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Online Fault-Tolerant Tracking Control With Adaptive Critic for Nonaffine Nonlinear systems

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 215-227页

作者： Ding Wang Lingzhi Hu Xiaoli Li Junfei Qiao IEEE the School of Information Science and Technology Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protection and Beijing Institute of Artificial Intelligence Beijing University of Technology

In this paper, a fault-tolerant-based online critic learning algorithm is developed to solve the optimal tracking control issue for nonaffine nonlinear systems with actuator ***, a novel augmented plant is constructed by fusing the system state and the reference trajectory, which aims to transform the optimal fault-tolerant tracking control design with actuator faults into the optimal regulation problem of the conventional nonlinear error system. Subsequently, in order to ensure the normal execution of the online learning algorithm, a stability criterion condition is created to obtain an initial admissible tracking policy. Then, the constructed model neural network(NN) is pretrained to recognize the system dynamics and calculate trajectory control. The critic and action NNs are constructed to output the approximate cost function and approximate tracking control,respectively. The Hamilton-Jacobi-Bellman equation of the error system is solved online through the action-critic framework. In theoretical analysis, it is proved that all concerned signals are uniformly ultimately bounded according to the Lyapunov *** tracking control law can approach the optimal tracking control within a finite approximation error. Finally, two experimental examples are conducted to indicate the effectiveness and superiority of the developed fault-tolerant tracking control scheme.

关键词： Adaptive critic control neural network (NN) nonaffine nonlinear systems online fault-tolerant tracking design uniform ultimate boundedness

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Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

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Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

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Influence of temperature and internal leakage on magnetorheological damper

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International Journal of Mechanical system Dynamics 2024年第4期4卷 487-496页

作者： Hongtao Zhu Xiaoting Rui FuFeng Yang Wei Zhu Min Jiang The Key Laboratory of System Dynamics of Complex Equipment Nanjing University of Science and TechnologyNanjingChina

To study the influence of temperature and internal leakage on the performance of magnetorheological(MR)damper,a single-rod straight-cylinder MR damper with an inside temperature sensor is designed in this study.A unified model for MR damper is given,and a new two-step parameters identification method is proposed to determine model *** experiment,in which the damper is heated by long-time displacement excitation,is designed to study the effect of temperature and internal *** influence mechanism of temperature and internal leakage on MR damper is analyzed through theoretical derivation and experimental results in this study.

关键词： MR damper normalized Bouc-Wen model temperature-dependent model internal leakage

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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

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Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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Fractal autoencoder with redundancy regularization for unsupervised feature selection

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science China(Information sciences) 2025年第2期68卷 89-102页

作者： Meiting SUN Fangyu LI Honggui HAN School of Information Science and Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Digital Community Ministry of Education Beijing Institute of Artificial Intelligence

Feature selection is a crucial step in data preprocessing because feature selection reduces the dimensionality of data by eliminating irrelevant and redundant features. Since manual labeling is expensive, unsupervised feature selection has received increasing attention in recent years. However, existing unsupervised feature selection methods tend to prioritize selecting highly correlated features over exploring feature diversity. Thus, a regularized fractal autoencoder(RFAE) method is proposed to select informative features in an unsupervised way. Specifically, the fractal autoencoder network extends autoencoders to construct a correspondence neural network and a selection neural network. The correspondence neural network exploits interfeature correlations and the selection neural network selects the informative features. A redundancy regularization strategy consists of a redundancy elimination regularization term based on the dependency between features and a sparse regularization term based on the group lasso. The redundancy regularization strategy eliminates feature subset redundancy and enhances network generalization ability. Extensive experimental results on six publicly available datasets show that the proposed RFAE outperforms the compared methods regarding clustering accuracy and classification accuracy. Moreover, the proposed RFAE achieves acceptable computation efficiency.

关键词： unsupervised feature selection fractal autoencoder correspondence neural network selection neural network redundancy regularization strategy

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Mission-oriented capability evaluation for combat network based on operation loops

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Defence Technology（防务技术） 2024年第12期42卷 156-175页

作者： Yang Wang Junyong Tao Xiaoke Zhang Guanghan Bai Yunan Zhang Laboratory of Science and Technology on Integrated Logistics Support College of Intelligence Science and TechnologyNational University of Defense TechnologyChangsha 410073China National Key Laboratory for Complex Systems Simulation Beijing 100101China

With continuous growth in scale,topology complexity,mission phases,and mission diversity,challenges have been placed for efficient capability evaluation of modern combat *** at the problems of insufficient mission consideration and single evaluation dimension in the existing evaluation approaches,this study proposes a mission-oriented capability evaluation method for combat systems based on operation ***,a combat network model is given that takes into account the capability properties of combat ***,based on the transition matrix between combat nodes,an efficient algorithm for operation loop identification is proposed based on the Breadth-First *** the mission-capability satisfaction of nodes,the effectiveness evaluation indexes for operation loops and combat network are proposed,followed by node importance *** a case study of the combat scenario involving space-based support against surface ships under different strategies,the effectiveness of the proposed method is *** results indicated that the ROI-priority attack method has a notable impact on reducing the overall efficiency of the network,whereas the O-L betweenness-priority attack is more effective in obstructing the successful execution of enemy attack missions.

