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optimal control for semi-Markov jump linear systems via TP-free temporal difference () learning

International Journal of Robust and Nonlinear control 2021年第14期31卷

作者： Yaogang Chen Jiwei Wen Xiaoli Luan Fei Liu Key Laboratory of Advanced Process Control for Light Industry Institute of Automation Jiangnan University Wuxi China

In the present study, a temporal difference (TD) learning algorithm is proposed to solve the optimal control problem for semi-Markov jump linear systems (S-MJLSs). The proposed scheme is TP-free so that it can be applied in cases without pre-known transition probabilities of embedded Markov chain. Coupled algebraic Riccati equations (CAREs) implied with the analytical solution of control gains are derived by utilizing a S-MJLS augmented with maximum sojourn time, which contributes to develop the TD learning algorithm. It is proved that for sufficiently rich enough jumping modes and jumping numbers observed online, the value function in TD algorithm converges to CAREs solutions. Finally, an example is carried out to evaluate the learning capability of TD algorithm and the effectiveness of the proposed control method.

关键词： optimal control semi-Markov jump systems sojourn time temporal difference learning

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Implementation of adaptive fault-tolerant tracking control for robot manipulators with integral sliding mode

Research Square

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Research Square 2021年

作者： Liu, Linzhi Zhang, Liyin Hou, Yinlong Tang, Dafeng Liu, Hui Xi’an Key Laboratory of Advanced Control and Intelligent Process School of Automation Xi’an University of Posts and Telecommunications Xi’an China China Ship Scientific Research Center China China State Shipbuilding Corporation Limited Xi’an Dong Yi Science Technology and Industry Group Co. Ltd Xi’an China

This paper addresses an adaptive fault-tolerant tracking control for robot manipulators. By fully considering the effects of uncertainties and actuator effectiveness faults (UAEFs), a robust fault-tolerant tracking control combining with an auxiliary function and an integral sliding manifold is first developed for uncertain robot manipulators. Then, an adaptive law for unknown parameters of the upper bounded uncertainties is constructed to obtain a robust fault-tolerant approach with the elimination of the reaching phase of sliding mode control (SMC). The stability of the proposed approaches is accomplished by Lyapunov stable theory. The key contributions of the proposed approach are as follows: i) the reaching phase of SMC is removed in the control design and then the sliding mode starts at very beginning;(ii) the nominal control term is eliminated in the design of integral sliding surface and then the algebraic loop problem is also avoided in the proposed approach for robot manipulators;(iii) the simple control structure with an adaptive law is obtained for improving chattering-restraining ability of the proposed approach and then the effects of time delay and computational burden are also restrained from the proposed approach. Simulation and experimental comparisons have been accomplished for verifying the effectiveness of the proposed approach. © 2021, CC BY.

关键词： Sliding mode control

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Stability Analysis and Design of Switched Saturated Systems Based on Antiwindup Technique

Stability Analysis and Design of Switched Saturated Systems ...

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第三十九届中国控制会议

作者： Xinquan Zhang Xiaoyin Li Yuzhong Wang Ke Mu School of Information and Control Engineering Liaoning Shihua University School of Foreign Languages Liaoning Shihua University State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

The problem of stability analysis and anti-windup design is investigated for a class of switched linear systems subject to actuator saturation by using the common Lyapunov function method. Suppose that a group of dynamic output controllers have been designed and they can stabilize the closed-loop system in the absence of saturation. Then, the anti-windup compensators are designed, which aims for enlarging the domain of attraction of system with saturation. Finally, the anti-windup compensators are calculated by solving an optimization problem with linear matrix inequalities（LMI） constraints. A numerical example is given to show the effectiveness of proposed method.

关键词： Anti-windup Switched Systems Saturation Common Lyapunov Function Domain of Attraction

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L2-gain Analysis for Switched Saturated Systems Based on Anti-windup Technique

L2-gain Analysis for Switched Saturated Systems Based on Ant...

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第三十九届中国控制会议

作者： Xinquan Zhang Xiaoyin Li Jiasheng Shi Shizhong Tong School of Information and Control Engineering Liaoning Shihua University School of Foreign Languages Liaoning Shihua University State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

In this paper, the problem on L-gain analysis and anti-windup design is studied for linear switched saturated systems by the common Lyapunov function method. Firstly, the sufficient condition about tolerable disturbances is obtained and under this condition, the state trajectory that starts from the origin will be still on a bounded set. Then, we obtain the upper bound for restricted L-gain. Furthermore, to determine the maximum capability of disturbance tolerance and the minimum upper bound of restricted L-gain, the anti-windup compensators are computed by solving a constraints optimization problem. Finally, a numerical example is given to verify the effectiveness of proposed approach.

