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Reinforcement Learning-Based Fault-Tolerant control of Uncertain Strict-Feedback Nonlinear Systems With Intermittent Actuator Faults

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IEEE Transactions on Neural Networks and Learning Systems 2025年第6期36卷 10464-10478页

作者： Qinmin Yang Huaying Li Zhengwei Ruan Bo Fan Shuzhi Sam Ge State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Hangzhou Huawei Communication Technology Company Ltd. Hangzhou China School of Automation Science and Engineering Xi’an Jiaotong University Xi’an China Department of Electrical and Computer Engineering Institute for Functional Intelligent Materials National University of Singapore Queenstown Singapore

In this work, a novel reinforcement learning-based adaptive fault-tolerant control (FTC) scheme with actuator redundancy is presented for a nonlinear strict-feedback system with nonlinear dynamics and uncertainties. A learning-based switching function technique is established to steer different groups of actuators automatically and successively to mitigate the impact of faulty actuators by observing a switching performance index. The optimal tracking control problem (OTCP) of strict-feedback nonlinear systems is transformed into an equivalent optimal regulation problem of each affine subsystem via adaptive feedforward controllers. Subsequently, the designed objective functions associated with Hamilton–Jacobi–Bellman (HJB) estimate errors caused by neural network (NN) approximations can be minimized by the reinforcement learning algorithm without value or policy iterations. It is proved that the tracking objective can be achieved and all signals in the closed-loop system can be guaranteed to be bounded, as long as the minimum time interval between two successive failures is bounded. Theoretical results are verified by simulations.

关键词： Actuators Switches Fault tolerant systems control systems Optimal control Redundancy Nonlinear dynamical systems Adaptive control Regulation industrial control

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Trajectory Tracking Multi-mode Predictive control Based on Softswitching for Unmanned Surface Vehicle

Trajectory Tracking Multi-mode Predictive Control Based on S...

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第43届中国控制会议

作者： Kunpeng Duan Shanling Dong Meiqin Liu Senlin Zhang College of Electrical Engineering Zhejiang University National Key Laboratory of Industrial Control Technology Zhejiang University National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Xi'an Jiaotong University Jinhua Institute of Zhejiang University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The unmanned surface vehicle(USV) plays a vital role in ocean exploration and utilization. Its primary tasks include navigating designated routes and safely avoiding obstacles in complex environments, ensuring efficient and secure arrival at destinations. This paper proposes a soft-switching-based multi-mode predictive control method. Specifically, A two-stage control model is defined to categorize the control modes, and a nonlinear model predictive controller(NMPC) embedding relevant obstacle avoidance constraints is developed. Then combined with NMPC framework, a sigmoid function is introduced to handle the multi-mode control problem. In addition, we apply the proposed algorithm successfully to the trajectory tracking control of USV. Simulation results show the strength and reliability of the proposed algorithm, which reduces the errors and improves the control accuracy effectively.

关键词： Unmanned surface vehicle model predictive control multi-mode control trajectory tracking

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Advancing Virtual Reality Interaction: A Ring-Shaped controller and Pose Tracking

Advancing Virtual Reality Interaction: A Ring-Shaped Control...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhuqing Zhang Dongxuan Li Jiayao Ma Yijia He Pan Ji Rong Xiong Hongdong Li Yue Wang State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Tencent Holdings Tencent XR Vision Labs Shenzhen China College of Engineering and Computer Science Australian National University Canberra

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Ensuring robust tracking of controllers’ movement is critical for human-robot interaction in virtual reality (VR) scenarios. This paper proposes a robust tracking algorithm based on a novel wearable ring-shaped controller equipped with an inertial measurement unit (IMU) and a light-emitting diode (LED). This novel controller design allows users to free up their hands for more immersive experiences. To track the controller’s motion accurately and robustly, we resort to various forms of visual measurements, including 6 DoF and 5 DoF pose measurements from hand gesture detection, as well as 3 DoF position measurement and 2 DoF image measurement derived from the LED. We theoretically analyze the performances of these observation models and propose an optimal observation model combination scheme. Moreover, the necessity and rationale of online estimating system gravity are illustrated. The effectiveness of our tracking method is validated through extensive experiments.

