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第35届中国控制与决策会议

作者： Jinxi Zhang Tianyou Chai Yangquan Chen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Mechatronics Embedded Systems and Automation Lab University of CaliforniaMerced

This paper is dealt with the problem of decentralized prescribed performance control(PPC) for the interconnected systems composed of feedback linearizable *** the restrictive conditions in the related studies,the interconnections need merely to be continuous in this ***,this study is focused on the model-free control design,i.e.,no prior knowledge of the system model is used for the controller,except for the most fundamentally structural *** solve the problem,a novel decentralized model-free PPC approach is *** skilful combination of the orientation function and the barrier function yields a model-free PPC,without approximation,identification,adaptation,*** adopting the dialectic by contradiction to establish the control performance,instead of the Lyapunov stability theory,it is revealed that the proposed control is inherently robust against the *** simulation results on the inverted double pendulums demonstrate the effectiveness of our approach.

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Decentralized Model-Free Prescribed Performance Control for Interconnected systems

Decentralized Model-Free Prescribed Performance Control for ...

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Chinese Control and Decision Conference, CCDC

作者： Jinxi Zhang Tianyou Chai Yangquan Chen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Mechatronics Embedded Systems and Automation Lab University of California Merced Merced USA

This paper is dealt with the problem of decentralized prescribed performance control (PPC) for the interconnected systems composed of feedback linearizable systems. Without the restrictive conditions in the related studies, the interconnections need merely to be continuous in this paper. Moreover, this study is focused on the model-free control design, i.e., no prior knowledge of the system model is used for the controller, except for the most fundamentally structural information. To solve the problem, a novel decentralized model-free PPC approach is developed. The skilful combination of the orientation function and the barrier function yields a model-free PPC, without approximation, identification, adaptation, etc. By adopting the dialectic by contradiction to establish the control performance, instead of the Lyapunov stability theory, it is revealed that the proposed control is inherently robust against the interconnections. The simulation results on the inverted double pendulums demonstrate the effectiveness of our approach.

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An Improved Cooperative Team Spraying Control of a Diffusion Process With a Moving or Static Pollution Source

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 494-504页

作者： Juan Chen Baotong Cui Yang Quan Chen Bo Zhuang Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education)and School of IoT Engineering Jiangnan UniversityWuxi 214122China Mechatronics Embedded Systems and Automation LaboratoryUniversity of CaliforniaMerced CA 95343 USA

This paper is concerned with a control problem of a diffusion process with the help of static mesh sensor networks in a certain region of interest and a team of networked mobile actuators carrying chemical *** major contribution of this paper can be divided into three parts:the first is the construction of a cyber-physical system framework based on centroidal Voronoi tessellations(CVTs),the second is the convergence analysis of the actuators location,and the last is a novel proportional integral(PI)control method for actuator motion planning and neutralizing control(e.g.,spraying)of a diffusion process with a moving or static pollution source,which is more effective than a proportional(P)control *** optimal spraying control cost function is ***,the minimization problem of the spraying amount is ***,a new CVT algorithm based on the novel PI control method,henceforth called PI-CVT algorithm,is introduced together with the convergence analysis of the actuators location via a PI control ***,a modified simulation platform called diffusion-mobile-actuators-sensors-2-dimension-proportional integral derivative(Diff-MAS2D-PID)is *** addition,a numerical simulation example for the diffusion process is presented to verify the effectiveness of our proposed controllers.

