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Reduction of data amount in data-driven design of linear quadratic regulators

control Theory and Technology 2024年第4期22卷 532-542页

作者： Shinsaku Izumi Xin Xin School of Systems Engineering Kochi University of TechnologyKamiKochi782-8502Japan School of Automation Southeast Universityand Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing210096JiangsuChina

This paper discusses the data-driven design of linear quadratic regulators,i.e.,to obtain the regulators directly from experimental data without using the models of *** particular,we aim to improve an existing design method by reducing the amount of the required experimental *** the data amount leads to the cost reduction of experiments and computation for the data-driven *** present a simplified version of the existing method,where parameters yielding the gain of the regulator are estimated from only part of the data required in the existing *** then show that the data amount required in the presented method is less than half of that in the existing method under certain *** addition,assuming the presence of measurement noise,we analyze the relations between the expectations and variances of the estimated parameters and the *** a result,it is shown that using a larger amount of the experimental data might mitigate the effects of the noise on the estimated *** results are verified by numerical examples.

关键词： Data-driven design Linear quadratic regulators Linear systems Riccati equation Stochastic properties

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HarmonyNav: Robot Navigation in Human-Robot Coexistence Environment Considering Group and Pedestrian Intentions

HarmonyNav: Robot Navigation in Human-Robot Coexistence Envi...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Wang, Yutao Fang, Fang Liu, Chenyang Fan, Tao Li, Yi The Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

Service robots must navigate efficiently and harmoniously in human-robot coexistence environments. Previous studies often treated pedestrians as independent entities, ignoring human intentions and leading to group intersections and performance issues. We introduce HarmonyNav, a crowd navigation algorithm that enhances human-robot harmony. Our method uses Human-Robot Interaction sub-networks to account for indirect group impacts on pedestrians and predicts pedestrian trajectories to infer intentions. Employing proximal policy optimization (PPO) in reinforcement learning, we develop a harmonious navigation policy. In simulation experiments, our results show improved navigation performance, reducing group intersections and individual intrusions. © The Institution of Engineering & Technology 2024.

关键词： Reinforcement learning

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Prescribed-Time Nash Equilibrium Seeking for Pursuit-Evasion Game

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1518-1520页

作者： Lei Xue Jianfeng Ye Yongbao Wu Jian Liu D.C.Wunsch Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096 School of Automation Southeast UniversityNanjing 210096China Department of Electrical and Computer Engineering Missouri University of Science and TechnologyRollaMO 65409 USA IEEE

Dear Editor,This letter is concerned with prescribed-time Nash equilibrium(PTNE)seeking problem in a pursuit-evasion game(PEG)involving agents with second-order *** order to achieve the prior-given and user-defined convergence time for the PEG,a PTNE seeking algorithm has been developed to facilitate collaboration among multiple pursuers for capturing the evader without the need for any global ***,it is theoretically proved that the prescribedtime convergence of the designed algorithm for achieving Nash equilibrium of ***,the effectiveness of the PTNE method was validated by numerical simulation results.A PEG consists of two groups of agents:evaders and *** pursuers aim to capture the evaders through cooperative efforts,while the evaders strive to evade *** is a classic noncooperative *** has attracted plenty of attention due to its wide application scenarios,such as smart grids[1],formation control[2],[3],and spacecraft rendezvous[4].It is noteworthy that most previous research on seeking the Nash equilibrium of the game,where no agent has an incentive to change its actions,has focused on asymptotic and exponential convergence[5]-[7].

关键词： seeking prescribed convergence

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Collision-free and Effecient Robotic Grasping based on Hierarchical Reinforcement Learning

Collision-free and Effecient Robotic Grasping based on Hiera...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Li, Yi Fang, Fang Liu, Chenyang Wang, Yutao Fan, Tao School of Automation Southeast University China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

In the realm of robotics, grasping within unstructured environments has consistently been a challenging task. Direct grasping often results in failures due to collisions, and some pre-grasping maneuvers can eliminate the tightly stacked state between objects, thereby enhancing the success rate of grasping. In this paper, we opt for pushing as a pre-grasping maneuver. We propose a deep Q-network with a fused convolutional feature enhancement module to improve action value estimation, enhancing the robot’s pushing and grasping abilities. Additionally, a hierarchical reinforcement learning framework optimizes action sequences for better synergy between pushing and grasping. In simulated experiments, the model achieved a high grasp success rate with just a few hours of training, outperforming other methods in the literature. © The Institution of Engineering & Technology 2024.

关键词： Adversarial machine learning

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A Model-Based Unmatched Disturbance Rejection control Approach for Speed Regulation of a Converter-Driven DC Motor Using Output-Feedback

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 365-376页

作者： Lu Zhang Jun Yang Shihua Li School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education IEEE Department of Aeronautical and Automotive Engineering Loughborough University

The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current(DC)motor driven by a buck *** lumping all unknown matched/unmatched disturbances and uncertainties together,the traditional active disturbance rejection control(ADRC)approach provides an intuitive solution for the problem under ***,for such a higher-order disturbed system,the increase of poles for the extended state observer(ESO)therein will lead to drastically growth of observer gains,which causes severe noise *** paper aims to propose a new model-based disturbance rejection controller for the converter-driven DC motor system using *** of estimating lumped disturbances directly,a new observer is constructed to estimate the desired steady state of control signal as well as errors between the real states and their desired steady-state ***,a controller with only speed measurement is proposed by utilizing the *** performance of the proposed method is tested through experiments on *** is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains.

