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A Dueling-Double-Deep Q-Network controller for Magnetic Levitation Ball System

A Dueling-Double-Deep Q-Network Controller for Magnetic Levi...

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第三十九届中国控制会议

作者： Yefeng Yang Xiaojun Ban Xianlin Huang Chenghao Shan Center for Control Theory and Guidance Technology Harbin Institute of Technology Institute of Marine Navigation Technology Harbin Engineering University

Deep reinforcement learning technique has attracted extensive attention in the field of control with the rapid development of artifical intelligence. Model-free control methods perform more effcient than traditional model-based control method for complex nonlinear system since they don’t require accurate models. In this study, by using the Dueling-Double-DQN（Dueling-DDQN, 3-DQN） algorithm, a self-learning controller is developed for the magnetic levitation ball system. The numerical simulation demonstrates the effectiveness of our controller. Moreover, we compare the above controller with the DQN-based self-learning controller. Numerical simulation shows that the attraction domain of the Dueling-DDQN controller is larger that the latter.

关键词： Reinforcement learning Magnetic levitation ball system Dueling-Double-DQN Model-free control

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A Dueling-Double-Deep Q-Network controller for Magnetic Levitation Ball System

A Dueling-Double-Deep Q-Network Controller for Magnetic Levi...

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Chinese control Conference (CCC)

作者： Yefeng Yang Xiaojun Ban Xianlin Huang Chenghao Shan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Institute of Marine Navigation Technology Harbin Engineering University Harbin P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Deep reinforcement learning technique has attracted extensive attention in the field of control with the rapid development of artifical intelligence. Model-free control methods perform more effcient than traditional model-based control method for complex nonlinear system since they don't require accurate models. In this study, by using the Dueling-Double-DQN (Dueling-DDQN, 3-DQN) algorithm, a self-learning controller is developed for the magnetic levitation ball system. The numerical simulation demonstrates the effectiveness of our controller. Moreover, we compare the above controller with the DQN-based self-learning controller. Numerical simulation shows that the attraction domain of the Dueling-DDQN controller is larger that the latter.

关键词： Mathematical model Magnetic levitation Artificial neural networks control systems Machine learning Voltage control Training

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Multi-stage Algorithm of Estimation and Fault Diagnose for Closed-loop MIMO Gas Turbine Engine Systems

Multi-stage Algorithm of Estimation and Fault Diagnose for C...

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第27届中国控制与决策会议

作者： REN Jia MA Hong-jun Laboratory of Aeronautical Structures Impact Dynamics AVIC Aircraft Strength Research Institute Institute of Control Theory and Navigation Technology Northeastern University

ISBN: (纸本)9781479970162

Aircraft engines have characteristics with complex structure and prone to fault,in addition,conventional modeling methods based on mechanism analysis has troubles of complicated process and low operational *** solve these problems,an algorithm was proposed for identification and fault diagnose based on data,which could be used in closed-loop MIMO aircraft engine *** the algorithm,external input and output data of running closed-loop system measured online by sensors and data acquisition system were needed without understanding complexity construction and operation *** choosing appropriate auxiliary parameters,auxiliary models were *** time delay was calculated by determining the order of the auxiliary model,parameters of forward channels and feedback channels were estimated by multi-stage least square *** illustrative example of biaxial gas turbine engine system was given for *** the same time,the algorithm can be used for diagnosing gas path fault when the forgetting factor was changing by convergence of recognition result,the fault values can be got at ***,two kinds of important characteristics were introduced,about importance and principium of selecting forgetting factor and excluding disturb of noises by distinguish it by the result of fault.

关键词： Aircraft engine MIMO system closed-loop identification fault diagnose auxiliary model least square

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Multi-stage algorithm of estimation and fault diagnose for closed-loop MIMO gas turbine engine systems 27

Multi-stage algorithm of estimation and fault diagnose for c...