关键词： Solid modeling Analytical models Visualization Measurement units Tracking Virtual reality Inertial navigation

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All-weather,natural silent speech recognition via machine-learning-assisted tattoo-like electronics

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npj Flexible Electronics 2021年第1期5卷 183-191页

作者： Youhua Wang Tianyi Tang Yin Xu Yunzhao Bai Lang Yin Guang Li Hongmiao Zhang Huicong Liu YongAn Huang State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanChina Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhanChina School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina State Key Laboratory of Industrial Control Technologyg Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The internal availability of silent speech serves as a translator for people with aphasia and keeps human–machine/human interactions working under various *** paper develops a silent speech strategy to achieve all-weather,natural *** strategy requires few usage specialized skills like sign language but accurately transfers high-capacity information in complicated and changeable daily *** the strategy,the tattoo-like electronics imperceptibly attached on facial skin record high-quality bio-data of various silent speech,and the machine-learning algorithm deployed on the cloud recognizes accurately the silent speech and reduces the weight of the wireless acquisition module.A series of experiments show that the silent speech recognition system(SSRS)can enduringly comply with large deformation(~45%)of faces by virtue of the electricitypreferred tattoo-like electrodes and recognize up to 110 words covering daily vocabularies with a high average accuracy of 92.64%simply by use of small-sample machine *** successfully apply the SSRS to 1-day routine life,including daily greeting,running,dining,manipulating industrial robots in deafening noise,and expressing in darkness,which shows great promotion in real-world applications.

关键词： translator weather silent

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ESO-Based Data Driven Set-Point Learning control for Nonlinear batch processes with PD-Type Feedback control Structure Subject to Nonrepetitive Uncertainties*

ESO-Based Data Driven Set-Point Learning Control for Nonline...

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Data Driven control and Learning Systems (DDCLS)

作者： Naseem Ahmad Shoulin Hao Tao Liu Yihui Gong Jiyan Zhang Haixia Wang Yong Zhu Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian China Institute of Advanced Control Technology Dalian University of Technology Dalian P. R. China School of Biomedical Engineering Dalian University of Technology Dalian P. R. China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

In this paper, an extended state observer (ESO) based data-driven set-point learning control (DDSPLC) scheme is proposed for nonlinear batch processes configured with an inherent PD-type control loop, so as to actively suppress the adverse effect of nonrepetitive external disturbances and nonidentical initial resetting conditions, by only utilizing the available process input/output data. The controlled process is firstly reformulated as an iterative dynamic linearization data model (IDLDM) with an extra generalized disturbance, where the unknown pseudo partial derivative and the generalized disturbance are, respectively, estimated by a projection-like algorithm and iterative ESO along the batch direction. By virtue of the estimated PPD and generalized disturbance, a set-point learning updating law with adaptive learning gain is then developed to optimize the tracking performance from batch-to-batch, by tuning the set-point command of the closed-loop PD-type control. Robust convergence analysis for the established closed-loop learning system is analyzed rigorously. The effectiveness and superiority of the proposed scheme are verified by an illustrative example.

关键词： Learning systems Uncertainty Heuristic algorithms Batch production systems process control Observers Iterative algorithms

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Spatio-temporal characteristics of genotoxicity in the Yangtze River under the background of COVID-19 pandemic

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Frontiers of Environmental Science & Engineering 2024年第11期18卷 121-132页

作者： Xinge Wang Na Li Yingnan Han Xiao Li Weixiao Qi Jian Li Kaifeng Rao Zijian Wang Yanjie Wei Mei Ma Key Laboratory of Drinking Water Science and Technology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China State Key Laboratory of Environmental Aquatic Chemistry Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China Yangtze Eco-Environment Engineering Research Center China Three Gorges CorporationBeijing 100038China National Engineering Research Center of Industrial Wastewater Detoxication and Resource Recovery Beijing 100085China University of Chinese Academy of Sciences Beijing 100049China Center for Water and Ecology State Key Joint Laboratory of Environment Simulation and Pollution ControlSchool of EnvironmentTsinghua UniversityBeijing 100084China Engineering Research Center of Groundwater Pollution Control and Remediation Ministry of EducationCollege of Water SciencesBeijing Normal UniversityBeijing 100875China Key Laboratory of Environmental Protection in Water Transport Engineering Ministry of Communications Tianjin Research Institute of Water Transport EngineeringTianjin 300456China

