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2022 Chinese Automation Congress, CAC 2022

作者： Ma, Jianjun Gan, Yahui Dai, Xianzhong Ministry of Education School of Automation Southeast University Key Laboratorty of Measurement and Control of Complex Systems of Engineering Nanjing China

ISBN: (纸本)9781665465335

Dynamics parameter identification is a key factor and a difficult area in the development of robot motion control technology. In order to obtain accurate dynamics parameters, an integral identification method combined with the immune algorithm is studied and experimented with. Firstly, the dynamics model of the industrial robot is derived from the Newton-Euler iteration method. Then, taking the condition number of the observation matrix as the optimization index, an ideal excitation trajectory is optimized by the immune algorithm. Butterworth zero-phase low-pass filter and the weighted least square method are used to solve the minimum parameter set of dynamics. A new validation trajectory is designed using the fmincon toolbox to cross-validate the identified dynamics model. Finally, the above identification algorithm is tested with Inexbot LG-607L robot in China as the experimental object. The experimental results show that the immune algorithm can calculate the excitation trajectory with a lower matrix condition number than the fmincon method and the genetic algorithm. And the parameter identification effect of the integral method is accurate. © 2022 IEEE.

关键词： Trajectories

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Development of electric cart for improving walking ability — application of control theory to assistive technology

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Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： Jinhua SHE Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

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Game-theoretical explorations of the mesoscale flow structure and regime transitions in bubble columns

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Particuology 2020年第1期18卷 100-108页

作者： Shuo Yuan Yifen Mu Xiaoping Guan Zhixin Liu Jianhua Chen Ning Yang Lin Zhang Key Lab of Systems and Control Institute of Systems SciencesAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

Understanding the mesoscale structure and regime transition in bubble columns is of great significance for reactor design and *** on the energy-minimization multiscale(EMMS)model,a noncooperative game model with constraints is proposed to investigate the structural properties of gas-liquid systems in which small and large bubbles are chosen as players and the energy consumption form the objective *** conservation equations of the system can be regarded as the constraints of the *** the formulated noncooperative game model,the concept of the generalized Nash equilibrium(GNE)is used to characterize the *** algorithm is developed to numerically compute the GNE and some important structural parameters in the *** numerical results show the existence of the GNE for all values of the superficial gas velocity *** Ug varies,the trends in the state variables can be observed and the critical point of Ug *** overall trend of the flow regime transition agrees with the original EMMS model and experimental results,although the GNE calculation also reveals different single-bubble dominant mechanisms with increasing Ug.

关键词： Bubble column Mesoscale Regime transition Game theory Generalized Nash equilibrium EMMS model

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带马尔科夫跳的模态相关时变时滞随机系统的状态反馈控制器设计(英文)

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自动化学报 2010年第11期36卷 1601-1610页

作者：马莉达飞鹏吴凌尧 Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of EducationResearch Institute of AutomationSoutheast University College of Electronic and Information Engineering Jiangsu University

In this paper,an improved mean-square exponential stability condition and delayed-state-feedback controller for stochastic Markovian jump systems with mode-dependent time-varying state delays are obtained. First,by constructing a modified Lyapunov-Krasovskii functional,a mean-square exponential stability condition for the above systems is presented in terms of linear matrix inequalities (LMIs). Here,the decay rate can be a finite positive constant in a range and the derivative of time-varying delays is only required to have an upper bound which is not required to be less than 1. Then,based on the proposed stability condition,a delayed-state-feedback controller is designed. Finally,numerical examples are presented to illustrate the effectiveness of the theoretical results.

关键词：马尔科夫跳模态相关时变时滞随机系统状态反馈控制器

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Mars Entry Trajectory Tracking Via Constrained Multi-Model Predictive control 33

Mars Entry Trajectory Tracking Via Constrained Multi-Model P...

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第三十三届中国控制会议

作者： WU Chao LI Shihua YANG Jun GUO Lei School of Automation Southeast University & Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education School of Automation Science and Electrical Engineering Beihang University & Institute of Instrument Science and Opto-Electronics Engineering

ISBN: (纸本)9781479947249

Tracking law designed for future Mars entry missions is investigated in this article. For precision landing, the nonlinear entry dynamics, complex uncertainties and input saturation constraints are unavoidable problems. Facing these challenges, the Mars entry trajectory tracking scheme via constrained multi-model predictive control(CMPC) is employed. The CMPC is made up of some constrained predictive control(CPC) in different time domain during the Mars entry mission. Each constrained predictive controller consists of a linearized prediction model(obtained by linearizing at different operating point), feedback correction for active model mismatch rejection caused by the complex uncertainties, and constrained rolling optimization for a smooth control input under a saturation constraint. Monte Carlo simulations demonstrate the effectiveness and excellence of the proposed method under the saturation constraint of input and uncertainties of initial state and aerodynamic parameters such as atmospheric density, ballistic coefficient and lift-to-drag ratio.

关键词： Mars Entry,Trajectory Tracking,Constrained Multi-Model Predictive control,Monte Carlo Simulation

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Apollonius Partitions Based Pursuit-evasion Game Strategies by Q-Learning Approach 41

Apollonius Partitions Based Pursuit-evasion Game Strategies ...