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27th Chinese control and Decision Conference, CCDC 2015

作者： Jia, Ren Ma, Hong-Jun Laboratory of Aeronautical Structures Impact Dynamics AVIC Aircraft Strength Research Institute Xi'An China Institute of Control Theory and Navigation Technology Northeastern University Shenyang China

ISBN: (纸本)9781479970179

Aircraft engines have characteristics with complex structure and prone to fault, in addition, conventional modeling methods based on mechanism analysis has troubles of complicated process and low operational efficiency. To solve these problems, an algorithm was proposed for identification and fault diagnose based on data, which could be used in closed-loop MIMO aircraft engine systems. Using the algorithm, external input and output data of running closed-loop system measured online by sensors and data acquisition system were needed without understanding complexity construction and operation process. By choosing appropriate auxiliary parameters, auxiliary models were established. Then time delay was calculated by determining the order of the auxiliary model, parameters of forward channels and feedback channels were estimated by multi-stage least square algorithm. An illustrative example of biaxial gas turbine engine system was given for simulation. At the same time, the algorithm can be used for diagnosing gas path fault when the forgetting factor was changing by convergence of recognition result, the fault values can be got at last. Finally, two kinds of important characteristics were introduced, about importance and principium of selecting forgetting factor and excluding disturb of noises by distinguish it by the result of fault. © 2015 IEEE.

关键词： Aircraft engine auxiliary model closed-loop identification fault diagnose least square MIMO system

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Three-stage Algorithm of Estimation and Fault diagnose for Closed-loop Gas Turbine Engine Systems with Unknown Time Delay

Three-stage Algorithm of Estimation and Fault diagnose for C...

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第25届中国控制与决策会议

作者： Jia Ren Hongjun Ma Guanghong Yang Institute of Control Theory and Navigation Technology College of Information Science and Engineering Northeastern University

ISBN: (纸本)9781467355339

This paper proposes a three-stage estimation algorithm for identification and fault diagnose of closed-loop linear systems of gas turbine engines with unknown time delay, which can be used for estimating parameters of systems and faults. By means of calculating the ratio of data determinant, the orders of time delay and the system are simultaneously estimated in the first stage. Then a two-stage least square identification method is applied to estimating the parameters and fault of an auxiliary CARMA model with time delay has been calculated. The proposed algorithm has lower computational cost and is effective for gas turbine engine systems with unknown time delay. Finally, a numerical example of biaxial gas turbine engine system is given to shown the effectiveness of the proposed method.

关键词： Parameter estimation Fault diagnose Unknown time delay RELS algorithm

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Long-term tracking method on ground moving target of UAV

Long-term tracking method on ground moving target of UAV

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2014中国制导、导航与控制学术会议

作者： Qingji Gao Zheng chao Zeng Dandan Hu Computer Science and Technology Robotics InstituteCivil Aviation University of ChinaTianjin 300300China School of navigation guidance and control on aviation institute of automationCivil aviation university of ChinaTianjin300300 China Control Theory and Control EngineeringRobotics InstituteCivil Aviation University of ChinaTianjin 300300China

ISBN: (纸本)9781479946983

The 7th IARC (international aerial robot competition) focus on a long-term and real-time tracking of ground moving target for UAV (unmanned aerial vehicle).This paper proposes a tracking method using Camshift algorithm with color and edge features fusion,which will apply a Phash target detection algorithm basing on perceptual hash *** targets are severely obscured or disappear from view,which will lead tracking failure,whereas targets can be detected and obtained again using the *** results demonstrate that this method can provide a long-term and real-time tracking of ground moving target,which processes both robustness and computational efficiency.

关键词： UAV Target tracking Camshift Perceptual hash algorithm

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A tracking control synthesis for uncertain delay nonlinear systems based on T-S fuzzy model

A tracking control synthesis for uncertain delay nonlinear s...

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2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Stojanovski, Goran Nadzinski, Gorjan Stankovski, Mile Jiang, Xin-Wei Faculty of Electrical Eng. and Information Technologies Institute for ASE SS Cyril and Methodius University Skopje MK-1000 Macedonia College of Information Science and Engineering Institute of Control Theory and Navigation Technology Northeastern University Shenyang Liaoning 100006 China

ISBN: (纸本)9781467327824

A novel robust tracking control technique for time-delay systems with uncertain time-delays based on fuzzy T-S is presented. Fuzzy T-S model with parametric uncertainties is employed to represent the uncertain time-delay plant. This control synthesis design is shown reduce the tracking error considerably for all bounded reference inputs while guaranteeing the H performance. The proposed solution has advantage of employing only a simple fuzzy controller and no complicated adaptive scheme. The fuzzy tracking control synthesis is parameterized in terms of a linear matrix inequality, which are solved efficiently by using convex optimization techniques. This method has been applied to trailer-truck example and respective numerical and simulation results demonstrate its valid applicability and efficiency. © 2012 IEEE.