关键词： Bandwidth widening converter-driven direct current(DC)motor disturbance observer model-based disturbance rejection speed regulation

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Design of low-power, high-precision wireless temperature transmitter based on wifi

Design of low-power, high-precision wireless temperature tra...

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2023 Jiangsu Annual Conference on Automation, JACA 2023

作者： Wang, Lening Wang, Xiaojun Jiang, Rongfu Gao, Yifeng Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9781839539848

In order to enhance the performance of temperature transmitters and facilitate their integration into intelligent and wireless systems, a novel design is proposed, incorporating a pseudo self-balancing electric bridge to achieve a high-precision and wide-range temperature measurement capability. This advanced transmitter not only maximizes the measurement range of thermal resistance but also ensures exceptional temperature accuracy. It seamlessly transfers data to a server through the utilization of the WIFI protocol. Furthermore, the transmitter is equipped with wireless communication capabilities, allowing data transmission through a 4-20mA current loop. The calibration and configuration processes can be conveniently carried out via a USB interface. Rigorous testing validates that the accuracy of the transmitter conforms to the stringent specifications outlined in GB/T 34072-2017 for 0.1-level temperature transmitters. Additionally, when operated with battery power, the transmitter exhibits commendably low average power consumption. © The Institution of Engineering & Technology 2023.

关键词： Transmitters

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Multi-functional motion control and simulation of a large unmanned mobile manipulator for autonomous grasping scenes 41

Multi-functional motion control and simulation of a large un...

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第41届中国控制会议

作者： Wei Ma Yirong Liu Rongsheng Wang Fang Fang Bo Zhou Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Mobile manipulator can perform complex operation tasks in a larger workspace,and has great application potential in practical *** at a large unmanned mobile manipulator for autonomous grasping scenes,this paper realizes its multi-functional motion control and ***,this paper analyzes the kinematics models of the manipulator and mobile base,and describes them with D-H parameters;The whole-body kinematics model of the mobile manipulator is obtained by integrating the mobile base and the ***,in order to meet the requirements of path planning and motion simulation of mobile manipulator in different scenarios,this paper designs three different simulation modes and realizes the simulation in virtual environment,the simulation combining actual controller and virtual robot and the simulation of digital twin ***,different experiments are designed to verify the feasibility and effectiveness of the three simulation methods.

关键词： mobile manipulation whole-body model path planning motion simulation digital twin system

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Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor Based Target Following 25

Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor B...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Zhang, Haodi Su, Jinya Li, Shihua School Of Automation Southeast University Nanjing China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education Nanjing China

ISBN: (纸本)9798350340266

This paper presents a vision-based tracking control for a quadrotor to follow a moving target without assuming any quadrotor-target communication. Constant turn rate & acceleration model (CTRA) is first drawn to describe the target's motion, allowing to infer unmeasurable target motion variables while mitigating the adverse effects of vision sensor noises through an unscented Kalman filter (UKF). Then the target's future trajectory is firstly predicted by using a Bézier curve, which is further treated as virtual observation of the CTRA model within the prediction horizon so that a better target trajectory prediction is derived by using the proposed Bézier- UKF fusion predictor method. The outputs of Bézier- UKF predictor are input into an incremental model predictive control (IMPC) planner as the target reference, enabling the derivation of the desired position, velocity and acceleration signal for the quadrotor. These signals are implemented by the low-level SE(3) geometric controller. Finally, we conduct a comparative study of the proposed method against baseline planners such as MPC and IMPC planners in high-fidelity AirSim simulation environment, demonstrating better target following performance. © 2024 IEEE.

关键词： Model predictive control

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Enhancing Human-AI Trust by Describing AI Decision-Making Behavior

Enhancing Human-AI Trust by Describing AI Decision-Making Be...

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2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Lou, Zhouwei Wei, Haikun School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798350316308

Air combat game is a highly complex and dynamic decision-making problem that is crucial for ensuring national security and improving combat efficiency. In recent years, artificial intelligence (AI) technologies such as deep reinforcement learning have made significant progress in the air combat game field, surpassing human experts' capabilities. However, the decision-making process of AI algorithms often lacks transparency and interpretability, resulting in low trust in them, which limits their promotion and application in practical scenarios. To enhance human-AI trust, this paper proposes a decision explanation method based on natural language generation. As the most direct means of information transmission, natural language can help people quickly understand the behavior and intent of AI algorithms. Taking a one-on-one air combat game as an experimental scenario, this paper constructs a combat dataset mapping temporal states to behavioral explanations and designs an attention-based Encoder-decoder architecture (AED) capable of generating natural language descriptions of current AI decision-making behavior based on a period of combat data. Experimental results show that AED can accurately describe the decision-making behavior of AI algorithms and help improve the level of human-AI trust. © 2023 IEEE.

关键词： Deep learning

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Autonomous Path Planning and Realization for Dual Robot Cooperation Based on ROS Framework 8

Autonomous Path Planning and Realization for Dual Robot Coop...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Shao, Jiawei Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

To realize dual-robot autonomous path planning and realization, the trajectory planning research of dual-robot is carried out using the open-source robot operating system ROS as the simulation platform. The motion planning-related file configuration is completed by using MoveIt! In trajectory planning, cubic spline interpolation is performed on the trajectory points generated by the RRT-Connect path planning algorithm to complete the planning of the dual-arm assembly task. The communication between ROS nodes and ROS is established in the controller, and the processed trajectory points are communicated with the controller through ROS-Industrial. The experimental results show that the trajectory of the dual robot movement process is smooth and continuous, the stability is strong, and the error is small, which can ensure the completion of basic assembly tasks. © 2023 IEEE.

关键词： Motion planning

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