检索结果-内蒙古大学图书馆

Discrete-time dynamic graphical games:model-free reinforcement learning solution

control Theory and Technology 2015年第1期13卷 55-69页

作者： Mohammed I.ABOUHEAF Frank L.LEWIS Magdi S.MAHMOUD Dariusz G.MIKULSKI Systems Engineering Department King Fahd University of Petroleum & Mineral UTA Research Institute University of Texas at ArlingtonFort Worth Texas U.S.A. State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Ground Vehicle Robotics (GVR) U.S. Army TARDEC Warren MI U.S.A.

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.

关键词： Dynamic graphical games Nash equilibrium discrete mechanics optimal control model-free reinforcementlearning policy iteration

来源：评论

学校读者我要写书评

暂无评论

A torque control strategy of brushless direct current motor with current observer

A torque control strategy of brushless direct current motor ...

引用

IEEE International Conference on Mechatronics and Automation

作者： Long Zhao Xiaobin Zhang Junhong Ji State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

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 state controller 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.

关键词： Torque Torque control Brushless DC motors Mathematical model Observers

来源：评论

学校读者我要写书评

暂无评论

Cloud control systems

引用

自动化学报 2015年第2期2卷 134-142页

作者： Xia Yuanqing the School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (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 control systems will give new contribution to the control theory and applications in the near future.

关键词： Cloud control systems (NCSs) networked control systems cloud computing cyber-physical systems (CPSs) big data

来源：评论

学校读者我要写书评

暂无评论

Synchronization of a network of nonlinear agents with input disturbances

Synchronization of a network of nonlinear agents with input ...

引用

第27届中国控制与决策会议

作者： Shidong Zhai Qingdu Li Research Center of Analysis and Control for Complex Systems and Key Laboratory of Industrial Internet of Things & Networked ControlMinistry of EducationChongqing University of Posts and Telecommunications

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.

关键词： H_∞ consensus incremental output-feedback passivity nonlinear systems input disturbances

来源：评论

学校读者我要写书评

暂无评论

Spot Hover control of Helicopter and Swing control of Helicopter Sling Load by Using Zhang-Gradient Method

Spot Hover Control of Helicopter and Swing Control of Helico...

引用

第三十四届中国控制会议

作者： LIAO Bolin FANG Ying ZHANG Yinyan TAN Hongzhou ZHANG Yunong School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute College of Information Science and Engineering Jishou University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

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.

关键词： Helicopter Sling Load,Spot Hover,Swing control,ZG(Zhang-Gradient) Method

来源：评论

学校读者我要写书评

暂无评论

Research on the application of WIA industrial wireless technology in the substation auxiliary control system 33

Research on the application of WIA industrial wireless techn...

引用

第三十三届中国控制会议

作者： YUAN Ting CUI Shijie ZHAO Qingqi SHANG Zhijun ZENG Peng GAO Qiang LI Ping WANG Tao WANG Gang Key Laboratory of Networked Control Systems Chinese Academy of Sciences

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.

关键词： WIA auxiliary control system substation wireless communication network protocol hardware design

来源：评论

学校读者我要写书评

暂无评论

FPAA-based control of Bilateral Teleoperation systems

FPAA-based Control of Bilateral Teleoperation Systems

引用

第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

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.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

来源：评论

学校读者我要写书评

暂无评论

An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

引用

第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

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.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

来源：评论

学校读者我要写书评

暂无评论

Active Disturbance Rejection-based Sliding Mode control for a Surface Vessel

Active Disturbance Rejection-based Sliding Mode Control for ...

引用

第三十四届中国控制会议

作者： Yuli Wei Tairen Sun Guohai Liu School of Electrical Information and Engineering Jiangsu University Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

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.

关键词： Surface vessel,Trajectory tracking,Extended state observer,Active disturbance rejection control,Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention

Design and evaluation of a bio-inspired robotic hand for per...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Zhen-Qiu Feng Gui-Bin Bian Xiao-Liang Xie Zeng-Guang Hou Jian-Long Hao State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

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.

关键词： Catheters Surgery Trajectory Robot sensing systems Magnetic resonance imaging Thumb

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：