The global spread of viruses can lead to the release of large amounts of disinfectants or antiviral drugs into the water *** resulting disinfection byproducts(DBPs)and residual antiviral drugs,acting as genotoxic substances or their precursors,may pose risks to aquatic animals and drinking water sources;however,to date,no studies have analyzed the changes in genotoxicity in the Yangtze River before and after the *** the present study,water and sediment samples from the Yangtze River were collected during different seasons,just before and after the outbreak of COVID-19,and were assessed using the SOS/umu test(with and without liver S9).The results indicated that water samples exhibited more pronounced genotoxicity than did sediments,with direct genotoxicity being the primary ***,there were significant regional differences,with notably greater genotoxicity observed in the upper Yangtze River than in the lower reaches before the COVID-19 ***,this trend was reversed six to ten months later,suggesting the accumulation of DBPs or antiviral drugs after the COVID-19 ***,the risk quotient indicated that 65%of the water samples posed a high risk for Paramecium caudatum,whereas 71%of the samples posed a medium risk for Danio rerio,thereby representing a potential threat to the ecological security of the Yangtze *** conclusion,this study,at the basin scale,revealed the impacts of COVID-19 on the Yangtze River,highlighting the need to prevent DBPs and pharmaceutical pollution during similar events in the future.

关键词： Yangtze River COVID-19 Genotoxicity Spatio-temporal characteristics

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Microwave heating as a universal method to transform confined molecules into armchair graphene nanoribbons

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Nano Research 2023年第7期16卷 10644-10651页

作者： Haoyuan Zhang Yingzhi Chen Kunpeng Tang Ziheng Lin Xuan Li Hongwei Zhang Yifan Zhang Chi Ho Wong Chi Wah Leung Chee Leung Mak Yuan Hu Weili Cui Kecheng Cao Lei Shi State Key Laboratory of Optoelectronic Materials and Technologies Nanotechnology Research CenterGuangdong Province Key Lab of Display Material and TechnologySchool of Materials Science and EngineeringSun Yat-sen UniversityGuangzhou 510275China Huzhou Key Laboratory of Environmental Functional Materials and Pollution Control School of EngineeringHuzhou UniversityHuzhou 313000China Department of Industrial and Systems Engineering Research Institute for Advanced ManufacturingThe Hong Kong Polytechnic UniversityHong Kong 999077China Department of Applied Physics The Hong Kong Polytechnic UniversityHong Kong 999077China Shanghai Key Laboratory of High-resolution Electron Microscopy ShanghaiTech UniversityShanghai 201210China

Armchair graphene nanoribbons(AGNRs)with sub-nanometer width are potential materials for the fabrication of novel nanodevices thanks to their moderate direct band *** are usually synthesized by polymerizing precursor molecules on substrate ***,it is time-consuming and not suitable for large-scale *** can also be grown by transforming precursor molecules inside single-walled carbon nanotubes(SWCNTs)via furnace annealing,but the obtained AGNRs are normally *** this work,microwave heating is applied for transforming precursor molecules into *** fast heating process allows synthesizing the AGNRs in *** different molecules were successfully transformed into AGNRs,suggesting that it is a universal *** importantly,as demonstrated by Raman spectroscopy,aberrationcorrected high-resolution transmission electron microscopy and theoretical calculations,less twisted AGNRs are synthesized by the microwave heating than the furnace *** results reveal a route for rapid production of AGNRs in large scale,which would benefit future applications in novel AGNRs-based semiconductor devices.

关键词： armchair graphene nanoribbons(AGNRs) microwave heating single-walled carbon nanotubes(SWCNTs) Raman spectroscopy

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Surface Defect Detection Algorithm for Glazed Ceramic Tiles Based on Improved Faster RCNN

Surface Defect Detection Algorithm for Glazed Ceramic Tiles ...

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Image processing, Computer Vision and Machine Learning (ICICML), International Conference on

作者： Yafei Fan Jun Liu Jian Wang Kecheng Zhou Jun Wang School of Computer Science and Technology Shenyang University of Chemical Technology Key Laboratory of Industrial Intelligence Technology on Chemical Process Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

In terms of surface defect detection of glazed tiles, there are problems such as false detection and insufficient ability to identify small target defects due to the rich texture on the surface of glazed tiles. In response to these challenges, this article has compiled a dataset of glazed ceramic tiles and proposed an improved algorithm ECANet-FPG based on Faster R-CNN. Due to the similarity in texture and defects on the surface of ceramic tiles, this algorithm introduces the Efficient Channel Attention (ECA) module into the feature extraction network of Faster R-CNN to enhance the ability to extract deep features. At the same time, a Feature Pyramid Grids (FPG) structure is adopted to achieve efficient fusion of multi-scale features, in order to improve the recognition accuracy of small target defects. The experimental results show that the improved algorithm achieves higher detection accuracy and efficiency than the baseline model, demonstrating its effectiveness and practicality in detecting surface defects on glazed ceramic tiles.

