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Prescribed-Time Nash Equilibrium Seeking for Pursuit-Evasion Game

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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Time-Optimal and Smooth Trajectory Planning Based on Continuous Pseudo-Acceleration 8

Time-Optimal and Smooth Trajectory Planning Based on Continu...

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

作者： Wang, Xin 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

The current time-optimal trajectory planning based on dynamics does not take into account the continuity of joint torque. Although the time obtained by the solution of the original time-optimal path parameterization (TOPP) algorithm is optimal, the joint torque obtained by the solution is not continuous, and the discontinuous joint torque will cause the manipulator to resonate, which will reduce the accuracy of the trajectory, making the obtained trajectory in practical engineering applications cannot be effectively applied. Therefore, this paper improves the problem of discontinuous torque on the basis of the TOPP algorithm, and proposes to use a quadratic polynomial curve to deal with the discontinuous part of the pseudo-acceleration in the phase plane composed of position and pseudo-acceleration, which not only ensures the integrity of the path, but also makes the joint torque continuous and smoothes the joint torque trajectory to some extent. This method is verified by the simulation experiment of the two-link manipulator. © 2023 IEEE.

关键词： Trajectories

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Missing Small Bolt Detection on High-speed Train Using Improved Yolov5 8

Missing Small Bolt Detection on High-speed Train Using Impro...

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8th International Conference on systems and Informatics, ICSAI 2022

作者： Wei, Yiming Lu, Xiaobo Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9781665474481

Tiny bolts are widely used on high-speed trains, playing an important role in fixing train components. However, because of the complex running environment of trains, missing bolts occur from time to time and may cause traffic accidents, resulting in property damage and, in serious cases, endangering the lives of the occupants. Therefore, it is essential to detect missing bolts on high-speed trains. The bolts discussed in this paper are generally located on the underside of high-speed trains and their small size makes detection more difficult. In this paper, we first expand the dataset, and then add the Attention module and Transformer based on YOLOv5, and change the FPN of YOLOv5 to BiFPN, fuse the features of different layers using different weights, and crop the high-resolution original image during training and testing, and finally return to the original image. Our method eventually achieves 95.3% AP, effectively improving the detection accuracy. © 2022 IEEE.

关键词： Statistical tests

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A zeroth-order algorithm for distributed optimization with stochastic stripe observations

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Science China(Information Sciences) 2023年第9期66卷 297-298页

作者： Yinghui WANG Xianlin ZENG Wenxiao ZHAO Yiguang HONG School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Department of Control Science and Engineering Tongji University

Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.

关键词：

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End-point Steady control for Whole-Body control Mobile Manipulators by Null Space Tunation 8

End-point Steady Control for Whole-Body Control Mobile Manip...

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

作者： Zhang, Enjin 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

This paper deal with the end-point steady control problem of a mobile manipulators(MM) at the velocity level. Mobile manipulators are usually kinematically redundant when performing tasks, so multiple subtasks can be performed simultaneously, such as tracking the trajectory of the end effector(EE), optimizing manipulability, etc. First, the mobile manipulators system is modeled as an ordinary jointed manipulator. The velocity of the EE has a higher priority, scheduling low-priority tasks in the null space of high-priority tasks leaves high-priority tasks unaffected. The damped least square method is used to generate a kinematic inverse solution with singular robustness, and the gradient projection method is used to optimize the manipulability measure. By analyzing the structure of the Jacobian matrix, the complexity of gradient calculation is reduced. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments. © 2023 IEEE.

关键词： Jacobian matrices

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PWM Wave-Based Cooperative Vector control of Multiple Stepper Motors for Unmanned Surface Vehicles 7

PWM Wave-Based Cooperative Vector Control of Multiple Steppe...

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7th Asian Conference on Artificial Intelligence Technology, ACAIT 2023

作者： Xu, Ruizhe Xu, Yihang Wu, Yongbao Liu, Jian Xue, Lei Southeast University Key Laboratory of Measurement And Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9798350359145

This paper studies the control system of multiple stepper motors. Four stepper motors are selected to design the vector control system for the actual application scenario of the unmanned surface vehicles. This paper designs a PWM wave-based motor control algorithm taking into account the characteristics of stepper motors. We proposes a closed-loop control algorithm incorporating magnetic encoders. The system applies CAN bus to realize the communication among stepper motors, enabling distributed cooperative control four stepper motors of the unmanned surface vehicles. In this paper, the multiple stepper motor system is modeled and finally simulated and experimentally verified to achieve cooperative vector control of multiple stepper motors for surface vehicles. © 2023 IEEE.

