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作者： Zhang, Guozhu Chen, Jie Li, Zhiping Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing 100081 China

ISBN: (纸本)9781424474264

The interval models of uncertain plants are frequently used in the field of robust control. In this paper, a novel interval model identification method based on linear programming is proposed. By certain prepossessing on the measured data of the plant, the interval model identification problem is transformed into several linear programming problems, which can be easily solved through various algorithms. We have proved that the resultant interval model has a known error bound, provided that certain conditions on the measured data are satisfied. To demonstrate its effectiveness, the proposed method is applied to identify the interval model of a servo system with variant load and inertia. © 2010 AACC.

关键词： Linear programming

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Mobile robot's electronic compass calibration based on modified Fourier Neural Network

Mobile robot's electronic compass calibration based on modif...

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2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011

作者： Kun, Gong Fang, Deng Tao, Ma Beijing 100083 China School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781612842509

In order to improve the precision of the azimuth measured by mobile robot's electronic compass, this paper proposes a new calibration method based on Fourier Neural Network trained by Modified Particle Swarm Optimization (MPSO-FNN). This method makes use of Fourier Neural Network (FNN) to establish the error compensation model of electronic compass's azimuth, and introduces Modified Particle Swarm Optimization (MPSO) algorithm to optimize the weights of neural network. Thus the comparatively accurate error model of azimuth is obtained to compensate the output of electronic compass. This method not only has strong nonlinear approximation capability, but also overcomes the neural networks' shortcomings which are too slow convergence speed, oscillation, and easy to fall into local optimum and sensitive to the initial values. Experimental results demonstrate that after calibrated by this method, the range of azimuth error reduces to -0.35°-0.70deg;from -3.4°-25.2°, and the average value of absolute error is only 0.30°. © 2011 IEEE.

关键词： Error compensation

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Self-Attention based Temporal Intrinsic Reward for Reinforcement Learning

Self-Attention based Temporal Intrinsic Reward for Reinforce...

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2021 China Automation Congress, CAC 2021

作者： Jiang, Zhuo Tian, Daiying Yang, Qingkai Peng, Zhihong The School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Peng Cheng Laboratory Guangdong Shenzhen China

ISBN: (纸本)9781665426473

This paper proposes a self-attention based temporal intrinsic reward model for reinforcement learning (RL), to synthesize the control policy for the agent constrained by the sparse reward in partially observable environments. This approach can solve the problem of temporal credit assignment to some extent and deal with the low efficiency of exploration. We first introduce a sequence-based self-attention mechanism to generate the temporary features, which can effectively capture the temporal property of the task for the agent. During the training process, the temporary features are employed in each sampled episode to elaborate the intrinsic rewards, which is combined with the extrinsic reward to help the agent learn a feasible policy. Then we use the meta-gradient to update this intrinsic reward model in order that the agent can achieve better performance. Experiments are given to demonstrate the superiority of the proposed method. © 2021 IEEE

关键词： Reinforcement learning

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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Comparison of Three Data-Driven Networked Predictive control Methods for a Class of Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1714-1716页

作者： Zhong-Hua Pang Xue-Ying Zhao Jian Sun Yuntao Shi Guo-Ping Liu the Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China the State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and... 详细信息

关键词： letter Nonlinear nonlinear

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A Vision and Neural Network Based Air-Ground Coordinated control system

A Vision and Neural Network Based Air-Ground Coordinated Con...

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2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Muyun Jiang Jiahui Shi Hongbin Ma You Li School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

This paper presents an air-ground coordinated system made up of an Unmanned Aerial Vehicle(UAV) and an Unmanned Ground Vehicle(UGV).The movement of UGV is totally controlled by UAV and multiple sensors are adopted in the system to ensure the stability.A novel neutral network algorithm is introduced to identify the location and orientation of *** component is introduced and tested in detail and the coordinated system performs a satisfying result.

关键词： Air-ground system Neutral Network

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Preface——Special Issue on New Directions in Nonlinear and Distributed control

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Journal of systems Science & complexity 2018年第1期31卷 1-3页

作者： LIU Tengfei XIN Bin JIANG Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China Tandon School of Engineering New York University Brooklyn NY 11201 USA

Nonlinearity is ubiquitous in engineering and natural *** development of nonlinear control can be traced back to decades *** date,the research has reached the stage that emphasizes developing methodologies that can ha... 详细信息

关键词：控制问题非线性分布式工程应用程序电子物理自然系统生产线相互作用

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Trajectory tracking of under-actuated reentry vehicle based on time-varying SMC with RBF disturbance observer 5

Trajectory tracking of under-actuated reentry vehicle based ...

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5th International Workshop on Advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Ji, Haibo Guo, Fuhui Liu, Xiangdong School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

In this paper, an effective guidance scheme and a control scheme are proposed to realize trajectory tracking of hypersonic reentry vehicle(HRV) subject to aileron stuck in some position. The overload is adopted as virtual control instead of lift and lateral force, then guidance order can be obtained by torque coefficient function. In attitude subsystem, attack of angle and sideslip angle are controlled to track guidance order. Time-varying sliding mode control method is adopted to design guidance law and attitude controller. Besides, a RBF observer is designed to estimate the unknown external disturbance to soften the chattering caused by TVSMC. Simulations verify the proposed schemes.

关键词： Sliding mode control

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm 42

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tianyi Ma, Liling Wang, Junzheng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789887581543

With the aim of 2-AMT electric vehicles, a comprehensive shift schedule that considers both power and economy is proposed. First, the objective function of the comprehensive shift schedule is constructed, which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit distance. Second, Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift schedule. Finally, AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an NEDC. The results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance, and the economy is optimized by 3%. The feasibility of the comprehensive shift schedule is verified. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electric vehicles

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Electric Dual Variable Pump controlled Hydraulic Motor 42

Electric Dual Variable Pump Controlled Hydraulic Motor

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42nd Chinese control Conference, CCC 2023

作者： Yang, Jianmin Wang, Junzheng Niu, Shanshuai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast response. However, due to the inherent nonlinearity of multiplication, it brings certain difficulties to the control. The electric double-variable pump[1] is a dual-input single-output system, and it is a nonlinear system[2]. It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the system. In this paper, an intelligent control rule is proposed for the nonlinear problem of double input and single output. Through backstepping design[3], the nonlinear system is transformed into multiple linear subsystems. Then the original system is turned into two independent subsystems with single input and single output, which are controlled separately. The co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the system. The results show that the response speed of the system has been greatly improved. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Backstepping

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