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Multi-Robot Task Allocation Using Multimodal Multi-Objective Evolutionary Algorithm Based on Deep Reinforcement Learning

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 377-387页

作者：苗镇华黄文焘张依恋范勤勤 Logistics Research Center Shanghai Maritime UniversityShanghai 201306China Key Laboratory of Control of Power Transmission and Conversion of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Technology and Control Engineering of Ministry of Communications Shanghai Maritime UniversityShanghai 201306China

The overall performance of multi-robot collaborative systems is significantly affected by the multi-robot task *** improve the effectiveness,robustness,and safety of multi-robot collaborative systems,a multimodal multi-objective evolutionary algorithm based on deep reinforcement learning is proposed in this *** improved multimodal multi-objective evolutionary algorithm is used to solve multi-robot task allo-cation ***,a deep reinforcement learning strategy is used in the last generation to provide a high-quality path for each assigned robot via an end-to-end *** with three popular multimodal multi-objective evolutionary algorithms on three different scenarios of multi-robot task allocation problems are carried out to verify the performance of the proposed *** experimental test results show that the proposed algorithm can generate sufficient equivalent schemes to improve the availability and robustness of multi-robot collaborative systems in uncertain environments,and also produce the best scheme to improve the overall task execution efficiency of multi-robot collaborative systems.

关键词： multi-robot task allocation multi-robot cooperation path planning multimodal multi-objective evo-lutionary algorithm deep reinforcement learning

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Fault Detection for Automated Straddle Carriers Based on Set-membership Filtering Approach

Fault Detection for Automated Straddle Carriers Based on Set...

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2022 International Symposium on Sensing and Instrumentation in 5G and IoT Era, ISSI 2022

作者： Lin, Shuang Zhang, Yilian Ding, Zonghe Chen, Yang Shanghai Maritime University Key Laboratory of Marine Technology and Control Engineering Ministry of Communications Shanghai China

ISBN: (数字)9781665498289

ISBN: (纸本)9781665498289

This paper is concerned with fault detection problem for an automated straddle carrier(ASC). Considering the harsh port environment and unknown-but-bounded(UBB) noise interference, a recursive fault detection algorithm based on set-membership filtering approach is proposed. The algorithm consists of a prediction ellipsoid set and an estimation ellipsoid set. This method determines the fault signal by detecting the existence of intersection between the above sets. Simulation results are provided to demonstrate the effectiveness of the proposed method. © 2022 IEEE.

关键词： Fault detection

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Numerical Simulations and Analysis of the Turning Motion of an Oil Tanker Based on a Body-force Propeller

Numerical Simulations and Analysis of the Turning Motion of ...

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2021 International Conference on Mechanical, Aerospace and Automotive engineering, CMAAE 2021

作者： Hao, Hao Chen, Weimin Wu, Zixin Shanghai Ship and Shipping Research Institute Shanghai China Key Laboratory of Marine Technology Ministry of Communications Prc State Key Laboratory of Navigation and Safety Technology

ISBN: (纸本)9781450385206

The installation of special devices can change the flow field around the hull without changing the ship lines, which has an obvious impact on changing the maneuverability of the ship. Installing deadwood can improve the course keeping stability of a ship, but it will adversely affect the turning performance of the ship. In order to study the change of the turning performance of an oil tanker after the installation of it, this paper uses the body-force method to numerically calculate the turning performance before and after the installation of the *** monitoring the forces of the hull and rudder during the movement, the reasons for the change of the turning movement of the ship are *** the end of this article, the comparisons of ship's speed loss, yaw port rate and motion trajectory are given, and it is concluded that the installation of deadwood has a negative impact on the maneuverability of the ship. © 2021 ACM.

关键词： Body-force method Deadwood Maneuverability Turning motion

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Sensorless PMSM control Algorithm for Rim-Driven Thruster Based on Second-order Sliding Mode Observer 7

Sensorless PMSM Control Algorithm for Rim-Driven Thruster Ba...

