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63rd IEEE Conference on Decision and control, CDC 2024

作者： Tukenmez, Nejat Fotiadis, Filippos Junior, Jose M. Magalhaes Vamvoudakis, Kyriakos G. Bogosyan, Seta O. Istanbul Technical University Mechatronics Engineering Department Istanbul34469 Turkey Georgia Institute of Technology School of Aerospace Engineering AtlantaGA United States Istanbul Technical University Control and Automation Engineering Department Istanbul34469 Turkey

ISBN: (纸本)9798350316339

In this paper, we consider a computationally efficient learning-based control mechanism dealing with dense reward processing for a zero-sum game. The problem has been formulated as the online learning of the Nash equilibrium without requiring any information on the system dynamics. It has firstly been constructed as an infinite horizon optimal control problem, then as an online model-free Q-learning framework, which is composed of critic and actor networks (i.e., for the control and disturbance input). The closed-loop system is also proved to have a stable equilibrium point even in the presence of reward drops. The efficacy of the learning-based controller has been validated through simulations and experiments on micro drones. © 2024 IEEE.

关键词： Contrastive Learning

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Impact Time Cooperative Guidance for Multi-Missile System Based on Incremental Learning 42

Impact Time Cooperative Guidance for Multi-Missile System Ba...

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42nd Chinese control Conference, CCC 2023

作者： Li, Xuheng Yu, Jianglong Dong, Xiwang Ren, Zhang Feng, Zhuo Liang, Biao School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beijing100190 China Beijing Institute of Control and Electronic Technology Beijing100038 China

ISBN: (纸本)9789887581543

An impact time cooperative guidance method based on incremental learning is proposed for multi-missile cooperative guidance problem in the attack scenario. Firstly, a guidance model is established to represent the relationship of the missiles and the target. Secondly, an impact time coordinated guidance law based on the consensus method is designed. Then, time-to-go of the missile is predicted using an incremental learning algorithm, so that the accuracy of time-to-go can be better than the results calculated by traditional methods. Finally, the trained neural network is used to predict time-to-go. The results show that the algorithm can be used in the cooperative guidance law to complete the coordination in time, which is superior to the traditional guidance rate in coordination and has advantage in the scene of large maneuvering target. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Learning algorithms

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Dynamics characteristics analysis of rigid-flexible model under electromechanical coupling effect

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Zhendong yu Chongji/Journal of Vibration and Shock 2025年第12期44卷 10-18页

作者： Lai, Wangjie Cai, Chensheng Huang, Changyang Gao, Haiming Zhang, Shunqi School of Mcchatronic Engineering and Automation Shanghai University Shanghai200444 China Shanghai Institute of Spaceflight Control Technology Shanghai201109 China

Aiming at the problem of flexible vibration of rigid-flexible coupled model in the process of motion, the dynamic modeling and analysis of rigid-flexible model considering the influence of electromechanical coupling were studied. Based on Lagrange' s principle, the ordinary differential equations of motion of the rigid-flexible model and the partial differential equations of the flexible parts were derived to realize the coupling dynamics calculation between the flexible parts and the rigid body. On this basis, the piezoelectric principal structure was introduced to establish the rigid-flexible coupled continuous dynamics equations considering the effect of electromechanical coupling, and the assumed mode method was used to discretize the continuous dynamics equations to establish the system characteristic equations. The accuracy and reliability of the derived model were verified by means of ANSYS individual simulation and ANSYS-ADAMS joint simulation, respectively. Finally, based on the system dynamics model of the truncated mode, the dynamics response of the piezoelectric structure was calculated using PID (proportional-integral-derivative) control, and it was verified that the voltage control based on the piezoelectric intrinsic structure has an obvious suppression effect on the vibration of the high-precision rigid-flexible model. © 2025 Chinese Vibration engineering Society. All rights reserved.

关键词： Flexible couplings

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Intelligent Flight control for Cruise Vehicle Based on Backstepping Design and Reinforcement Learning

Intelligent Flight Control for Cruise Vehicle Based on Backs...

