检索结果-内蒙古大学图书馆

Online adaptive Q-learning method for fully cooperative linear quadratic dynamic games

Science China(Information Sciences) 2019年第12期62卷 164-177页

作者： Xinxing LI Zhihong PENG Lei JIAO Lele XI Junqi CAI School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

A model-based offline policy iteration(PI) algorithm and a model-free online Q-learning algorithm are proposed for solving fully cooperative linear quadratic dynamic games. The PI-based adaptive Q-learning method can learn the feedback Nash equilibrium online using the state samples generated by behavior policies, without sending inquiries to the system model. Unlike the existing Q-learning methods, this novel Q-learning algorithm executes both policy evaluation and policy improvement in an adaptive *** prove the convergence of the offline PI algorithm by proving its equivalence to Newton's method while solving the game algebraic Riccati equation(GARE). Furthermore, we prove that the proposed Q-learning method will converge to the Nash equilibrium under a small learning rate if the method satisfies certain persistence of excitation conditions, which can be easily met by suitable behavior policies. Our simulation results demonstrate the good performance of the proposed online adaptive Q-learning algorithm.

关键词： adaptive dynamic programming reinforcement learning Q-learning fully cooperative linear quadratic dynamic games policy iteration off-policy

来源：评论

学校读者我要写书评

暂无评论

Near minimum-time feedback attitude control with multiple saturation constraints for agile satellites

引用

Chinese Journal of Aeronautics 2016年第3期29卷 722-737页

作者： Liu Xiangdong Xin Xing Li Zhen Chen Zhen Sheng Yongzhi School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Agile satellites are of importance in modern aerospace applications, but high mobility of the satellites may cause them vulnerable to saturation during attitude maneuvers due to limited rating of actuators, This paper proposes a near minimum-time feedback control law for the agile satellite attitude control system. The feedback controller is formed by specially designed cascaded sub-units. The rapid dynamic response of the modified Bang Bang control logic achieves the near optimal property and ensures the non-saturation properties on three-axis. To improve the dynamic performance, a model reference control strategy is proposed, in which the oniline near optimal attitude maneuver path is generated by the cascade controller and is then tracked by a nonlinear back-stepping controller. Furthermore, the accuracy and the robustness of the control system are achieved by momentum-based on-line inertial identification. The rapid attitude maneuvering can be applied for tasks including the move to move case. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy in terms of the saturation-free property and rapidness.

关键词： Actuator saturation Attitude control Identification Momentum transfer Satellites

来源：评论

学校读者我要写书评

暂无评论

control method on serial type pump-valve coordinated electro-hydraulic servo system

引用

Journal of Beijing Institute of Technology 2016年第1期25卷 100-107页

作者：谢文汪首坤王军政吴建 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was *** system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic *** on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control *** experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.

关键词： pump-valve coordinated grey prediction adaptive robust control efficiency

来源：评论

学校读者我要写书评

暂无评论

Adaptive robust control for electrical cylinder with friction compensation usingmodified LuGre model

引用

Journal of Beijing Institute of Technology 2014年第3期23卷 358-367页

作者：郝仁剑王军政赵江波汪首坤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.

关键词： adaptive robust electrical cylinder friction compensation LuGre model

来源：评论

学校读者我要写书评

暂无评论

Novel algorithm of gait planning of hydraulic quadruped robot to avoid foot slidingand reduce impingement

引用

Journal of Beijing Institute of Technology 2016年第1期25卷 91-99页

作者：马立玲杨超峰王立鹏王军政 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed in this ***,the foot trajectory is designated as the improved composite cycloid foot ***,the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the *** with the controllable landing angle of quadruped robot and a geometry method,the kinematic equation is derived in this ***,agait planning method of quadruped robot is proposed,a dynamic co-simulation is done with ADAMS and MATLAB,and practical experiments are *** validity of the proposed algorithm is confirmed through the co-simulation and *** results show that the robot can avoid sliding,reduce impingement,and trot stably in trot gait.

关键词： landing angle gait planning foot trajectory friction cone sliding impingement

来源：评论

学校读者我要写书评

暂无评论

Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

引用

Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

来源：评论

学校读者我要写书评

暂无评论

Line-element based nonlinear adaptive piecewise compensating correction for LVDT sensors

引用

Journal of Beijing Institute of Technology 2013年第4期22卷 497-503页

作者：王立鹏王军政赵江波吴江丰 Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.

关键词： line element adaptively segment linear variable differential transformer (LVDT) non-linear compensation correction

来源：评论

学校读者我要写书评

暂无评论

Localization and mapping in urban area based on 3D point cloud of autonomous vehicles

引用

Journal of Beijing Institute of Technology 2016年第4期25卷 473-482页

作者：王美玲李玉杨毅朱昊刘彤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping （SLAM） algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points （ICP） algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles＇ importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles＇ poses, which would decrease particle numbers, increase algorithm speed and restrain particles＇ impoverishment. The calculation of particles＇ importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches.

关键词： simultaneous localization and mapping (SLAM) Rao-Blackwellized particle filter ( RB-PF) VoxelGrid filter ICP algorithm Gaussian model urban area

来源：评论

学校读者我要写书评

暂无评论

Optimal Tuning of Plant-Friendly PID controllers

引用

Journal of Beijing Institute of Technology 2010年第3期19卷 331-336页

作者：史大威王军政马立玲 Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

A plant-friendly proportional-integral-derivative （PID） controller optimization framework is proposed to make tradeoffs among set-point response,controller output variations and *** objective function is chosen as the weighted sum of the integral of squared time-weighted error and the integral of squared timeweighted derivative of the control variable with respect to set-point response,while the robustness of the system is guaranteed by constraints on gain and phase *** to the complex structure of the constraints,the problem is solved by genetic *** analysis show the proposed method could efficiently reduce the controller output variations while maintaining a short settling *** on the simulation results,iterative tuning rules for the weighting factor in the objective function are obtained,which allows efficient simple proportional-integral（PI） tuning formulae to be derived.

关键词： PID control plant-friendliness genetic algorithm constrained optimization

来源：评论

学校读者我要写书评

暂无评论

Design and development of a new autonomous transportation robot for finished vehicles docking transportation in RO/RO logistics terminal

引用

Advanced Engineering Informatics 2025年 66卷

作者： Xu, Yongkang Zhang, Lin Liu, Zhi Wang, Shoukun Wang, Junzheng State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

With the continuous growth of the automobile trade, the inefficiency of traditional cargo transshipment in Roll-On/Roll-Off (RO/RO) terminals has become increasingly pronounced. As a result, the adoption of autonomous transportation robot (ATR) for the automatic handling of finished vehicles has seen significant growth. However, ATRs designed for this purpose face several limitations, including suboptimal mobility performance and the necessity for additional infrastructure to support their operation. This paper introduces a novel ATR that offers enhanced flexibility and operational capability. To further optimize the positioning of LiDAR, we develop a multi-stage LiDAR fusion algorithm for the precise localization of finished vehicles, incorporating an event-triggered decision-making approach to improve positioning accuracy. Based on the accurate positioning data, we propose a docking strategy consisting of two key phases: the approach phase and the docking phase. During the docking phase, an enhanced Model Predictive control (MPC) algorithm, integrated with a Radial Basis Function (RBF) neural network, is designed to enable real-time adjustment of the robot's docking attitude. The effectiveness of the proposed approach is validated through real-world robot experimentals demonstrating its practical viability. © 2025

关键词： Docking control Finished vehicles RO/RO terminal Transportation robot

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：