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Adaptive Optimal control Based on Parameter Estimation for Servomechanisms

IFAC-PapersOnLine 2017年第1期50卷 7064-7069页

作者： Zhang C. Gan M. Chen J. Chen C. Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, an adaptive optimal control scheme based on parameter estimation is proposed for optimal control problem of servomechanisms with unknown parameters. Parameters of the servomechanism dynamics are identified online first. Based on parameter estimation, the optimal control policy is achieved through adaptive dynamic *** estimation removes an approximation structure from the original method. Therefore the number of unknown weights in approximation structures, to be calculated, is reduced. The analysis for convergence is presented to prove the validity. Finally, simulation results demonstrate that the scheme can approximate the optimal control policy rapidly and effectively. © 2017

关键词： adaptive dynamic programming optimal control,parameter estimation servomechanism

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Formal management-specifying approach for model-based safety assessment

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Journal of systems Engineering and Electronics 2023年第6期34卷 1589-1601页

作者： XU Changyi DUAN Yiman ZHANG Chao School of Control Science and Engineering Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of EducationDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

In the field of model-based system assessment,mathematical models are used to interpret the system ***,the industrial systems in this intelligent era will be more *** management operations will be dynamically set,and the system will be no longer static as it is initially ***,the static model generated by the traditional model-based safety assessment(MBSA)approach cannot be used to accurately assess the *** mainly exists three ***:huge and complex behaviors make the modeling to be trivial manual;Dynamic:though there are thousands of states and transitions,the previous model must be resubmitted to assess whenever new management arrives;Unreusable:as for different systems,the model must be resubmitted by reconsidering both the management and the system itself at the same time though the management is the *** by solving the above problems,this research studies a formal management specifying approach with the advantages of agility modeling,dynamic modeling,and specification design that can be ***,three typical managements are specified in a series-parallel system as a demonstration to show the potential.

关键词： model-based safety assessment(MBSA) management availability reliability maintainability continuous time Markov chain.

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Learning to Win in Evolutionary Two-person Boolean Game with Fixed Strategy Updating Rule

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IFAC-PapersOnLine 2015年第28期48卷 520-525页

作者： WANG, Dong Hongbin, M.A. Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Canada

This paper introduces an algorithm to learn the strategy updating rule for a two- person Boolean game using the records of the history strategies and game results. The two-person game in this paper is introduced as a zero-sum game along with a Boolean strategy set, and the strategies are governed by fixed Boolean functions whose arguments are the history strategies and game results with additive binary noise, which can be modeled as a stochastic Boolean dynamic system. However, for this easy-to-play game, there is no effective convenient methods to win more often. To achieve this goal, a learning algorithm based on Boolean regression and maximum-likelihood estimation is put forward to learn the strategy updating rule and the noise property using the records of the history strategies and game results. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed learning algorithm. © 2015

关键词： Learning algorithms Identification (control systems) Maximum likelihood estimation Parameter estimation Stochastic systems Boolean dynamics Boolean games Extensive simulations Fixed strategy Learning Noise properties Strategy updating Two person game

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Multi-sensor optimal distributed weighted Kalman filter fusion over unreliable networks 35

Multi-sensor optimal distributed weighted Kalman filter fusi...

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第35届中国控制会议

作者： XING Zirui XIA Yuqing Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.

关键词： Multi-sensor unreliable networked systems Distributed weighted Kalman filter fusion Network delay Buffers

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Sliding Mode control Using linear extended state observer(LESO) and Hysteresis Compensator based on Bouc-Wen model in Sinusoidal Position control of a Piezoelectric Actuator 33

Sliding Mode Control Using linear extended state observer(LE...

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第三十三届中国控制会议

作者： QIAO zhi GAN minggang WANG chenyi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

In this paper,a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA).The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear ***,a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances,with an intention of improving and enhancing the dynamic performance and the robustness of *** feasibility of the proposed control scheme is verified by experiment of a *** result shows that when faced with a fast-rate control input,the proposed method can also ensure the system a good performance.

