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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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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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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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Stability and Stabilization of Sampled-Data Based LFC for Power Systems:A Data-Driven Method

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 291-293页

作者： Yu-Long Fan Chuan-Ke Zhang Yong He the School of Automation China University of Geosciences the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education IEEE

Dear Editor,This letter is concerned with stability analysis and stabilization design for sampled-data based load frequency control(LFC) systems via a data-driven method. By describing the dynamic behavior of LFC systems based on a data-based representation, a stability criterion is derived to obtain the admissible maximum sampling interval(MSI) for a given controller and a design condition of the PI-type controller is further developed to meet the required MSI. Finally, the effectiveness of the proposed methods is verified by a case study.

关键词： Sampled data control systems

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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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Efficient Circuit Diagram Retrieval via Graph Representation

Efficient Circuit Diagram Retrieval via Graph Representation

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2024 China Automation Congress, CAC 2024

作者： Gao, Ming Chen, Hongcai Zhang, Kanjian Wei, Haikun Key Laboratory of Measurement and Control of Complex System Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (纸本)9798350368604

In the field of electronic engineering, the retrieval of circuit diagrams has become an area of considerable research interest. This is attributed to the critical role it plays in consulting legacy electronic designs and in the identification of design plagiarism. Existing image retrieval techniques, which are proficient in managing natural images, typically involve the conversion of images into feature vectors and retrieve similar images according to the closeness of these vectors. However, these methods encounter limitations when adapted to the more specialized and complex domain of circuit diagrams. This paper introduces an innovative approach to the retrieval of circuit diagrams through the use of a graph representation of these diagrams. This novel approach effectively transforms the retrieval task into a graph retrieval problem. The methodology proposed in this paper is comprised of two main components: A recognition algorithm for circuit diagrams designed to accurately extract the components and the topological structure of the circuit and a retrieval strategy based on graph similarity. This methodology is pioneering in its use of graph representation for circuit diagram retrieval, incorporating topological features that are often not considered by conventional image retrieval methods. The experimental results presented in this paper validate the effectiveness of the proposed approach. © 2024 IEEE.

关键词： Circuit Diagram Recognition Circuit Diagram Retrieval Circuit Graph Representation Graph Retrieval

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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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AST: Annulus Swin Transformer For Pedestrians Detection Under Top-view Fisheye Image 12

AST: Annulus Swin Transformer For Pedestrians Detection Unde...

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12th International Conference on Computing and Pattern Recognition, ICCPR 2023

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

ISBN: (纸本)9798400707988

Fisheye images have a larger field of view than ordinary perspective cameras and can obtain more scene information. Therefore, object detection based on top-view fisheye images has wide applications in security monitoring, passenger flow perception, and industrial detection fields. However, due to the radial distortion symmetry of fisheye images, most current networks still need to adapt to this radial distortion symmetry. Therefore, we proposed the Annulus Swin Transformer(AST) for top-view fisheye images, which includes Annulus Window (AW) and Annulus Position Coding (APC). Traditional rectangular windows can break the radial distortion symmetry in top-view fisheye images, instead of taking advantage of it to improve the network's perception of distortion. Annulus-Window transforms it into an inner-to-outer annulus window to calculate self-attention, thereby maintaining the distortion symmetry of the fisheye image within each window, allowing the network to perceive better the degree of distortion in the fisheye image and get better detection performance. Due to the varying degree of distortion of images within each annulus, APC introduces an annulus position to work with Annulus window based on the original position encoding, enabling it to contain annulus position information. The experimental results on the dataset SEU-fisheye show that our method improves the neural network's performance markedly. © 2023 ACM.

关键词： Image enhancement

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Segmented Real-time Dispatch Model and Stochastic Robust Optimization for Power-gas Integrated Systems with Wind Power Uncertainty

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Journal of Modern Power Systems and Clean Energy 2023年第5期11卷 1480-1493页

作者： Ying Wang Kaiping Qu Kaifeng Zhang Key Laboratory of Measurement and Control of CSE Ministry of EducationSchool of AutomationSoutheast UniversityNanjingChina School of Electrical Engineering China University of Mining and TechnologyXuzhouChina

This paper develops a segmented real-time dispatch model for power-gas integrated systems(PGISs), where power-to-gas(P2G) devices and traditional automatic generation control units are cooperated to manage wind power uncertainty. To improve the economics of the real-time dispatch in regard to the current high operation cost of P2Gs, the wind power uncertainty set is divided into several segments, and a segmented linear decision rule is developed, which assigns adjustment tasks differently when wind power uncertainty falls into different segments. Thus, the P2G operation with high costs can be reduced in real-time adjustment. Besides, a novel segmented stochastic robust optimization is proposed to improve the efficiency and robustness of PGIS dispatch under wind power uncertainty, which minimizes the expected cost under the empirical wind power distribution and builds up the security constraints based on the robust optimization. The expected cost is formulated using a Nataf conversion-based multi-point estimate method, and the optimal number of estimate points is determined through sensitivity analysis. Furthermore, a difference-ofconvex optimization with a partial relaxation rule is developed to solve the non-convex dispatch problem in a sequential optimization framework. Numerical simulations in two testing cases validate the effectiveness of the proposed model and solving method.

关键词： Power-gas integrated system robust optimization real-time dispatch multi-point estimate method differenceof-convex optimization

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