This paper introduces a model-free reinforcement learning technique that is used to solve a class of dynamic games known as dynamic graphical games. The graphical game results from to make all the agents synchronize t...
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This paper introduces a model-free reinforcement learning technique that is used to solve a class of dynamic games known as dynamic graphical games. The graphical game results from to make all the agents synchronize to the state of a command multi-agent dynamical systems, where pinning control is used generator or a leader agent. Novel coupled Bellman equations and Hamiltonian functions are developed for the dynamic graphical games. The Hamiltonian mechanics are used to derive the necessary conditions for optimality. The solution for the dynamic graphical game is given in terms of the solution to a set of coupled Hamilton-Jacobi-Bellman equations developed herein. Nash equilibrium solution for the graphical game is given in terms of the solution to the underlying coupled Hamilton-Jacobi-Bellman equations. An online model-free policy iteration algorithm is developed to learn the Nash solution for the dynamic graphical game. This algorithm does not require any knowledge of the agents' dynamics. A proof of convergence for this multi-agent learning algorithm is given under mild assumption about the inter-connectivity properties of the graph. A gradient descent technique with critic network structures is used to implement the policy iteration algorithm to solve the graphical game online in real-time.
This paper presents a torque control strategy of brushless DC (BLDC) motor based on current observer and state feedback control algorithm. Based on establishment and in depth analysis of the BLDC mathematical model, B...
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ISBN:
(纸本)9781479970995
This paper presents a torque control strategy of brushless DC (BLDC) motor based on current observer and state feedback control algorithm. Based on establishment and in depth analysis of the BLDC mathematical model, BLDC motor torque control is transformed into BLDC motor current control. Then a full dimensional current state observer is designed to estimate armature current of BLDC motor. After observing armature current with current state observer, it is fed back to the feedback statecontroller and the current reference input port to generate current control signal and current error signal, respectively. The control signal and error signal can be used to control the torque of BLDC motor. After completing the torque control algorithm of BLDC motor, a simulation model is developed using Matlab/Simulink. The capability and performance of the torque control algorithm of BLDC motor is verified.
作者:
Xia Yuanqingthe School of Automation
Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081
The concept of cloud controlsystems is discussed in this paper, which is an extension of networkedcontrolsystems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key rol...
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The concept of cloud controlsystems is discussed in this paper, which is an extension of networkedcontrolsystems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud controlsystems will give new contribution to the control theory and applications in the near future.
This paper considers the synchronization of a network of nonlinear systems with disturbances in input and measured *** assume that every agent satisfies passivity *** defining a controlled output,the synchronization p...
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ISBN:
(纸本)9781479970186
This paper considers the synchronization of a network of nonlinear systems with disturbances in input and measured *** assume that every agent satisfies passivity *** defining a controlled output,the synchronization problem is converted to H control *** design a distributed dynamical output-feedback control protocol such that the closed-loop system satisfies a guaranteed H *** addition,we design a distributed static output-feedback control protocol such that the closed-loop system satisfies a guaranteed H performance in the case that the measured output is not influenced by disturbance.A numerical example about Goodwin oscillators is presented to illustrate the effectiveness of the proposed control law.
Helicopter sling load has a wide range of applications. However, the sling load of helicopter may make it *** this paper, the spot hover control and the swing control of helicopter sling load system are investigated. ...
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ISBN:
(纸本)9781467374439
Helicopter sling load has a wide range of applications. However, the sling load of helicopter may make it *** this paper, the spot hover control and the swing control of helicopter sling load system are investigated. To solve the problems,the ZG method, which is the combination of Zhang dynamics(ZD) and gradient dynamics(GD) methods, is adopted. Firstly,with the purpose of helicopter spot hover considered, a z2g1 controller is designed and proposed by using the ZG method, where ZD is used for two times and GD is used for one time. Secondly, with the purpose of swing control of helicopter sling load considered, another z2g1 controller is designed and proposed. Simulation results on a mathematical model of helicopter sling load system equipped with the proposed z2g1 controllers are presented for different control purposes, which substantiate the effectiveness and significance of the proposed method and controllers.
This paper presents a new substation auxiliary control system communication scheme based on WIA industrial wireless technology. The structure and operation principle are introduced, and the technical difficulties and ...
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ISBN:
(纸本)9781479947249
This paper presents a new substation auxiliary control system communication scheme based on WIA industrial wireless technology. The structure and operation principle are introduced, and the technical difficulties and solutions of the WIA industrial wireless technology in substation auxiliary control system application are analyzed from the network protocol and hardware design. The validity of the schema has been verified through the practical application in the pilot project.
Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation comp...
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ISBN:
(纸本)9781467374439
Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.
The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions,...
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ISBN:
(纸本)9781467374439
The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.
Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presente...
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ISBN:
(纸本)9781467374439
Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer, which is adjusted by tracking error and sliding surface estimation error, is proposed to estimate disturbances. The composite adaptive estimation based tracking control is constructed in feedforward-feedback composite control strategy. The effectiveness of the designed controllers is illustrated by theoretical analysis and simulations results.
The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional device...
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ISBN:
(纸本)9781479969241
The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional devices and avoiding the radiation are especially important for the surgeons. This paper presents a novel dedicated dual-finger robotic hand (DRH) and a console to assist the surgeons to deliver the interventional devices in PCIs. The system is designed in the master-slave way which helps the surgeons to reduce the exposure to radiation. The mechanism of the DRH is bio-inspired and motions are decoupled in kinematics. In PCI procedures, the accuracy of the guidewire delivery and the catheter tip placement have significant effects on the surgical results. The performances of the DRH in delivering the guidewire and the balloon/stent catheter were evaluated by three surgical manipulations. The results show that the DRH has the ability to deliver the guidewire and the balloon/stent catheter precisely.
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