关键词： Vectors

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A Trajectory Tracking Algorithm Based on Interior Point Method for A Class of Mobile Manipulators

A Trajectory Tracking Algorithm Based on Interior Point Meth...

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2022 Chinese Automation Congress, CAC 2022

作者： Rao, Xuechen Gan, Yahui Wang, Xiaoteng Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation NanJing China

ISBN: (纸本)9781665465335

At present, due to the high redundancy and strong coupling characteristics of mobile manipulator systems, there are few and in-depth studies on coordinated motion planning. Aiming at the above problems, this paper proposes a coordinated control algorithm that can track the desired trajectory of the end-effector based on a class of 5-DOF mobile manipulators. The algorithm takes the power consumption and trajectory stability of the entire system as the optimization objectives, and sets the function of the selected optimization objective on the desired trajectory, and performs optimization based on the interior point method of convex optimization to converge to the optimal solution faster. Finally, the system is simulated to verify the correctness and effectiveness of the control algorithm. © 2022 IEEE.

关键词： Convex optimization

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Generalized Proportional Integral Observer Based Sliding Mode control for Biaxial Motion control System with Mismatched Disturbances 41

Generalized Proportional Integral Observer Based Sliding Mod...

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第41届中国控制会议

作者： Guancheng Ren Zuo Wang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex systems of Engineering Ministry of Education Shenzhen Research Institute Southeast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the biaxial motion system,nonlinearities and mismatched disturbances always have adverse effects on the contouring accuracy,which are often *** of existing advanced control methods are developed only to suppress matched *** this paper,the necessity of taking the contour error as the control target is ***,four generalized proportional integral observers(GPIOs) are developed to estimate both matched and mismatched lumped ***,based on contour error,a sliding mode controller is developed for the biaxial motion *** introducing the disturbance estimations into the modified sliding surface design,a composite controller is *** proposed method effectively improves the contouring accuracy and suppress the mismatched disturbances,while the chattering caused by large switching gains is *** stability analysis of the system is established by means of the Lyapunov ***,to demonstrate the superiority and effectiveness of the controller,simulation results of the biaxial motion control system are presented in various working cases.

关键词： Biaxial motion control system contouring control mismatched disturbances generalized proportional-integral observer(GPIO) sliding mode control chattering reduction

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Human-like Manipulation Planning for Articulated Manipulator

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Journal of Bionic engineering 2012年第4期9卷 434-445页

作者： Yahui Gan Xianzhong Dai School of Automation Southeast UniversityNanjing 210096P.R.China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096P.R.China

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment （RULA） in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom （DOF） planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

关键词： manipulation planning human likeness rapid upper limb assessment applied ergonomics task compatibilitymeasurement velocity transmission ratio

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Composite Model Predictive control for PMSM Servo systems Based on Backlash Cancellation and Disturbance Compensation 41

Composite Model Predictive Control for PMSM Servo Systems Ba...

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第41届中国控制会议

作者： Lei Li Zuo Wang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Shenzhen Research Institute Southeast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the speed regulation problem of permanent magnet synchronous motor(PMSM) servo system with backlash based on model predictive control(MPC).It is known that the existing backlash in servo systems causes steady-state errors,limit cycles and rigid *** order to counteract the adverse performance degradations of the backlash nonlinearity,a composite MPC strategy is investigated based on backlash cancellation and disturbance ***,an approximated dead-zone model of backlash is ***,a generalized proportional-integral observer(GPIO) is constructed to estimate the lumped disturbances,including backlash modelling residual error,parameter uncertainties and external *** introducing disturbance estimation and backlash transmission torque into system model,a composite MPC can be obtained based on the prediction-precision enhanced model,which brings significantly improvements to control ***,the efficacy of the presented method is demonstrated by simulation results.

关键词： Model predictive control(MPC) PMSM servo system Backlash cancellation Generalized proportional-integral observer(GPIO)

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