关键词： Linear matrix inequalities

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A design of discrete-time SMC for nonlinear systems based on fuzzy T-S model

A design of discrete-time SMC for nonlinear systems based on...

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2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Nadzinski, Gorjan Vladev, Goran Zheng, Yan Faculty of Electrical Eng. and Information Technologies SS Cyril and Methodius University Karpos 2 BB MK-1000 Skopje Macedonia College of Information Science and Engineering Institute of Control Theory and Navigation Technology Northeastern University Shenyang Liaoning 110006 China

ISBN: (纸本)9781467327824

An innovated investigation of the control problem for nonlinear discrete-time plant systems via Takagi-Sugeno fuzzy model was carried out. Firstly, nonlinear dynamic plants are represented by such a fuzzy model, and then the overall fuzzy model of nonlinear plant is transformed into a class of uncertain linear systems. Thus the stabilization problem of nonlinear plants was mapped into equivalent robust stabilization problem of uncertain linear systems with mismatched uncertainties. The robust stabilization of such uncertain systems is achieved by applying discrete-time sliding mode control approach. The stable sliding surface is designed via linear matrix inequalities to reduce the influence of mismatched uncertainties while also a sufficient condition for its existence was derived too. The synthesis design of the SMC guarantees system robust stabilization in closed loop. Chattering around the sliding surface in sliding mode control is also considerably reduced by this design. This novel technique was applied to the trailer-truck benchmark example and the essential simulation results are given to demonstrate feasibility and performance effectiveness of the proposed method. © 2012 IEEE.

关键词： Sliding mode control

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Pusher reheating furnace control via fuzzy-neural model predictive control synthesis

Pusher reheating furnace control via fuzzy-neural model pred...

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2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Stojanovski, Goran Stankovski, Mile Rudas, Imre J. Jing, Juanwei Faculty of Electrical Eng. and Information Technologies Karpos 2 SS Cyril and Methodius University Skopje MK-1000 Macedonia Institute of Intelligent Engineering Systems Óbuda University Bécsi út 96/B H-1034 Budapest Hungary College of Information Science Engineering Institute of Control Theory Navigation Technology Northeastern University Shenyang Liaoning 100006 China

ISBN: (纸本)9781467327824

A design of fuzzy model-based predictive control for industrial furnaces has been derived and applied to the model of three-zone 25 MW RZS pusher furnace at Skopje Steelworks. The fuzzy-neural variant of Sugeno fuzzy model, as an adaptive neuro-fuzzy implementation, is employed as a predictor in a predictive controller. In order to build the predictive controller the adaptation of the fuzzy model using dynamic process information is carried out. Optimization procedure employing a simplified gradient technique is used to calculate predictions of the future control actions. © 2012 IEEE.

关键词： Optimization

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A Tracking control Synthesis for Uncertain Delay Nonlinear Systems Based on T-S Fuzzy Model

A Tracking Control Synthesis for Uncertain Delay Nonlinear S...

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IEEE International Conference Intelligent Systems

作者： Goran Stojanovski Gorjan Nadzinski Mile Stankovski Xin-Wei Jiang Faculty of Electrical Eng. & Information Technologies Institute for ASE Karpos 2 BB SS Cyril & Methodius University Skopje MK-1000 R. of Macedonia College of Information Science and Engineering Institute of Control Theory & Navigation Technology Northeastern University Shenyang Liaoning 100006 P.R. of China

ISBN: (纸本)9781467322768

A novel robust tracking control technique for time-delay systems with uncertain time-delays based on fuzzy T-S is presented. Fuzzy T-S model with parametric uncertainties is employed to represent the uncertain timedelay plant. This control synthesis design is shown reduce the tracking error considerably for all bounded reference inputs while guaranteeing the H ~∞ performance. The proposed solution has advantage of employing only a simple fuzzy controller and no complicated adaptive scheme. The fuzzy tracking control synthesis is parameterized in terms of a linear matrix inequality, which are solved efficiently by using convex optimization techniques. This method has been applied to trailer-truck example and respective numerical and simulation results demonstrate its valid applicability and efficiency.

关键词： Fuzzy tracking control linear matrx inequalities H~∞ performance T-S fuzzy model uncertainties Delay systems tracking control reference input Plant uncertain T-S fuzzy model Fuzzy linear matrix inequalities Uncertainty synthesis Nonlinear systems Simulation results

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