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7th IEEE International Conference on Transportation Information and Safety, ICTIS 2023

作者： Yang, Zhi Yan, Xinping Ouyang, Wu Bai, Hongfen Ning, Changxiong Wuhan University of Technology School of Transportation and Logistics Engineering Wuhan China Wuhan University of Technology State Key Laboratory of Maritime Technology and Safety Wuhan China Wuhan University of Technology National Engineering Research Center for Water Transport Safety Wuhan China National Engineering Research Center for Water Transport Safety Wuhan China Ministry of Communications Shanghai Maritime University Key Laboratory of Marine Technology and Control Engineering Shanghai China Wuhan University of Technology School of Naval Architecture Ocean and Energy Power Engineering Wuhan China

ISBN: (纸本)9798350308532

In order to solve the problem of poor speed and position observation performance of the Permanent Magnet Synchronous Motor (PMSM) of rim-driven thruster (RDT), a second-order sliding mode observer based on super-twisting algorithm (STA) is presented. The new algorithm to external interference of and effectively weakens the 'chattering' phenomenon. The new algorithm can effectively suppress the sliding mode chattering and retains the advantages of traditional sliding mode observer algorithm such as strong robustness and insensitivity. The simulation results show that the speed and position error and chattering of the proposed second-order sliding mode observer are reduced compared with traditional SMO. © 2023 IEEE.

关键词： Permanent magnets

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Quantized Set-membership Filtering for Automatic Guided Vehicles with Unknown-but-bounded Noises

Quantized Set-membership Filtering for Automatic Guided Vehi...

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第40届中国控制会议

作者： Hao Yang Yilian Zhang Wei Gu The Key Laboratory of Marine Technology ＆ Control Engineering Ministry of CommunicationsPRCShanghai Maritime University

This paper investigates the quantized set-membership filtering（SMF） problem for network-based automatic guided vehicle（AGV） systems in the presence of unknown-but-bounded（UBB） process and measurement noises. Considering the bandwidth constraints of the communication networks, the measurement outputs of the AGV are quantized before transmitting to the remote filter. Two independent quantizers are designed to quantize each variable in the two-dimensional output vector separately. Then, an SMF scheme is presented to solve the problem of the remote state estimation for the AGV with UBB noises and the quantization error. Next, a recursive convex optimization algorithm is provided to obtain the state estimation ellipsoid sets for the considered AGV. Simulation results demonstrate the effectiveness of the proposed method.

关键词： Automatic guided vehicle communication networks remote state estimation set-membership filtering unknownbut-bounded noise

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A Two-Step Interval Estimation Method for State Monitoring of Port Intelligent Guided Vehicles with Unknown-but-Bounded Noises 8th

A Two-Step Interval Estimation Method for State Monitoring ...

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8th International Conference on Life System Modeling and Simulation, LSMS 2024 and 8th International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2024

作者： Jiang, Yuchen Lin, Yufeng Liang, ZhenLong Zhang, Yilian Key Laboratory of Transport Industry of Marine Technology and Control Engineering Shanghai Maritime University Shanghai201306 China College of Information and Communications Technology School of Engineering and Technology Central Queensland University Rockhampton4701 Australia

ISBN: (纸本)9789819602933

This paper investigates the problem of state monitoring of Intelligent Guided Vehicles (IGVs) operating in the complex port environment. Considering the perturbation suffered by the IGV, a two-step interval estimation method by integrating robust observer design with reachability analysis is proposed. First, we physically model the port IGV and its operating states subject to disturbances and noises, respectively. Then, a robust observer for the state monitoring of the considered IGV is designed and the existing conditions of the observer parameters are derived. In addition, based on the conditions for the existence of the proposed observer, the reachable set is obtained by the zonotope technique. Finally, the effectiveness of the proposed two-step interval estimation algorithm for the considered port IGV is verified by numerical simulations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Automatic guided vehicles

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Time-varying sliding mode controller design with Super-twisting algorithm for Synchronous control of Double-Containers for Overhead Cranes

Time-varying sliding mode controller design with Super-twist...

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第40届中国控制会议

作者： Xinlei Zhu Weimin Xu Zhiteng You Qiang Hu Xianxian Xu Key Laboratory of Marine Technology and Control Engineering Ministry of CommunicationsShanghai Maritime University

In this study, a simple double-container position synchronization control algorithm based on a time-varying sliding mode surface(TVSMS) and adaptive super-twisting algorithm(ASTA) is developed for overhead crane system. The double-container overhead crane suffers from the perturbation of system parameters and external disturbances Firstly, the potential load model of the double-container overhead crane in the interlocking mode is established. Then, a novel time-varying sliding surface is designed using cross-coupling error in order to ensure double-container position synchronization of overhead crane system. The design objective of the proposed controller is to ensure the synchronous movement of double-container while reaching the desired location. The time-varying sliding mode eliminates the reaching phase and ensures the global robustness of the overhead crane system. Furthermore, the adaptive super-twisting algorithm is used to weaken chattering and improve the performance of the controller. At the same time, the extended state observer(ESO) is used to estimate the mismatched disturbance of the overhead crane system. The Lyapunov stability theory is used to prove the stability of the controlled system. The simulation experiments illustrate the effectiveness of the designed algorithms.