关键词： Bouc-Wen Model,Hysteresis Compensator,Sliding Mode control,Linear Extended State Observer

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Pursuit-evasion Games of Multi-players with a Single Faster Player 35

Pursuit-evasion Games of Multi-players with a Single Faster ...

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第35届中国控制会议

作者： WANG Duo PENG Zhihong School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theory of differential games, which helps simplify computation complexity and meet an ideal result. We discuss the situation of one faster pursuer and one evader under some basic assumptions in which the amount of evaders increases by steps in the full visibility case. We apply the task allocation method to simulate the optimal motion track in both fixed sequence capture mode and free sequence capture mode of the pursuer. The optimal motion strategies acquired by differential games theory respond faster than those acquired in traditional ways. We prove all the chase process discussed with differential games by MATLAB simulation.

关键词： differential games pursuit-evasion game optimal strategy capture sequence

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Path following for underactuated marine craft using line of sight algorithm

Path following for underactuated marine craft using line of ...

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7th Middle Eastern Simulation Multiconference (MESM 2005)

作者： Ghommem, J MniF, F Derbel, N Intelligent Control Design and Optimization of Complex Systems Unit ENIS Tunisia Laboratoire de Vision et de Robotique Orlélans France

ISBN: (纸本)907738121X

This work provides algorithms for underactuated ship path guidance using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The control laws in surge and yaw are derived using backstepping. This results in a dynamic feedback controller where the dynamics of the uncontrolled sway mode enters the yaw control law. Uniform Global Asymptotic Stability (UGAS) is proven for the tracking error dynamics in surge and yaw while the controller dynamics is bounded. To show the effectiveness of the controller and guidance systems, we simulate our algorithm using Simulink on a marine craft model.

关键词： nonlinear control underactuated marine craft backstepping control Line of Sight Global uniform asymptotic convergence

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A Sliding mode control applied to whirling pendulum

A Sliding mode control applied to whirling pendulum

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2nd International Conference on Signals, Circuits and systems

作者： Mahjoub, Sonia Mnif, Faical Derbel, Nabil Research unit on Intelligent Control design Optimization of complex Systems (ICOS) Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman

ISBN: (纸本)9781424426270

In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipilators The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.

关键词： VSS sliding mode underactuated manipulator whirling pendulum

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Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1210-1220页

作者： Guojun Wang Jian Wu Rui He Bin Tian State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the Qingdao Academy of Intelligent Industries ShandongChina

Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane *** road boundary detection in structural environments,obstacle occlusions and large road curvature are two significant ***,an effective and fast solution for these problems has remained *** solve these problems,a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is *** proposed method consists of three main stages:1)a multi-feature based method is applied to extract feature points;2)a road-segmentation-line-based method is proposed for classifying left and right feature points;3)an iterative Gaussian Process Regression(GPR)is employed for filtering out false points and extracting boundary *** demonstrate the effectiveness of the proposed method,KITTI datasets is used for comprehensive experiments,and the performance of our approach is tested under different road *** experiments show the roadsegmentation-line-based method can classify left,and right feature points on structured curved roads,and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic ***,the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.

关键词： 3D-LiDAR autonomous vehicle object detection point cloud road boundary

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Flocking of multi-robot systems with connectivity maintenance on directed graphs

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Journal of systems Engineering and Electronics 2014年第3期25卷 470-482页

作者： Mao, Yutian Dou, Lihua Fang, Hao Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control Decision of Complex Systems Beijing 100081 China

Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via carefully designing a class of bounded artificial potential fields (APF) which could guarantee the connectivity maintenance, collision avoidance and distance stabilization simultaneously during the system evolution. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved provided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more generalized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that all robots can asymptotically move with the desired velocity and orientation even if there is only one informed robot in the team. Finally, nontrivial simulations and experiments are conducted to verify the effectiveness of the proposed algorithm. © 1990-2011 Beijing Institute of Aerospace Information.

关键词： Multipurpose robots

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