关键词： Accuracy Target recognition Tiles Object detection Feature extraction Robustness Ceramics Surface texture Surface treatment Defect detection

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Efficient and stable perovskite solar cells by build-inπ-columns and ionic interfaces in covalent organic frameworks

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Nano Research 2023年第7期16卷 9387-9397页

作者： Riming Nie Xiaokai Chen Zhongping Li Weicun Chu Si Ma Changqing Li Xiaoming Liu Yonghua Chen Zhuhua Zhang Wanlin Guo State Key Laboratory of Mechanics and Control of Mechanical Structures Key Laboratory for Intelligent Nano Materials and Devices of the Ministry of EducationInstitute for Frontier ScienceNanjing University of Aeronautics and AstronauticsNanjing 210016China Department of Chemical and Biomolecular Engineering Yonsei University50 Yonsei-roSeodaemun-guSeoul 120-749Republic of Korea College of Chemistry Jilin UniversityChangchun 130012China Department of Energy and Chemical Engineering Ulsan National Institute of Science and Technology(UNIST)50 UNIST-gilEonyang-eupUljugunUlsan 44919Republic of Korea Key Laboratory of Flexible Electronics(KLoFE) School of Flexible Electronics(Future Technologies)&Institute of Advanced Materials(IAM)Nanjing Tech University(Nanjing Tech)Nanjing 211816China

Perovskite solar cells(PSCs)have attracted much attention due to their rapidly increased power conversion efficiencies,however,their inherent poor long-term stability hinders their *** degradation of PSCs first comes from the degradation of hole transport materials(HTMs).Here,we report the construction of periodicπ-columnar arrays and ionic interfaces over the skeletons by introducing cationic covalent organic frameworks(C-COFs)to the ***π-columnar arrays can optimize the charge transport ability and energy levels of the hole transport layer and suppress the degradation of HTM,and ionic interfaces over the skeletons can produce stronger electric dipole and electrostatic interactions,as well as higher charge *** C-COFs were designed and synthesized via Schiff base reaction by using 1,3,5-triformylphloroglucinol as a neutral knot and dimidium bromide as cationic *** neutral COFs(N-COFs)were also synthesized as a reference by using 3,8-diamino-6-phenylphenanthridine as neutral *** with cationic COF exhibit the highest efficiency of 23.4%with excellent humidity and thermal *** the best of our knowledge,this is the highest efficiency among the meso-structured PSCs fabricated by a sequential process.

关键词： cationic covalent organic framework(C-COF) π-columnar arrays ionic interfaces charge density perovskite solar cells

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Direct visualisation of metal-defect cooperative catalysis in Ru-doped defective MOF-808

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Journal of Materials Chemistry A 2024年第30期12卷 19018-19028页

作者： Xu, Chirui Orbell, William Wang, Guilian Li, Boye Ng, Bryan K. Y. Wu, Tai-Sing Soo, Yun-Liang Luan, Zhao-Xue Tang, Kangjian Wu, Xin-Ping Tsang, S. C. Edman Zhao, Pu Innovation Center for Chemical Science College of Chemistry Chemical Engineering and Materials Science Soochow University Suzhou215123 China Department of Chemistry University of Oxford OxfordOX1 3QR United Kingdom State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Tsinghua University Beijing100084 China National Synchrotron Radiation Research Center Hsinchu30076 Taiwan Department of Physics National Tsing Hua University Hsin-chu30013 Taiwan State Key Laboratory of Green Chemical Engineering and Industrial Catalysis Centre for Computational Chemistry Research Institute of Industrial Catalysis School of Chemistry and Molecular Engineering East China University of Science and Technology Shanghai200237 China

Improving the efficiency of catalytic materials is vital to the chemical and energy industries. Constructing neighbouring active sites in metal-organic framework (MOF) materials for cooperative catalysis is a promising way to achieve the above goal. However, it is difficult to fine-tune active sites at the atomic level due to the challenge of visualising their local structures and their interaction with substrates. In this article, we report the direct visualisation of metal and defect active sites and binding of the phenol substrate in Ru-doped defective MOF-808. X-ray absorption spectroscopy, X-ray pair distribution function analysis, X-ray powder diffraction, and infrared spectroscopy reveal that the enhanced selective hydrogenation originates from the specific adsorption geometry of phenol over 7-centred Ru clusters and hydroxyl or water of defect sites. This mechanism also well explains the high catalytic activity in CO2 reduction. This work represents the first example of structural elucidation of metal-defect cooperative catalysis in MOFs and will lead to the rational design of new superactive MOF catalysts. © 2024 The Royal Society of Chemistry.

关键词： Substrates

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