关键词： synchronous control interlocking mode time-varying sliding mode extended state observer super-twisting algorithm

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Adaptive uncertainty and disturbance estimator based model reference adaptive dynamic sliding mode control for overhead cranes

Adaptive uncertainty and disturbance estimator based model r...

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第40届中国控制会议

作者： Qiang Hu Weimin Xu Xianxian Xu Zhiteng You Xinlei Zhu Key of laboratory of marine technology and control engineering Ministry of communicationsShanghai Maritime university

This paper proposes a model reference adaptive dynamic sliding mode control(MRASMC) scheme with an adaptive uncertainty and disturbance estimator(AUDE), the scheme is then applied to two-dimensional overhead cranes control with uncertainties, to ensure the payload can be transported to the desired position rapidly while its swing angle can be eliminated simultaneously. Firstly, a desired reference model for improving transient performance is designed. More specifically, a novel chattering-free reaching law along with adaptive integral sliding mode surface is designed to achieve fast convergence of system state variable errors, thereby improving system transient performance. In addition, the designed novel moving sliding mode surface can adjust its slope in real time according to the state variable errors. Moreover, to suppress the uncertainties occurring in overhead cranes system, such as matched disturbances, unmatched disturbances. An adaptive uncertainty and disturbance estimator(AUDE) technique is employed to estimate these disturbances, then the estimated disturbances are taken as feedforward control term to overcome the chattering phenomenon. The stability and convergence of the control system is strictly analyzed using Lyapunov theory. Simulation results are presented to illustrate the effectiveness of the proposed controller.

关键词： overhead crane model reference adaptive adaptive integral sliding mode surface chattering-free reaching law moving sliding mode surface adaptive uncertainty and disturbance estimator unmatched disturbance

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An Adaptive Integral Sliding Mode control method for Overhead Cranes with monocular visual feedback

An Adaptive Integral Sliding Mode Control method for Overhea...

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第40届中国控制会议

作者： Zhiteng You Weimin Xu Xianxian Xu Xinlei Zhu Qiang Hu Key Laboratory of Marine Technology and Control Engineering Ministry of CommunicationsShanghai Maritime University

In this paper, an overhead crane control scheme based on visual feedback is developed to restrain the swing angle of payload and to transport the payload to a desired position rapidly and accurately. A monocular camera system, a modified mean shift algorithm and a minimum area circle method are employed to obtain payload swing angle. Data fusion is proposed to improve the accuracy of payload swing angle which is used as the feedback value of the overhead crane controller. Then, an adaptive gain integral sliding mode controller for the overhead crane is proposed to realize anti sway and positioning control,while eliminating the influence of image processing time and information transmission time, that is, the parameters of the suggested controller may be adjusted according to the delay time. This method can enhance the robustness of the crane control system to time delay caused by image calculation and information transmission and disturbance. The stability of the control system is analyzed using Lyapunov theory. The effectiveness of the proposed control scheme is verified through simulation.

关键词： overhead crane monocular visual-based sliding model control adaptive control image processing data fusion

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A payload swing angle measurement method based on monocular vision for overhead cranes under illumination change

A payload swing angle measurement method based on monocular ...

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第40届中国控制会议

作者： Xianxian Xu Weimin Xu Zhiteng You Qiang Hu Xinlei Zhu Shanghai Maritime University Key Laboratory of Marine Technology and Control Engineering Ministry of Communications

A robust visual algorithm is proposed in order to solve the problem of tracking drift or failure easily and lower accuracy in the load detection of overhead cranes based on visual detection with illumination ***,the load position information of the overhead cranes can be obtained by detecting the spherical marker attached on the load,which is insensitive to rotation and ***,a hierarchical strategy which tracking and detecting to the target is used for load location information *** the tracking module,the insensitivity of texture features to light changes is used,and the improved mean shift algorithm of adaptive linear fusion of color and texture features combined with linear prediction method are applied to track spherical markers continuously under illumination *** the detection module,an improved random incremental circle detection is used to detect spherical markers in real ***,the homomorphic filtering and image processing algorithms are applied to eliminate the impact of illumination changes,which can improve the robustness of the algorithm with the changing of ***,the real-time swing angle are calculated based on the spatial geometry *** results demonstrate that the method can detect the swing angle of the load under illumination change effectively.

关键词： overhead crane illumination change real-time tracking image processing load detection

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