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2023 China automation Congress, CAC 2023

作者： Liu, Xiaodong Jia, Chenhui Yang, Qingjun Wu, Tiancai Zhang, Yu Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China Beijing Aerospace Automatic Control Institute Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350303759

Aiming at velocity/height tracking control and attitude stabilization for the longitudinal flight of cruise vehicle, the research of intelligent flight control method is carried out by combining the backstepping control theory and the deep reinforcement learning method. Firstly, the longitudinal flight control system of the vehicle is decomposed into velocity and height subsystems, and the control law is designed based on backstepping control theory. Then, aiming at the problems that the selection of the multiple control gains will directly affect the control performance of the closed-loop system and the adjustment process of control gains is cumbersome, the twin delayed deep deterministic policy gradient algorithm (TD3) will be adopted to train the cruise vehicle, so that it can determine the control gains online according to the current flight states. The numerical simulation results show that, the proposed intelligent flight control method can guarantee the high-precision tracking with respect to height and velocity commands, and also realize the attitude stability of cruise vehicle. © 2023 IEEE.

关键词： Reinforcement learning

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Receiver Stabilization During Aerial Refueling with Dynamic Surface control

Receiver Stabilization During Aerial Refueling with Dynamic ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Xu, Zhongnan Li, Xuebing Xing, Zhuolin Cheng, Zunkun Su, Zikang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing211106 China Shanghai Institute of Spaceflight Control Technology Shanghai201109 China

ISBN: (纸本)9789811966125

This paper is devoted to stabilizing the receiver subjected to the time-varying fuel mass and external airflow disturbance during aerial refueling. First, the dynamics of the variable-mass receiver with 6 degrees of freedom (DOF) are formulated by constructing a rectangular non-particle tank model to expand the constant mass receiver model. Meanwhile, for the convenience of designing the controller, the dynamics are expressed in an affine nonlinear form. Second, multiple high order sliding mode observers (HOSMO) are established for precisely estimating the lumped disturbances that contain the impact of unstable airflows and unmeasured time-varying states. Then, for compensating these estimated lumped disturbances with feed-forward control, the stabilization controller based on dynamic surface control (DSC) technology is designed. Then, the closed-loop stability of the receiver stabilization control system is proved. In the end, numerical flight simulations are presented to validata the performance of the receiver stabilization controller. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stabilization

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control-oriented models of the shallow water equations using energy-conserving discretization schemes

Control-oriented models of the shallow water equations using...

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93rd Annual Meeting of the International Association of Applied Mathematics and Mechanics, GAMM 2023

作者： Mayer, Luca Wurm, Jens Woittennek, Frank Institute of Automation and Control Engineering UMIT TIROL—Private University for Health Sciences and Health Technology Hall in Tirol Austria

In this study, we introduce higher-order approximation schemes for a 1D shallow-water model with a moving boundary and arbitrary cross-section. The model equations are formulated using Lagrange coordinates to handle the time-varying spatial domain. By discretizing the action functional on a material-fixed grid and applying an appropriate quadrature scheme, we derive a finite-dimensional model. This model, taking mass conservation into account as an auxiliary condition, results in a system of semi-explicit differential-algebraic equations (DAE). Unlike previous work, we employ higher-order quadrature formulae to enhance numerical accuracy, albeit at the cost of more complex nonlinear DAE. In order to compare the performance of the resulting models obtained from using different quadrature schemes, a comprehensive simulation study is conducted. © 2023 WILEY-VCH GmbH.

关键词： Equations of motion

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Optimal Test Selection with Unreliable Tests based on E-dominance Multi-objective Algorithm 7

Optimal Test Selection with Unreliable Tests based on E-domi...