关键词： Centroidal Voronoi tessellations(CVTs) diffusion processes mobile actuator-sensor networks(MAS-Net) PI control

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Adaptive Neural Network Output Feedback Control of Auvs Using Integral Reinforcement Learning

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SSRN 2022年

作者： Li, Zhifu Wang, Ming Chen, Yang Quan Ma, Ge Zou, Tao School of Mechanical and Electrical Engineering Guangzhou University Guangzhou510006 China Mechatronics Embedded Systems and Automation Laboratory University of Colifornia MercedCA95343 United States

In this paper, an adaptive model-parameter-free integral reinforcement learning (RL) neural network (NN) control scheme is proposed for the trajectory tracking control of an autonomous underwater vehicle (AUV) with unmeasurable velocity vector and input saturation constraint. The proposed scheme consists of three NNs: actor, critic and observer, which are used to compensate for unknown dynamics, approximate long-term performance metrics and unmeasurable velocity vectors, respectively. To deal with the input saturation, an auxiliary variable system is utilized in the control law. Then, to solve the model-dependent problem, an adaptive law is designed to estimate the unknown model parameters. Furthermore, to solve the problem of slow response caused by unknown model parameters and input constraints, a multi-gradient direction (MGD) RL method is proposed, which uses the historical gradient update direction to fine-tune the overall update direction. The strict Lyapunov analysis guarantees that all signals of the system are SGUUB. Finally, the superiority of the proposed method is verified by comparative experiments. © 2022, The Authors. All rights reserved.

关键词： Autonomous underwater vehicles

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Probabilistic Consensus of Multi-agent System under Joint Control of SMC and Minimum Entropy Compensation 2

Probabilistic Consensus of Multi-agent System under Joint Co...

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2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Zhang, Xuerou Wang, Jing Zhou, Jinglin Chen, Yangquan Han, Cunwu College of Information Science and Technology Beijing University of Chemical Technology Beijing China Key Laboratory of Beijing for Fieldbus Technology and Automation North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California Merced United States

ISBN: (纸本)9781728182162

Due to the stochastic of multi-agent systems, it is difficult to achieve strict consensus. In this paper, consensus in the sense of probability is achieved by reducing the output error entropy of multi-agent system. Sliding mode controller is the core to keep the system stability and probability density function(PDF) compensator is used to reduce the chattering effect of sliding mode and compensate the random part of the system. Radial basis function neural network combined with the minimum entropy criterion is used to model the PDF compensator, and the output error entropy of the system is minimized through the training of weights, so as to optimize the control effect. Finally, the simulation results verify the effectiveness of the method. © 2020 IEEE.

关键词： minimum entropy criterion multi-agent system PDF radial basis function neural network slide mode control

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Evacuation Control of Crowds of Pedestrians: Distributed or Decentralized? ⁎

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IFAC-PapersOnLine 2020年第5期53卷 318-323页

作者： Kecai Cao YangQuan Chen Chenglin Liu Nanjing Institute of Technology Nanjing 211167 China Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Merced CA USA 95343 Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi 214122 China

Evacuation of crowds in a corridor with only one exit has been considered in this paper where distributed controllers have been constructed to regulate the crowd’s evacuation speed so that stampede tragedy can be avoided. Macroscopic model for crowds of pedestrians has been firstly derived based on inspiration of LWR (Lighthill-Whitham and Richards) model and Greenshields model from traffic system where finite volume method has been introduced to simplify the obtained PDEs into finite ODEs. Distributed evacuation controllers have been constructed based on inspiration of multi-agent system and stability analysis of obtained closed-loop system has been simplified to linear system with the delicate controllers proposed. Comparisons between distributed evacuation controllers and previous evacuation controllers have also been presented to show the advantages and disadvantages of different controllers under different initial density of crowds so that tragedy of crowd stampede can be effectively avoided with appropriate selection of different controllers.

关键词： Distributed evacuation controller Decentralized evacuation controller Stampede

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Probabilistic Consensus of Multi-agent System under Joint Control of SMC and Minimum Entropy Compensation

Probabilistic Consensus of Multi-agent System under Joint Co...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Xuerou Zhang Jing Wang Jinglin Zhou Yangquan Chen Cunwu Han College of Information Science and Technology Beijing University of Chemical Technology Beijing China Key Laboratory of Beijing for Fieldbus Technology and Automation North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California Merced USA

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182179

关键词： Training Simulation Stochastic processes Probability density function Control systems Entropy Multi-agent systems

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System identification of time-delay with single fractional pole heating process considering rate limit effect

System identification of time-delay with single fractional p...

