative position information is ***,considering the existence of multiplicative noises and nonlinear terms with Lipschitz constants,the consensus control problem is solved through the use of a degenerated Lyapunov ***,for the linear second-order multi-agent systems,some explicit consensus conditions are ***,two sets of numerical simulations are performed.

关键词： Consensus control Multiplicative noises Second-order Discrete-time Multi-agent system

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range

引用

Journal of Bionic Engineering 2022年第5期19卷 1334-1348页

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

In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending *** device consists of soft gripper structures and a soft bionic bracket *** adopt the local thin-walled design in the soft gripper *** design improves the grippers’bending efficiency,and imitate human finger’s segmental bending *** addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing *** to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping ***,to grasp small objects reliably,we further present a new Pinching Grasping(PG)*** great performance of the fully SBGD is verified by *** work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.

关键词： Fully soft bionic grasping device Local thin-walled grippers Soft bionic bracket Adjust grasping range automatically Segmental bending shape New pinching grasping method

来源：评论

学校读者我要写书评

暂无评论

Containment control of Multi-Agent systems with Stochastic Multiplicative Noises

引用

Journal of systems Science & complexity 2022年第3期35卷 909-930页

作者： REN Junhao ZONG Xiaofeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied *** on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure ***,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure *** is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent *** examples are also introduced to illustrate the effectiveness of the theoretical results.

关键词： Containment control multi-agent system multiplicative noises stochastic system

来源：评论

学校读者我要写书评

暂无评论

A modular four-modal soft grasping device

引用

Science China(Technological Sciences) 2022年第8期65卷 1845-1858页

作者： GAI LingJie ZONG XiaoFeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.

关键词： four-modal soft grasping device modular suction cups soft wrapper soft fingers

来源：评论

学校读者我要写书评

暂无评论

An ensemble model based on weighted support vector regression and its application in annealing heating process

引用

Science China(Information Sciences) 2019年第4期62卷 203-205页

作者： Yongyue ZHANG Weihua CAO Yali JIN Min WU School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences

Dear editor,In the steel industry, the annealing heating production directly impacts the economic benefits of enterprises; hence, accurately predicting the required gas flow is very important [1]. On account of high equipment complexity, it costs lots of time for maintaining a traditional mechanism model at a good working condition; data-driven model, such

关键词： SVR An ensemble model based on weighted support vector regression and its application in annealing heating process

来源：评论

学校读者我要写书评

暂无评论

A Contribution-based Resource Allocation Scheme for Multi-population Methods in Dynamic Environments 2

A Contribution-based Resource Allocation Scheme for Multi-po...

引用

2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Peng, Mai Li, Changhe Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182162

The multi-population method is a common method for solving dynamic optimization problems. However, to design an efficient multi-population method, one of the challenging issues is how to allocate computational resources between populations given a limited computing buget in dynamic environments. This paper designs a contribution-based resource allocation mechanism. In this mechanism, a contribution degree of a population is defined according to the performance of the population, which determines the probability of the population to obtain the computing resource. This mechanism is implemented in an adaptive multi-population method. Experimental results on the moving peaks benchmark show that the algorithm equipped with the resource allocation mechanism outperforms the original algorithms. © 2020 IEEE.

关键词： Resource allocation

来源：评论

学校读者我要写书评

暂无评论

Adaptive Sliding Mode control for Flexible Dual-manipulator with Friction Compensation

Adaptive Sliding Mode Control for Flexible Dual-manipulator ...

引用

2022 Chinese automation Congress, CAC 2022

作者： Song, Tao Zheng, Shiqi Sun, Jiachun Li, Liangguang Chang, Qing Li, Zhipeng China University of Geosciences Wuhan Campus School of Automation China Hubei Key Laboratory of Advanced Control and Intelligent Automation Fo Complex Systems Wuhan China

ISBN: (纸本)9781665465335

This paper focuses on the coordinated tracking control scheme of dual-manipulator based on friction compensation. First, a new dual-manipulator model with flexible joints and friction is constructed;Second, a new adaptive neural control method is proposed for the dual-manipulators with flexible joints. Neural networks are used to approximate the unknown nonlinear dynamics in the model;Third, new state observers are constructed to estimate the joint friction. Based on the observers, the friction can be well compensated. The stability of the system is derived by using Lyapunov method. The simulation results verify the effectiveness of the practical method. © 2022 IEEE.

关键词： Lyapunov methods

来源：评论

学校读者我要写书评

暂无评论

A Computer-Aided Tuning Method for Microwave Filters by Combing T-S Fuzzy Neural Networks and Improved Space Mapping

引用

Computer Modeling in Engineering & Sciences 2018年第9期116卷 433-453页

作者： Shengbiao Wu Weihua Cao Can Liu Min Wu School of Automation China University of GeoscienceWuhanHubei430074China Nanchang Institute of Science and Technology.Nanchang Jiangxi330100China The Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems WuhanHubei430074China

A computer-aided tuning method that combines T-S fuzzy neural network(TS FNN)and offers improved space mapping(SM)is presented in this *** method consists of three main ***,the coupling matrix is effectively extracted under the influence of phase shift and cavity loss after the initial ***,the surrogate model is realized by using a T-S FNN based on subspace ***,the mapping relationship between the actual and the surrogate models is established by the improved space mapping algorithm,and the optimal position of the tuning screws are found by updating the input and output parameters of the surrogate ***,the effectiveness of different methods is verified by an experiment with a nine order cross coupled *** results show that,compared to a back propagation neural network method based on electromagnetic simulation and an SM method based on a least squares support vector machine,the proposed method has obvious advantages in terms of tuning accuracy and tuning time.

关键词： Computer-aided tuning T-S FNN S-parameters coupling matrix

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：