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2023 7th International Symposium on Computer Science and Intelligent control, ISCSIC 2023

作者： Han, Jie Ma, Yajie Meng, Xianfeng Lu, Ningyun Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing China AVIC xi'An Flight Automatic Control Research Institute Xi'an China

ISBN: (纸本)9798350342987

Optimal test selection is to reduce test costs and time, as well as improve fault coverage and fault diagnosis rates, which is a significant component of design for testability (DFT). This paper takes into account the uncertainties between faults and tests and proposes a novel method to address the problem. First of all, a novel testability metric is defined, where the test selection with unreliable tests is formulated as a multi-objective optimization one. Subsequently, the E-dominance mechanism is introduced and incorporated with preference weight of decision makers to evaluate the quality of test selection solutions. By combining genetic particle swarm optimization (GPSO) with E-dominance, the solution of the problem is generated and stored in an external archive, which is updated according to dominance rules in each iteration. The experimental results demonstrate that compared with the method based on Pareto mechanism, this method produces fewer solutions and performs well on the target with higher weight. These factors contribute to the ability of decision-makers to efficiently choose solutions that align more closely with their requirements, thus substantiating the efficacy of the proposed approach in addressing the issues of test selection. © 2023 IEEE.

关键词： Design for testability

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Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： Adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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Two-Stage OD Flow Prediction for Emergency in Urban Rail Transit

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IEEE Transactions on Intelligent Transportation Systems 2024年第1期25卷 920-928页

作者： Zhu, Guangyu Ding, Jiacun Wei, Yun Yi, Yang Xu, Sendren Sheng-Dong Wu, Edmond Q. Beijing Jiaotong University Key Lab. of Transport Industry of Big Data Application Technologies for Comprehensive Transport The Beijing Research Center of Urban Traffic Information Sensing and Service Technologies Beijing100044 China Beijing Mass Transit Railway Operation Corporation Ltd. Beijing100014 China Yangzhou University College of Information Engineering Yangzhou225127 China National Taiwan University of Science and Technology Automation and Control Center The Graduate Institute of Automation and Control Taipei106335 Taiwan Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China The Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

Urban rail transit (URT) is vulnerable to natural disasters and social emergencies including fire, storm and epidemic (such as COVID-19), and real-time origin-destination (OD) flow prediction provides URT operators with important information to ensure the safety of URT system. However, hindered by the high dimensionality of OD flow and the lack of supportive information reflecting the real-time passenger flow changes, study in this area is at the beginning stage. A novel model consisting of two stages is proposed for OD flow prediction. The first stage predicts the inflows of all stations by Long Short-Term Memory (LSTM) in real time, where the dimension is reduced compared with predicting OD flows directly. In the second stage, the notion of separation rate, namely, the proportion of inbound passengers bounding for another station, is estimated. Finally, The OD flow is predicted by multiplying the inflow and separation rate. Experiments based on Hangzhou Metro dataset show the proposed model outperforms the contrast model in weighted mean average error (WMAE) and weighted mean square error (WMSE). Results also suggest that the proposed prediction model performs better on weekdays than on weekends, and with greater accuracy on larger OD flows. © 2000-2011 IEEE.

关键词： Forecasting

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High-order Differential Feedback control and Quantitative Analysis for High-spinning Flight Vehicles

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Hu, Yuhui Liu, Yingxin Shen, Kai Zhang, Xinye Shi, Jingyu Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Control Engineering Beijing100190 China

High-spinning flight vehicles (HFVs) offer significant advantages for modern flight systems, including low cost and high-precision guidance. With the advancement of high-performance angular accelerometers, direct perception and feedback of angular acceleration have become a promising approach. In this paper, a two-loop acceleration autopilot with high-order feedback of angular acceleration (AFAA) is proposed to replace the traditional feedback of angular rate (AFAR). Both autopilots are synthesized via linear quadratic output feedback tracking (LQ OFT) approach with direct feedthrough component, incorporating frequency constraints. A hierarchical quantitative analysis framework including matrix pseudospectra-based robustness indices, degree of output controllability (DOC), null controllable region, and stability region, is developed to evaluate the performance of the proposed AFAA structure. Numerical simulations, accounting for sensor dynamics, are conducted to compare the frequency-domain characteristics and hierarchical quantitative parameters of HFVs with varying static stability properties. The results demonstrate the superiority of AFAA over AFAR and highlight the enhanced control performance achieved by static anti-stable HFVs. © 2025 IEEE.

关键词： controllability

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