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第三十八届中国控制会议

作者： Jie Yuan YangQuan Chen Shumin Fei School of Automation Southeast University Mechatronics Embedded Systems and Automation Lab University of California Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University

The heat transfer dynamic is extremely common in industry process. The time-delay with single fractional pole(TDSFP) model gives higher accuracy than first-order plus time-delay(FOPTD) model for the ideal heat transfer process. Actuator rate limit is a common and important phenomenon in heating process control and is becoming a stumbling block in precision process control. The actuator will get saturated for a certain duration when the identification test signal is a step function. The time duration when actuator rate is saturated can be misidentified as the delay of the process model, which misleads the controller design and generates unsatisfactory performance. This paper proposes a new model structure in identifying a TDSFP process under the step test signal and this model structure considers actuator rate limit. Parameters sensitivity is analyzed to access the effect of identification accuracy resulting from parameters estimation mismatch. An illustrative example is given to show the effectiveness of the proposed identification method and the sensitivity of system parameters.

关键词： Process control fractional-order heat transfer actuator rate limit parameter estimation parameter sensitivity

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Analysis of Actuator Rate Limit Effects on First-Order Plus Time-Delay systems under Fractional-Order Proportional-Integral Control

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IFAC-PapersOnLine 2018年第4期51卷 37-42页

作者： Yuan, Jie Chen, YangQuan Fei, Shumin School of Automation Southeast University Nanjing210096 China Mechatronics Embedded Systems and Automation Lab University of California MercedCA95343 United States Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China

Actuator rate limit deteriorates control performance, and may even lead to system instability in precision process control. In this paper, a first-order plus time-delay (FOPTD) system class with actuator rate limit is considered. The describing function (DF) of the rate limiter is derived to obtain the describing functions of the closed-loop and open-loop systems, and the onset frequency in the Nichols chart is used to analyze the rate limit effects in frequency domain. A fractional-order proportional-integral (FOPI) controller is first designed based on the flat phase constraint, crossover frequency, and phase margin specifications. Then a traditional integer-order PID (IOPID) controller is designed based on the same specifications to compare with the FOPI controller in the presence of actuator rate saturation. A careful simulation study is presented to validate all the conclusions. © 2018

关键词： Process control Actuators Controllers Delay control systems Describing functions Frequency domain analysis Proportional control systems Specifications System stability Time delay Timing circuits Two term control systems Control performance Cross over frequencies First order plus time delay First order plus time delay systems Fractional Order Proportional Integral (FOPI) Controller onset frequency Proportional integral control Rate saturation

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PID2018 Benchmark Challenge: Model-based Feedforward Compensator with A Conditional Integrator

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IFAC-PapersOnLine 2018年第4期51卷 888-893页

作者： Yuan, Jie Ates, Abdullah Dehghan, Sina Zhao, Yang Fei, Shumin Chen, YangQuan School of Automation Southeast University Nanjing210096 China Engineering Faculty Computer Engineering Department Inonu University Malatya44280 Turkey Mechatronics Embedded Systems and Automation Lab University of California MercedCA95340 United States School of Science and Engineering Shandong University Jinan250061 China Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China

Since proportional-integral-derivative (PID) controllers absolutely dominate the control engineering, numbers of different control structures and theories have been developed to enhance the efficiency of PID controllers. Thus, it is essential and inspiring to operate different PID control strategies to the PID2018 Benchmark Challenge. In this paper, a novel control strategy is designed for this refrigeration system, where a feedforward compensator and a conditional integrator are utilized to compensate the disturbances and remove the steady-state error in the benchmark problem, respectively. The simulation results given in the benchmark problem show the straightforward effectiveness of the proposed control structure compared with the existing control methods. © 2018

关键词： Controllers Benchmarking Disturbance rejection Electric control equipment Proportional control systems Refrigeration Three term control systems Two term control systems Conditional integrators Feed forward compensation Model based method PID controllers Refrigeration system

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