关键词： L2-gain Anti-windup Switched Saturated Systems Common Lyapunov Function Tolerable Disturbances

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Guaranteed Cost control and Anti-windup Design for Discrete-time Saturated Switched Systems

Guaranteed Cost Control and Anti-windup Design for Discrete-...

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第三十九届中国控制会议

作者： Xinquan Zhang Xiaoyin Li Zhengbao Cao Wenhua Tao School of Information and Control Engineering Liaoning Shihua University School of Foreign Languages Liaoning Shihua University State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

This paper considers the guaranteed cost control and anti-windup design problem for a class of discrete-time saturated switched systems. The anti-windup compensators are designed, for guaranteeing that the considered system is asymptotically stable and simultaneously the minimized upper-bound of the cost function is obtained. By using the switched Lyapunov function method, we derive some sufficient conditions about the existence of anti-windup compensation gains of guaranteed cost. Furthermore, the minimized upper-bound of the cost function is determined by solving an optimisation problem in terms of linear matrix inequalities（LMI） constraints. Finally, a numerical example is given to show the effectiveness of the proposed method.

关键词： Guaranteed Cost control Saturated switched systems Anti-windup Switched Lyapunov Function LMI

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Bipartite Consensus Problem of Harmonic Oscillators Based on Sampled-data

Bipartite Consensus Problem of Harmonic Oscillators Based on...

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第32届中国控制与决策会议

作者： Hang Tian Cheng-Lin Liu Guang-Ye Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University Shanghai Keliang Information Tech.& Eng.Co. Ltd

This paper is concerned with the bipartite consensus problem of sampled-data coupled harmonic oscillators by predictor factor under the fixed *** with the existing distributed protocol for synchronization in networks of coupled harmonic oscillators based on the sampled-data measurement,we propose a distributed bipartite consensus control protocol in which positive and negative interaction weights *** structurally balanced networks,we improve the convergence rate of the network via predictor *** and sufficient conditions are obtained for the well designed protocol to achieve bipartite consensus by using frequency-domain analysis and matrix ***,examples are shown to validate the convergence conditions.

关键词： Bipartite consensus Sampled-data coupled harmonic oscillators Predictor factor

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A Computationally Efficient 3D Mathematical Model of a Molybdenum Batch-Reheating Furnace

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IFAC-PapersOnLine 2018年第2期51卷 819-824页

作者： Roetzer, Florian Aschauer, Alexander Steinboeck, Andreas Kugi, Andreas Automation and Control Institute TU Wien Vienna Austria Christian Doppler Laboratory for Model-Based Process Control in the Steel Industry Automation and Control Institute TU Wien Vienna Austria

An accurate low-order three-dimensional mathematical model for the reheating process in a batch-type industrial furnace for sintered molybdenum plates is derived. The furnace is described as a distributed-parameter system and discretized with the finite volume method. The system parameters are identified from measurement data and the order of the finite volume model is reduced by means of proper orthogonal decomposition. Special attention is paid to the calculation of exit temperatures, required reheating times, and the uncertainty of the surface emissivity of the plates. The derived model facilitates fast and accurate calculation of temperature profiles in the plate and is thus suitable for online applications, such as parameter and state estimation, model predictive control, and production planning. © 2018

关键词： Model predictive control

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Pharmacokinetic characteristics of Jinhong tablets in normal, chronic superficial gastritis and intestinal microbial disorder rats

arXiv

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arXiv 2025年

作者： Zhang, Tingyu Feng, Jian Gao, Xia Chen, Xialin Peng, Hongyu Fan, Xiaoxue Meng, Xin Yin, Mingke Wang, Zhenzhong Zhang, Bo Cao, Liang Institute for TCM-X Department of Automation Tsinghua University Beijing100084 China State Key Laboratory of Technologies for Chinese Medicine Pharmaceutical Process Control and Intelligent Manufacture Jiangsu Kanion Pharmaceutical Co.Ltd. Jiangsu Nanjing210000 China Jiangsu Kanion Modern Chinese Medicine Institute Nanjing211100 China

