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第40届中国控制会议

作者： Zuowei Wang Xiaozhong Liao Fengdi Zhang Min Xu Yanmin Liu Xiangdong Liu Xi Zhang Rui wei Dong Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Capital Aerospace Machinery Co. Ltd.

Stochastic policy-based deep reinforcement learning（DRL） has successfully gained the widespread application but demands plenty of stochastic exploration to learn the environment at the initial training *** the agent is exposed to more complex environment,not only is the methodology inefficient,but its performance may also suffer from the issue of high *** paper develops a framework to accelerate the training procedure and reduce the variance by introducing a stochastic switching network,which specifically allows the agent to choose between heuristic actions and actions output by proximal policy optimization（PPO） *** of starting from the random actions,the agent can be effectively guided by the heuristic actions so that the navigation capability of the agent can be rapidly *** vanilla policy gradient（VPG） algorithm is further utilized to train the switching network,which can be jointly trained with the baseline *** the experimental comparison with the baseline PPO in the customized maze environment with openAI Gym toolkit,our method greatly contributes to the more efficient execution of navigation task by means of the heuristic actions for guidance.

关键词： Robot navigation proximal policy optimization（PPO） deep reinforcement learning（DRL） Vanilla policy gradient（VPG） action switching

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A Recommendation system Based on Adaptive Genetic Algorithm for Enclosed Spaces

A Recommendation System Based on Adaptive Genetic Algorithm ...

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International Symposium on Autonomous systems (ISAS)

作者： Meng Guo Songhang Chen Yaozong Wang Fujian Normal University College of Computer and Cyber Security Fuzhou China Department of Quanzhou Institute of Equipment Manufacturing Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences Quanzhou China Department of Quanzhou Institute of Equipment Manufacturing Fujian Provincial Key Laboratory of Intelligent Identification and Control of Complex Dynamic System Quanzhou China

Most of the management systems used in common enclosed spaces only have basic functions such as booking and payment, and do not have epidemic prevention and traceability functions. In the COVID-19 pandemic, enclosed scenes, without an epidemic prevention system, clearly increase the risk of cross-contamination of the population, making it a black box that will amplify the severity of the outbreak. In this paper, we develop an intelligent recommendation system designed to coordinate the operation of enclosed spaces and decentralize the new customers to a low-infection risk box. An adaptive genetic algorithm is proposed to achieve optimal allocation of personnel and boxes, which can avoid contact between customers during low peak hours and minimize cross-contact during peak hours. On the one hand, it guarantees the user experience, and on the other hand, it guarantees these enclosed spaces have a high decentralization of crowd density when an epidemic occurs. This greatly reduces the risk of exposure to infection and is of great significance in preventing the spread of the epidemic.

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Non-Singular Fixed-Time Robust Containment control for Autonomous Surface Vehicles

SSRN

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SSRN 2023年

作者： Ma, Junda Sun, Hefang Tan, Chong Zhao, Tianyuan Liu, Ke College of Automation Harbin University of Science and Technology Harbin150000 China Provincial Key Laboratory of Complex Intelligent System and Integration Harbin150000 China College of Journalism and Communication Jilin University Changchun130000 China College of Measurement and Control Technology and Communication Engineering Harbin University of Science and Technology Harbin150000 China

For the containment control problem of autonomous surface vehicles with external disturbances, a novel non-singular fixed-time control scheme is developed, where the multi-ship system consists of real leaders and followers. In contrast with traditional containment cases studied in most of the existing literature, the real leaders are required to track the desired trajectories, and the followers need to get into the convex hull spanned by the real leaders in fixed time. The method for solving the fixed-time containment control problem is divided into the following steps: Firstly, a fixed-time disturbance observer is designed to estimate the external disturbance for the leaders and the followers, and the estimation result is used to compensate for the input of the control system;Second, combined with fixed-time stability theory and a switch function, a non-singular fixed-time trajectory tracking controller for leaders is designed, such that the position tracking error could be bounded within a fixed time;Third, to achieve formation efficiently, a non-singular fixed-time containment controller strategy incorporating with graph theory is proposed for coordinating followers, such that the fixed-time stability can be ensured. Finally, simulation examples are given to demonstrate the effectiveness of the proposed method. © 2023, The Authors. All rights reserved.

