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第三十三届中国控制会议

作者： Li Xiaodi Li Shihua School of Automation Southeast University Key laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

In this paper, the speed regulation problem for permanent magnet synchronous motor(PMSM) systems under vector control framework is studied. A modified composite control strategy combining model reference adaptive control(MRAC)method and extended state observer(ESO) technology, called MRAC+ESO method, is proposed. controller is designed for the speed loop of the permanent magnet synchronous motor(PMSM) to improve the performance of the system. The stability analysis, simulation and experimental results are presented to show the effectiveness of the proposed control method.

关键词： Model reference adaptive control(MRAC),Permanent magnet synchronous motor(PMSM),Speed regulation system,Extended state observer(ESO),Composite controller

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STATE FEEDBACK STABILIZATION FOR A CLASS OF NONLINEAR TIME-DELAY systems VIA DYNAMIC LINEAR controlLERS

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Journal of systems Science & complexity 2014年第3期27卷 453-462页

作者： CHAI Lin QIAN Chunjiang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Department of Electrical and Computer Engineering University of Texas at San AntonioSan AntonioTX 78249USA

The dynamic linear state feedback control problem is addressed for a class of nonlinear systems subject to ***,using the dynamic change of coordinates,the problem of global state feedback stabilization is solved for a class of time-delay systems under a type of nonhomogeneous growth *** the aid of an appropriate Lyapunov-Krasovskii functional and the adaptive strategy used in coordinates,the closed-loop system can be globally asymptotically stabilized by the dynamic linear state feedback *** growth condition in perturbations are more general than that in the existing *** correctness of the theoretical results are illustrated with an academic simulation example.

关键词： Dynamic linear controller global stabilization nonlinear time-delay systems state feed-back control.

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Global State control for a Class of Inherently Higher-order Parameterized Nonlinear Time-delay systems Based on Homogeneous Domination Approach

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IFAC-PapersOnLine 2015年第12期48卷 191-196页

作者： Chai, Lin Wang, Pan Fei, Shumin Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Ministry of Education School of Automation Nanjing 210096 China

This paper addresses the problem of global state feedback stabilization for a class of inherently higher-order parameterized nonlinear systems subject to time-delay. By using the homogeneous domination approach, we construct a homogeneous state feedback controller with an adaptive strategy. A constructive design method is developed based an effective coupling of the inductive method and a sign function, leading to adaptive regulators with minimal parameterization. With the aid of a homogeneous Lyapunov-Krasovskii functional, the closedloop systems can be asymptotically stabilized globally. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Parameterization

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Circular Formation Flight control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 505-516页

作者： Yangyang Chen Rui Yu Ya Zhang Chenglin Liu School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan UniversityWuxi 214122China

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target *** from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper *** from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as *** the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)*** the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching ***,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation *** validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

关键词： Directed network external disturbance flight control unmanned aerial vehicles(UAVs)

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Balanced prioritized experience replay in off-policy reinforcement learning

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Neural Computing and Applications 2024年第25期36卷 15721-15737页

作者： Lou, Zhouwei Wang, Yiye Shan, Shuo Zhang, Kanjian Wei, Haikun Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China School of Automation Southeast University Nanjing210096 China

In Off-Policy reinforcement learning (RL), the experience imbalance problem can affect learning performance. The experience imbalance problem refers to the phenomenon that the experiences obtained by the agent during the learning process are unevenly distributed in the state space, resulting in the agent’s inability to accurately estimate the value of each potential state. This problem is typically caused by environments with high-dimensional state and action spaces, as well as the exploration–exploitation mechanism inherent in RL. This article proposes a balanced prioritized experience replay (BPER) algorithm based on experience rarity. First, an evaluation metric to quantify experience rarity is defined. Then, the sampling priority of each experience is calculated according to this metric. Finally, prioritized experience replay is performed according to the sampling priority. BPER increases the sampling frequency of high-rarity experiences and decreases the sampling frequency of low-rarity experiences, enabling the agent to learn more comprehensive knowledge. We evaluate BPER on a series of MuJoCo continuous control tasks. Experimental results show that BPER can effectively improve the learning performance while mitigating the impact of the experience imbalance problem. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Reinforcement learning

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Reduction of data amount in data-driven design of linear quadratic regulators

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control Theory and Technology 2024年第4期22卷 532-542页

作者： Shinsaku Izumi Xin Xin School of Systems Engineering Kochi University of TechnologyKamiKochi782-8502Japan School of Automation Southeast Universityand Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing210096JiangsuChina

This paper discusses the data-driven design of linear quadratic regulators,i.e.,to obtain the regulators directly from experimental data without using the models of *** particular,we aim to improve an existing design method by reducing the amount of the required experimental *** the data amount leads to the cost reduction of experiments and computation for the data-driven *** present a simplified version of the existing method,where parameters yielding the gain of the regulator are estimated from only part of the data required in the existing *** then show that the data amount required in the presented method is less than half of that in the existing method under certain *** addition,assuming the presence of measurement noise,we analyze the relations between the expectations and variances of the estimated parameters and the *** a result,it is shown that using a larger amount of the experimental data might mitigate the effects of the noise on the estimated *** results are verified by numerical examples.