Enthnopharmacological relevance: Jinhong tablet (JHT), a traditional Chinese patent medicine prepared from four Chinese medicinal materials, has good efficacy of soothing the liver and relieving depression, regulating qi and promoting blood circulation, regulating stomach and relieving pain, clinically treating chronic superficial gastritis (CSG) with disharmony between liver and stomach. However, its pharmacokinetics research is limited. Aim of the study: This study aims to explore the pharmacokinetic characteristics of JHT in normal rats and reveal its pharmacokinetic difference in normal, CSG and intestinal microbial disorder rats. Materials and methods: A quantitative analytical method was established for seven active ingredients in rat plasma using UPLC-TQ-MS/MS. After oral administrated four different doses of JHT, the plasma concentration of the seven ingredients were determined to assess pharmacokinetic characteristics in normal rats. Subsequently, Pharmacokinetic difference of four main ingredients was observed in normal, CSG, and fecal microbiota transplantation (FMT) rats after JHT-administrated. Simultaneously, the intestinal microbial changes of the three groups were evaluated by high-throughput sequencing technique. Finally, Spearman correlation analysis was applied to characterize the connection between the in vivo exposure of four ingredients and the disturbed gut microbiota. Results: A appropriate quantitative method was successfully established with the good linearity, precision, accuracy, extraction recovery, matrix effect as well as stability. In normal rats, all seven ingredients were rapidly absorbed. Tetrahydropalmatine, corydaline, costunolide, and rhamnosylvitexin demonstrated good exposure, while dehydrocorydaline, allocryptopine, and palmatine hydrochloride had low exposure. Additionally, tetrahydropalmatine, corydaline, and costunolide exhibited linear pharmacokinetics in terms of AUC0-t and Cmax when administrated 0.7~5.6 g/kg of JHT, wh

关键词： Pharmacokinetics

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Zeroth-order algorithms for stochastic distributed nonconvex optimization

arXiv

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arXiv 2021年

作者： Yi, Xinlei Zhang, Shengjun Yang, Tao Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden Department of Electrical Engineering University of North Texas DentonTX76203 United States State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China

In this paper, we consider a stochastic distributed nonconvex optimization problem with the cost function being distributed over n agents having access only to zeroth-order (ZO) information of the cost. This problem has various machine learning applications. As a solution, we propose two distributed ZO algorithms, in which at each iteration each agent samples the local stochastic ZO oracle at two points with a time-varying smoothing parameter. We show that the proposed algorithms achieve the linear speedup convergence rate O(√p=(nT)) for smooth cost functions under the state-dependent variance assumptions which are more general than the commonly used bounded variance and Lipschitz assumptions, and O(p=(nT)) convergence rate when the global cost function additionally satisfies the Polyak-Lojasiewicz (P-L) condition in addition, where p and T are the dimension of the decision variable and the total number of iterations, respectively. To the best of our knowledge, this is the first linear speedup result for distributed ZO algorithms, which enables systematic processing performance improvements by adding more agents. We also show that the proposed algorithms converge linearly under the relative bounded second moment assumptions and the P-L condition. We demonstrate through numerical experiments the efficiency of our algorithms on generating adversarial examples from deep neural networks in comparison with baseline and recently proposed centralized and distributed ZO algorithms. Copyright © 2021, The Authors. All rights reserved.

关键词： Cost functions

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Non-Collocated Position control of Steel Strip With Electromagnetic Rejection of Unknown Multi-Harmonic Disturbances ⁎

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IFAC-PapersOnLine 2019年第15期52卷 430-435页

作者： M. Saxinger L. Marko A. Steinboeck A. Kugi Christian Doppler Laboratory for Model-Based Process Control in the Steel Industry Automation and Control Institute Vienna University of Technology Austria Automation and Control Institute Vienna University of Technology Austria

Many industrial processes are affected by periodic disturbances. For instance, vibration of steel strips in hot-dip galvanizing lines entail an inhomogeneous zinc coating of the final product. Excitation by periodic disturbances is also frequently encountered in other control systems. Thus, a number of customized methods for rejection control of unwanted oscillations have been developed in the literature. In this paper, a method for eliminating a multi-harmonic periodic disturbance at an arbitrary user-defined position of a steel strip is proposed. The control task is particularly complicated because the disturbance input, a (single) displacement sensor, a (single) electromagnetic actuator, and the system output to be controlled are located at different positions along the strip. In addition, the electromagnetic actuator used as control input features neither a force sensor nor a distance sensor for measuring the air gap between the strip and the magnetic core. Hence, the actuator operates in a pure feedforward mode. The developed control method is validated by means of an experimental test rig that mimics a scenario from an industrial hot-dip galvanizing line.

关键词： Mechanical system Distributed-parameter system Electromagnetic devices Mathematical model Active control Disturbance rejection Steel industry

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