关键词： Graph theory

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Bionic Geomagnetic Navigation for Autonomous Underwater Vehicle with Temporal Attention-based Data-Driven Dead Reckoning

TechRxiv

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TechRxiv 2023年

作者： Yang, Songnan Zhang, Xiaohui Liu, Ding Bai, Wenqi Liu, Fan The School of Automation and Information Engineering Xi’an University of Technology Shaanxi 710048 China The Institute of Advanced Navigation and Electromagnetics Xi’an University of Technology Shaanxi 710048 China The State Key Laboratory of Eco-Hydraulics in the Northwest Arid Region of China Xi’an University of Technology Shaanxi 710048 China The Shaanxi Key Laboratory of Complex System Control with the Intelligent Information Processing Xi’an University of Technology Shaanxi 710048 China

Numerous studies have demonstrated that numerous animal species are capable of goal-directed navigation using environmental information for dead reckoning. The stable magnetic field of the earth provides important information for the migration of animals over long distances. Inspired by the goal-directed navigation of animals, a novel Geomagnetic Navigation with Temporal Attention-based Data-Driven Dead Reckoning (Attention-DR) method for Autonomous Underwater Vehicles (AUV) is presented in this article, which only utilizes the inclination angle (I) and the declination angle (D) of the Geomagnetic Field (GF) for underwater navigation without any prior knowledge of the geographical location or geographic map. This article proposes a Temporal Attention-based Long Short-Term Memory (TA-LSTM) neural network by combining history, GF information, and location in time series to achieve the optimization heading angle of underwater dead reckoning. Due to its ability to adjust the utilization weights of local and global temporal information in the path, TA-LSTM possesses the capability to continually update neural network model parameters through a data-driven process during the navigation process. This enables the Attention-DR to achieve efficient navigation in regions without prior magnetic maps and overcome navigation failures caused by magnetic field anomalies. The simulation outcomes confirm the efficiency, precision, and practicability of the proposed algorithm. © 2023, CC BY.

关键词： Navigation

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Detection of Weak Signal Amplitude of Winding Deformation Based on Duffing Oscillator

Detection of Weak Signal Amplitude of Winding Deformation Ba...

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Chinese control Conference (CCC)

作者： Sheng-Min Li Yuan-Yuan He Yue-Yue Che Xu-Xia Sun Academy of Automation & Information Engineering Xi’an University of Technology Xi’an Key Laboratory of Shaanxi Province for Complex System Control and Intelligent Information Processing Xi’an

In order to solve the problem that it is difficult to detect the weak sinusoidal response signal when the frequency response method is used to detect the transformer winding deformation fault online, this paper proposes a method to detect the amplitude of the response signal by using Duffing oscillator. Secondly, in order to solve the influence of the target signal phase shift on the amplitude detection in the actual detection process, a method of first detecting the signal phase using a vibrator array composed of Duffing vibrators and then detecting the amplitude is proposed. Finally, using this method to process the two sets of measured response signals of online detection, the detection results show that the maximum error between the detected signal amplitude and the standard signal is 5. 69%, which meets the requirements of the power industry standard, which proves that the method used in this article is It is feasible in winding deformation detection.

关键词： Phased arrays Simulation Windings Frequency response Power industry Oscillators Standards

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LQG control for sampled-data systems under stochastic sampling

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Journal of the Franklin Institute 2020年第5期357卷 2773-2790页

作者： Haoyuan Sun Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China College of Electronic and Information Tongji University Shanghai China

This paper studies the linear-quadratic-Gaussian (LQG) problem for sampled-data systems with a stochastic sampling interval obeying a certain probability distribution. An optimal estimator of the system state is presented by the standard Kalman filter , and the Vandermonde matrix and Kronecker product operation are used to calculate the mathematical expectation caused by stochastic sampling in the process of designing the LQG controller. Moreover, it was proved that the controller can ensure the system is exponentially mean square stable. Finally, some simulation results are given to verify the effectiveness and practicability of the proposed controller design method.