关键词： Data-driven design Linear quadratic regulators Linear systems Riccati equation Stochastic properties

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New type of adaptive control for a class of distributed time-delay systems with adaptation regard to delay parameter

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Journal of systems engineering and Electronics 2010年第6期21卷 1054-1062页

作者： Lin Chai1, 2, Shumin Fei1, 2, Haiyan Jin1, 2, Ruimin Wang1, 2, and Yanhong Li1, 2 1. key laboratory of measurement and control of complex systems of engineering, Southeast University, Nanjing 210096, P. R. China 2. school of automation, Southeast University, Nanjing 210096, P. R. China Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast UniversityNanjing 210096P.R.China School of Automation Southeast UniversityNanjing 210096P.R.China

The problem on stabilization for the system with distributed delays is researched. The distributed time-delay under consideration is assumed to be a constant time-delay, but not known exactly. A design method is proposed for a memory proportional and integral （PI） feedback controller with adaptation to distributed time-delay. The feedback controller with memory simultaneously contains the current state and the past distributed information of the addressed systems. The design for adaptation law to distributed delay is very concise. The controller can be derived by solving a set of linear matrix inequalities （LMIs）. Two numerical examples are given to illustrate the effectiveness of the design method.

关键词： distributed delay linear matrix inequality （LMI） adaptive control time-delay systems memory PI feedback.

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Convergence Analysis of Consensus based Distributed Filtering Algorithm in Sensor Networks 34

Convergence Analysis of Consensus based Distributed Filterin...

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第三十四届中国控制会议

作者： ZHANG Ya TIAN Yu-Ping CAI Jun School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education 73658 Army

ISBN: (纸本)9781467374439

This paper studies the distributed filtering problem of sensor networks, where a set of heterogeneous sensing nodes is required to estimate the state of a linear discrete-time dynamic system in a collaborative manner. Due to limited sensing range and communication constraints, just part of sensors can get observations of the process and a consensus based sub-optimal filtering algorithm is designed. The convergence properties of the estimation error covariance is further studied, and a necessary and sufficient convergence condition is provided based on LMIs. This condition shows that the convergence of the algorithm requires the target node in the extended topology of network is globally reachable and each sensing node is observable to the process. Simulation examples are given to illustrate the results.

关键词： Distributed filter,Sensor networks,Consensus,Convergence analysis,LMIs

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Time-varying formation tracking control of high-order multi-agent systems with multiple leaders and multiplicative noise

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Science China(Information Sciences) 2024年第12期67卷 191-207页

作者： Ruru JIA Xiaofeng ZONG Qing WANG College of Artificial Intelligence Nankai University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation Science and Electrical Engineering Beihang University

This work discusses the time-varying formation(TVF) tracking control problem of high-order multi-agent systems(MASs) with multiple leaders and multiplicative measurement noise. With the help of Lyapunov function tools and stochastic analysis methods, the TVF tracking protocol with multiple leaders and multiplicative noise is developed based on the relative state measurements, where followers are driven to realize the target TVF while tracking the convex combination formed by multiple leaders. Then, the TVF tracking problem is converted into the mean square asymptotic stability problem of a stochastic differential equation(SDE); sufficient conditions related to the control gains are given by stabilizing the corresponding stochastic system. Moreover, a TVF tracking algorithm is presented to outline the steps of protocol ***, the theoretical results are illustrated in terms of simulation examples.

关键词： multi-agent systems multiple leaders multiplicative measurement noise stochastic differential equation formation tracking control

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Nonlinear Time-varying systems Identification Based on Multi-dimensional Taylor Network and Variable Forgetting Factor Recursive Least Squares Algorithm

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IFAC-PapersOnLine 2015年第11 11期48卷 1103-1107页

作者： Zhang, Jiao-Jun Yan, Hong-Sen School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

A novel method for nonlinear time-varying systems identification based on multi-dimensional Taylor network and variable forgetting factor recursive least squares algorithm is proposed. In this paper, the connection weight coefficients of multi-dimensional Taylor network are regarded as time-varying parameters, which are trained by the variable forgetting factor recursive least squares algorithm, to reflect the input-output change of nonlinear time-varying systems. Simulation results show that the method proposed in this paper is valid. © 2015

关键词： Time varying networks Identification (control systems) Least squares approximations Time varying systems Connection weights Input output Multi dimensional Nonlinear time varying systems Recursive least squares algorithms Time varying parameter Variable forgetting factors

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