关键词： Combat network Operation loop identification Mission-oriented Network reliability Network effectiveness evaluation Strike strategies

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Study on the coupling calculation method for the launch dynamics of a self-propelled artillery multibody system considering engraving process

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Defence Technology（防务技术） 2024年第9期39卷 67-85页

作者： Shujun Zhang Xiaoting Rui Hailong Yu Xiaoli Dong Institute of Launch Dynamics Nanjing University of Science and TechnologyNanjing 210094China National Key Laboratory of Complex Multibody System Dynamics Nanjing 210094China

The launch dynamics theory for multibody systems emerges as an innovative and efficacious approach for the study of launch dynamics,capable of addressing the challenges of complex modeling,diminished computational efficiency,and imprecise analyses of system dynamic responses found in the dynamics research of intricate multi-rigid-flexible body systems,such as self-propelled *** advancement aims to enhance the firing accuracy and launch safety of self-propelled *** the shortfall of overlooking the band engraving process in existing theories,this study introduces a novel coupling calculation methodology for the launch dynamics of a self-propelled artillery multibody *** method leverages the ABAQUS subroutine interface VUAMP to compute the dynamic response of the projectile and barrel during the launch process of large-caliber self-propelled ***,it examines the changes in projectile resistance and band deformation in relation to projectile motion throughout the band engraving *** analysis of the computational outcomes with experimental data evidences that the proposed method offers a more precise depiction of the launch process of self-propelled artillery,thereby enhancing the accuracy of launch dynamics calculations for self-propelled artillery.

关键词： Self-propelled artillery Engraving process Multibody system dynamics Launch dynamics

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Distributed Observer for Full-Measured Nonlinear systems Based on Knowledge of FMCF

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 69-85页

作者： Haotian Xu Shuai Liu Yueyang Li Ke Li the School of Control Science and Engineering Shandong University and also with Key Laboratory of Machine Intelligence and System Control Ministry of Education IEEE the School of Electrical Engineering University of Jinan

Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitations: They either fail to address more complex nonlinear phenomena, rely on hard-to-verify assumptions, or encounter difficulties in solving system ***, this paper aims to address these challenges by investigating distributed observers for nonlinear systems through the full-measured canonical form(FMCF), which is inspired by full-measured system(FMS) theory. To begin with, this study addresses the fact that the FMCF can only be obtained through the observable canonical form(OCF) in existing FMS *** paper demonstrates that a class of nonlinear systems can directly obtain FMCF through state space equations, independent of OCF. Also, a general method for solving FMCF in such systems is provided. Furthermore, based on the FMCF, A distributed observer is developed for nonlinear systems under two scenarios: Lipschitz conditions and open-loop bounded *** paper establishes their asymptotic omniscience and demonstrates that the designed distributed observer in this study has fewer design parameters and is more convenient to construct than existing approaches. Finally, the effectiveness of the proposed methods is validated through simulation results on Van der Pol oscillators and microgrid systems.

关键词： Distributed observer full-actuated system full-measured system (FMS) nonlinear observer sensor networks

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Fast measurement and prediction method for electromagnetic susceptibility of receiver

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Journal of systems Engineering and Electronics 2024年第2期35卷 275-285页

作者： CHEN Yan LU Zhonghao LIU Yunxia State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System College of Electronic Science and TechnologyNational University of Defense TechnologyChangsha 410073China State Key Laboratory of Astronautic Dynamics Xi’an 710043China

Aiming at evaluating and predicting rapidly and accurately a high sensitivity receiver’s adaptability in complex electromagnetic environments,a novel testing and prediction method based on dual-channel multi-frequency is proposed to improve the traditional two-tone ***,two signal generators are used to generate signals at the radio frequency(RF)by frequency scanning,and then a rapid measurement at the intermediate frequency(IF)output port is carried out to obtain a huge amount of sample data for the subsequent ***,the IF output response data are modeled and analyzed to construct the linear and nonlinear response constraint equations in the frequency domain and prediction models in the power domain,which provide the theoretical criteria for interpreting and predicting electromagnetic susceptibility(EMS)of the *** experiment performed on a radar receiver confirms the reliability of the method proposed in this *** shows that the interference of each harmonic frequency and each order to the receiver can be identified and predicted with the sensitivity *** on this,fast and comprehensive evaluation and prediction of the receiver’s EMS in complex environment can be efficiently realized.

关键词： electromagnetic susceptibility(EMS) receiver dualchannel multi-frequency nonlinear response frequency domain power domain

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Surface-PMSM Sensorless Control Strategy Based on Reduced-Order Linear Kalman Filter Cooperating with Prediction Error Rolling Compensation

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IEEE Transactions on Power Electronics 2025年第8期40卷 10804-10815页

作者： Xu, Sang Shen, Anwen Tang, Qipeng Wang, Miaomiao Luo, Pan Luo, Xin Xu, Jinbang National Key Laboratory of Science and Technology on Multispectral Information Processing Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Science and Technology on Reactor System Design Technology Laboratory Chengdu China

Kalman filter (KF) is increasingly attracted for sensorless control of surface permanent magnet synchronous motors (SPMSMs) due to its strong robustness against measurement and system noise. However, conventional method suffers from poor position and speed estimation accuracy under dynamic conditions, and high computational cost. In order to solve these problems, an enhanced sensorless control strategy based on reduced-order linear Kalman filter (RLKF) cooperating with prediction error rolling compensation is introduced in this paper. Differing from conventional method, a reduced-order linear state equation encompassing rotor position, speed and torque disturbance is constructed. Then, by obtaining the prediction error of system output using the motor current equation in the predictive reference frame, the optimal estimation of rotor position and speed in KF algorithm is achieved based on the reduced-order model. This not only simplifies the calculation process, but also enhances the position and speed estimation accuracy under dynamic conditions. Meanwhile, a prediction error rolling compensation algorithm is developed to minimize the estimation deviations caused by motor parameters variations. Additionally, the system's dynamic performance is further improved with an adopted speed controller based on torque disturbance feedforward and acceleration feedback. Finally, experimental results verify the effectiveness and feasibility of the proposed strategy.1 © 1986-2012 IEEE.

关键词： Permanent magnets

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