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Distributed MPC Algorithm for Linear Discrete systems with Communication Noise

Distributed MPC Algorithm for Linear Discrete Systems with C...

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第40届中国控制会议

作者： Duqiao Zhao Ding Liu Linxiong Liu Xia Zhang National & Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xian University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing

In this paper, a distributed MPC algorithm is proposed for linear discrete systems with bounded communication noise and random communication failure. Based on the characteristics of time-varying directed graphs, the convergence of the algorithm is analyzed in the case of communication noise and random communication failure. This algorithm uses the distributed projection dual subgradient algorithm to solve the dual problem and replaces the double stochastic condition of the traditional algorithm with row stochastic condition. The exponential stability of the system is guaranteed. Finally, an example is given to illustrate the performance of the algorithm.

关键词： Distributed MPC Bounded Communication Noise Random Communication Faults Distributed Projection Dual Subgradient Row Stochastic

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Non-Fourier Heat Conduction based on Self-Adaptive Weight Physics-Informed Neural Networks

Non-Fourier Heat Conduction based on Self-Adaptive Weight Ph...

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第40届中国控制会议

作者： Shuyan Shi Ding Liu Zhongdan Zhao National & Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an University of Technology Shananxi Key Laboratory of Complex System Control and Intelligent Information Processing

This paper establishes the non-Fourier heat conduction model to describe the heat transfer process of mono-crystalline silicon under the condition of unstable thermal field and thermal shock in the Czochralski method.A novel differential equations solver called Physics-Informed Neural Networks（PINN） algorithm was *** with finite element method（FEM）,this method has some advantages like no grid requirement and easily *** order to deal with the unbalance of constraint condition and speed up the convergence,we propose a novel method called Self-Adaptive Weight Physics-Informed Neural Networks（SWPINN）.The comparison of the experimental results of SWPINN and COMSOL verifies the effectiveness of *** modifying the parameter of non-Fourier heat conduction model,this paper obtains the temperature distribution under different heat relaxation ***,comparison between SWPINN and PINN shows that the proposed method has faster convergence speed and higher accuracy.

关键词： Non-Fourier Heat Conduction Physics-Informed Neural Networks Partial Differential Equation Monocrystalline Silicon Czochralski Method

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Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

Research Square

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Research Square 2020年

作者： Guo, Fei Wang, Shoukun Yue, Binkai Wang, Junzheng State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing100081 China

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Transient Electromagnetic Transmitter Circuit with Speedy Shutoff Based on Passive Constant Voltage Clamping

Transient Electromagnetic Transmitter Circuit with Speedy Sh...

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第40届中国控制会议

作者： Guangjun Wang Chengxiang Ding Lan Cui Zhaohui Wang Hui Jiang Xinzhao Qi Deshun Min School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex System School of Law Zhongnan University of Economics and Law

The parasitic inductance of transmitting coil in transient electromagnetic transmitter causes some serious problems like the overlong falling edge time, overshoot and oscillation of the emission current. In order to solve these above problems, this paper proposes a design scheme of passive constant voltage clamping circuit of highly speeding shutoff based on TVS（Transient Voltage Suppressor） and switch. In this design scheme, resistance, TVS and switch are configured in parallel and then connected into the main launch bridge circuit. During the earlier stage of the shutoff of the emission current, TVS is utilized to form the high voltage clamping and thus realize the highly speeding shutoff of the emission current. At the later stage of the emission current decline, the energy of the load inductance is set free by the resistance to prevent the overshoot and oscillation of the emission current. In this paper, the operating procedure and principle of the circuit, the influence of the parameters of core devices on the circuit performance, and the effectiveness of this design scheme is verified by simulation and experiment. The results of simulation and experiment show that this circuit is effective to reduce the shutoff time of the emission current, restrain the overshoot and oscillation meanwhile, and hence improve the wave quality of the emission current.

关键词： transient electromagnetic TVS passive constant voltage clamping speedy shutoff

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