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第41届中国控制会议

作者： Qing Wang KaiQi Wu JianFeng Ye YongBao Wu Lei Xue SEU-Monash Joint Graduate school Southeast University The College of Software Engineering Southeast University School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper studies a classical single pursuer and single evader pursuit-evasion *** pursuer attempts to capture the slower evader who aims to extend its lifetime during the *** simplify this question,requiring the evader to take fixation strategy which is choosing the farthest point in its current dominant region as aimpoint and moving at a constant *** the pursuer is faster than the ***,the speed ratio is a *** instaneous state space will be partitioned into pursuer's dominant zone and evader's dominant zone by the generalized Apollonius *** pursuit strategy is based on minimizing the area of the evader's dominant ***,we propose a supermodular game for this ***,the existence of the Nash equilibrium is *** results based on Q-learning are presented to solve the problem,which shows the effectiveness of this method.

关键词： Pursuit-evasion game Nash equilibrium Q-learning

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Multiple AMR Rigid Formation control With Collision Avoidance Based On MADDPG 41

Multiple AMR Rigid Formation Control With Collision Avoidanc...

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第41届中国控制会议

作者： Kaiqi Wu Qing Wang YongBao Wu Jian Liu Lei Xue The College of Software Engineering Southeast University SEU-Monash Joint Graduate school Southeast University School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Recently,the formation control of multiple autonomous mobile robots(AMRs) have gained significant attention,and autonomous mobile robots(AMRs) have applied to all aspects of our ***-agent reinforcement learning is used to solve the autonomously sequential decision-making problem of agents in a common environment with competition or ***,we present a utility function and a reward function to achieve formation control with collision avoidance for a rigid AMRs system,and build a simulation environment to meet environmental requirements based on MPE.

关键词： Formation control Reinforcement learning Rigid system Collision avoidance

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Relay Selection and Power control for Mobile Underwater Acoustic Communication Networks: A Dual-Thread Reinforcement Learning Approach

IEEE Transactions on Green Communications and Networking

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IEEE Transactions on Green Communications and Networking 2024年第2期9卷 1-1页

作者： Dai, Jun Li, Xinbin Han, Song Yu, Junzhi Liu, Zhixin Key Lab of Industrial Computer Control Engineering of Hebei Province China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China

This paper deals with a cooperation communication problem (relay selection and power control) for mobile underwater acoustic communication networks. To achieve satisfactory transmission capacity, we propose a reinforcement-learning-based cooperation communication scheme to efficiently resist the highly dynamic communication links and strongly unknown time-varying channel states caused by the mobility of Autonomous Underwater Vehicles (AUVs). Firstly, a particular Markov decision process is developed to model the dynamic relay selection process of mobile AUV in the unknown scenario. In the developed model, an experimental statistical-based partition mechanism is proposed to cope with the greatly increasing dimension of the state space caused by the mobility of AUV, reducing the search optimization difficulty. Secondly, a dual-thread reinforcement learning structure with actual and virtual learning threads is proposed to efficiently track the superior relay action. In the actual learning thread, the proposed improved probability greedy policy enables the AUV to strengthen the exploration for the reward information of potential superior relays on the current state. Meanwhile, in the virtual learning thread, the proposed upper-confidence-bound-index-based uncertainty estimation method can estimate the action-reward level of historical states. Consequently, the combination of actual and virtual learning threads can efficiently obtain satisfactory Q value information, thereby making superior relay decision-making in a short time. Thirdly, a power control mechanism is proposed to reuse the current observed action-reward information and transform the multiple unknown parameter nonlinear joint power optimization problem into a convex optimization problem, thereby enhancing network transmission capacity. Finally, simulation results verify the effectiveness of the proposed scheme. IEEE

关键词： Convex optimization

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A 1-dodecanethiol-based phase transfer protocol for the highly efficient extraction of noble metal ions from aqueous phase

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Journal of Environmental Sciences 2015年第3期27卷 146-150页

作者： Dong Chen Penglei Cui Hongbin Cao Jun Yang State Key Laboratory of Multiphase Complex Systems Institute of Process Engineering Chinese Academy of Sciences University of Chinese Academy of Sciences Research Centre for Process Pollution Control Institute of Process Engineering Chinese Academy of Sciences

A 1-dodecanethiol-based phase-transfer protocol is developed for the extraction of noble metal ions from aqueous solution to a hydrocarbon phase, which calls for first mixing the aqueous metal ion solution with an ethanolic solution of 1-dodecanethiol, and then extracting the coordination compounds formed between noble metal ions and 1-dodecanethiol into a non-polar organic solvent. A number of characterization techniques, including inductively coupled plasma atomic emission spectroscopy, Fourier transform infrared spectroscopy, and thermogravimetric analysis demonstrate that this protocol could be applied to extract a wide variety of noble metal ions from water to dichlorometh- ane with an efficiency of 〉96%, and has high selectivity for the separation of the noble metal ions from other transition metals. It is therefore an attractive alternative for the extraction of noble metals from water, soil, or waste printed circuit boards.

关键词： Phase transfer 1-Dodecanethiol Extraction Noble metal ion Efficiency

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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