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A new approach of optimal control for a class of continuous-time chaotic systems by an online ADP algorithm

Chinese Physics B 2014年第5期23卷 138-144页

作者：宋睿卓肖文栋魏庆来 School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

We develop an online adaptive dynamic programming （ADP） based optimal control scheme for continuous-time chaotic systems. The idea is to use the ADP algorithm to obtain the optimal control input that makes the performance index function reach an optimum. The expression of the performance index function for the chaotic system is first presented. The online ADP algorithm is presented to achieve optimal control. In the ADP structure, neural networks are used to construct a critic network and an action network, which can obtain an approximate performance index function and the control input, respectively. It is proven that the critic parameter error dynamics and the closed-loop chaotic systems are uniformly ultimately bounded exponentially. Our simulation results illustrate the performance of the established optimal control method.

关键词： adaptive dynamic programming adaptive critic designs optimal control continuous-time chaoticsystem

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Finite element approximation and input parameterization for the optimal control of current profiles in tokamak plasmas 19

Finite element approximation and input parameterization for ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Ren, Zhigang Xu, Chao Lin, Qun Loxton, Ryan Teo, Kok Lay Chu, Jian State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control ZheJiang University Hangzhou Zhejiang China Department of Mathematics and Statistics Curtin University PerthWA Australia

ISBN: (纸本)9783902823625

In this paper, we consider a simplified dynamic model describing the evolution of the poloidal flux during the ramp-up phase of the tokamak discharge. We first use the Galerkin method to obtain a finite-dimensional model based on the original PDE system. Then, we apply the control parameterization method to obtain an approximate optimal parameter selection problem governed by a lumped parameter system. Computational optimization techniques are subsequently deployed to solve this approximate problem. To validate our approach, we perform numerical simulations using experimental data from the DIII-D tokamak in San Diego, California. The results show that our numerical optimization procedure can generate optimal controls that drive the current profile to within close proximity of the desired profile at the terminal time, thus demonstrating that the Galerkin and control parameterization methods are effective tools for current profile control in tokamak plasmas. © IFAC.

关键词： Magnetoplasma

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Visualisation of the Early-Stage Vibration of the Automatic-Gauge-control Hydraulic Cylinder Based on the Acoustic Emission Hits-Density Imaging

Visualisation of the Early-Stage Vibration of the Automatic-...

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2015年中国智能自动化学术会议

作者： Hongzhi Chen Yongli Zhao Jie Huang Chang Cheng State Key Laboratory of Hybrid Process Industry Automation System and Equipment Technology Automation Research and Design Institute of Metallurgical Industry Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Fujian Institute of Education

By taking into account the hits-density imaging technique that has been introduced by authors' previous publications, the acoustic emission bursts emitted from the automatic-gauge-control hydraulic cylinder under normal loading and early-stage vibration were investigated. First, six acoustic emission descriptors that showed significance regarding the cumulative probability distribution were visualised, followed by the reconstruction of the hits-density images using these features;Through the visual examination of the hits-density images regarding the cylinders' normal loading and early-stage vibration, apparent visual differences between normal and early-stage vibration under the same loading can be observed;By projecting the hits-density images onto the principal component space, a trajectory which represents the condition developments was observed, which shows a visual-based resolution for dealing with vast transient bursts data reduction,reconstruction and visualisation.

关键词： Visualisation Hits-density imaging Early-stage vibration Acoustic emission

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26th Annual Computational Neuroscience Meeting (CNS*2017) of the Organization for Computational Neuroscience Antwerp, Belgium, July 15-20, 2017

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 59-59页

作者： [Anonymous] Indiana University Purdue University Indianapolis Indianapolis IN 46032 USA Stark Neurosciences Research Institute Indiana University School of Medicine Indianapolis IN 46032 USA Department of Mathematics East Carolina University Greenville NC 27858 USA Jülich Supercomputing Centre Forschungszentrum Jülich 52425 Jülich Germany Future Systems Swiss National Supercomputing Centre 8092 Zurich Switzerland User Engagement and Support Swiss National Supercomputing Centre 6900 Lugano Switzerland Institut de Neurosciences des Systèmes Aix Marseille Univ 13005 Marseille France Simulation Lab Neuroscience Forschungszentrum Jülich Jülich Germany Department of Experimental Psychology Ghent University 9000 Ghent Belgium Donders Center for Cognitive Neuroimaging Radboud University 6525HR Nijmegen The Netherlands Department of Electrical Computer and Energy Engineering University of Colorado Boulder CO 80309 USA Department of Neurosurgery Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Neurology Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Otolaryngology Johns Hopkins School of Medicine Baltimore MD 21287 USA INSERM U968 Paris France Sorbonne Universités UPMC University Paris 06 UMR_S 968 Institut de la Vision Paris France CNRS UMR_7210 Paris France Department of Computer Architecture and Technology University of Granada (CITIC) Granada Spain Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Institut de la Vision Paris France Department of Adaptive Machine Systems Osaka University Osaka Japan Department of Computer Science University of Cergy-Pontoise Cergy-Pontoise France Department of Physics and Astronomy College of Charleston Charleston SC 29424 USA School of Physics Faculty of Science University of Sydney Sydney NSW 2006 Australia Center of Excellence for Integrative Brain Function Australian Research Council Sydney Australia Max Planck Institute for Human Cognitive and Brain Sciences Saxony Lei

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A partial-state observer for a class of MIMO nonlinear systems 19

A partial-state observer for a class of MIMO nonlinear syste...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Wang, Lei Isidori, Alberto Su, Hongye Xu, Weihua State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control ZheJiang University Hangzhou310027 China Department of Computer Control and Management Engineering University of Rome La Sapienza Rome Italy

ISBN: (纸本)9783902823625

In this paper, we consider input-affine invertible MIMO nonlinear systems which can be transformed into a special normal form by means of the structure algorithm. The normal form highlights a partial state, a subset of state variables, which plays in this setting a role similar to that of the outputs and its derivatives in a SISO system. It is shown that, if a system in this class can be asymptotically stabilized by means of a static feedback from that partial state, then semiglobal stabilization can be achieved via dynamic feedback driven by the output of the system. The dynamic feedback in question is based a (non-trivial) extension to MIMO systems of the standard high-gain observer. © IFAC.

关键词： Nonlinear systems

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Immersion and Invariance Stabilization of Nonlinear systems: A Horizontal Contraction Approach

Immersion and Invariance Stabilization of Nonlinear Systems:...

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IEEE Annual Conference on Decision and control

作者： Lei Wang Fulvio Forni Romeo Ortega Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University 310027 Hangzhou P.R.China University of Cambridge Department of Engineering Trumpington Street Cambridge CB2 1PZ Laboratoire des Signaux et Systemes CNRS UMR 8506 Supelec 91192 Gif sur Yvette France

ISBN: (纸本)9781479978878

The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal dynamics contains a copy of the desired system behaviour. Towards this end we invoke contraction theory principles and ensure the attractivity of the manifold rendering it horizontally contractive. The main advantage of adopting this alternative approach is to make more systematic the last step of the design with more explicit degrees of freedom to accomplish the task. The classical case of systems in feedback form is used to illustrate the proposed controller design.

关键词： controller design Submersion invariance step design Manifolds system behavior contraction Ensure

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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A Coordination control Strategy of Voltage-Source-Converter-Based MTDC for Offshore Wind Farms

A Coordination Control Strategy of Voltage-Source-Converter-...

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IEEE Transactions on Industry Applications

作者： Wang, Zhuo-Di Li, Ke-Jun Ren, Jing-Guo Sun, Li-Jun Zhao, Jian-Guo Liang, Yong-Liang Lee, Wei-Jen Ding, Zhao-Hao Sun, Ying Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China State Grid Shandong Electric Power Research Institute Jinan China State Grid of China Technology College Jinan China Energy Systems Research Center University of Texas at Arlington ArlingtonTX United States

Similar to other major electrical apparatuses, the reliability and stability of the dc network is becoming the most important issue when using the voltage-source-converter-based multiterminal dc (VSC-MTDC) system for offshore wind power integration. A coordinated control strategy of VSC-MTDC named master-auxiliary is proposed by combining the advantages of the voltage margin and voltage droop control. This strategy has three advantages. First, the master converter station with the constant dc voltage control can provide reference to the system dc voltage and is helpful for the stabilization of dc voltage. Second, the integrated control of the dc voltage in both master and auxiliary converter stations are helpful for providing adequate active power control (APC) and restraining large power variation. Third, the APC converter station can serve as a backup for the dc voltage control in abnormal conditions. In order to guarantee the reliability and stability of the system under various operating conditions, this paper introduces the priority of dc voltage control to the coordination control strategy. Moreover, a parameter optimizing method of controllers for this strategy is also proposed. Finally, the effectiveness of the master-auxiliary control is verified by simulations under normal and abnormal conditions. © 2015 IEEE.

关键词： Offshore wind farms Electric utilities System stability Voltage control Wind power Auxiliary control Coordination control Direct current Multi terminal dc Voltage source converters

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A heuristically accelerated multi-agent reinforcement learning algorithm applied to flow line maintenance scheduling

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Journal of Computational Information systems 2015年第6期11卷 2245-2255页

作者： Wang, Xiao Wang, Hongwei Qi, Chao Wang, Xu School of Safety Engineering Shenyang Aerospace University Shenyang China Institute of Systems Engineering/State Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

This paper investigates the maintenance scheduling problem in a flow line system consisting of two series machines with a finite buffer in between. The machines deteriorate with age and have multiple deteriorating quality states represented by multiple decreasing yield levels. The maintenance problem of both machines is modeled as semi-Markov decision processes. A heuristically accelerated multi-agent reinforcement learning algorithm with a feature of incorporating heuristic function for action selection is developed to produce a reasonable maintenance scheduling. A comparison with a Ε-greedy search based exploration algorithm, a simulated annealing search based exploration algorithm, a tabu search based exploration algorithm and a neighborhood search based exploration algorithm in reinforcement learning is presented. The results indicate that the proposed heuristically accelerated multi-agent reinforcement learning algorithm is competitive and has a certain advantage for larger problems. Copyright © 2015 Binary Information Press.

关键词： Tabu search

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