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Data-driven optimal cooperative adaptive cruise control of heterogeneous vehicle platoons with unknown dynamics

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Science China(Information Sciences) 2020年第9期63卷 109-120页

作者： Xiulan SONG Feng DING Feng XIAO defeng he College of Information Engineering Zhejiang University of Technology

This paper considers the cooperative adaptive cruise control(CACC) problem of heterogeneous vehicle platoons and proposes a data-driven optimal CACC approach for the heterogeneous platoon with unknown dynamics. To cope with the unknown dynamics of the vehicle CACC platoon system, the adaptive dynamic programming is used to design an online iteration policy for optimal CACC of the platoon. Using the predecessor-following topology, the CACC controllers are computed by employing the desired spacing errors, relative velocities, and accelerations of the vehicles. The stability of the closed-loop CACC system and the iteration algorithm are presented. Furthermore, the string stability of the platoon with the CACC system is established in terms of the acceleration transfer function between adjacent vehicles in frequent domain. Finally, the effectiveness of the proposed method is verified in two complex scenarios of varying speed cruise.

关键词： vehicle platoons cooperative adaptive cruise control optimal control data-driven control string stability

Energy-efficient receding horizon trajectory planning of high-speed trains using real-time traffic information

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Control Theory and Technology 2020年第2期18卷 204-216页

作者： defeng he Long ZHOU Zhe SUN College of Information Engineering Zhejiang University of TechnologyHangzhou Zhejiang 310023China

Optimal trajectory planning of high-speed trains(HSTs)aims to obtain such speed curves that guarantee safety,punctuality,comfort and energy-saving of the *** this paper,a new shrinking horizon model predictive control(MPC)algorithm is proposed to plan the optimal trajectories of HSTs using real-time traffic *** nonlinear longitudinal dynamics of HSTs are used to predict the future behaviors of the train and describe variable slopes and variable speed limitations based on real-time traffic *** optimal trajectory planning of HSTs is formulated as the shrinking horizon optimal control problem with the consideration of safety,punctuality,comfort and energy *** to the real-time position and running time of the train,the shrinking horizon is updated to ensure the recursive feasibility of the optimization *** optimal speed curve of the train is computed by online solving the optimization problem with the Radau Pseudo-spectral method(RPM).Simulation results demonstrate that the proposed method can satisfy the requirements of energy efficiency and punctuality of the train.

关键词： High-speed trains model predictive control optimal trajectory planning Radau Pseudo-spectral method

Flexible predictive power-split control for battery-supercapacitor systems of electric vehicles using IVHS

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Journal of Systems Engineering and Electronics 2023年第1期34卷 224-235页

作者： he defeng LUO Jie LIN Di YU Shiming College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China BYD Company Limited Huizhou 516083China

The utilization of traffic information received from intelligent vehicle highway systems(IVHS) to plan velocity and split output power for multi-source vehicles is currently a research hotspot. However, it is an open issue to plan vehicle velocity and distribute output power between different supply units simultaneously due to the strongly coupling characteristic of the velocity planning and the power distribution. To address this issue, a flexible predictive power-split control strategy based on IVHS is proposed for electric vehicles(EVs) equipped with battery-supercapacitor system(BSS). Unlike hierarchical strategies to plan vehicle velocity and distribute output power separately, a monolayer model predictive control(MPC) method is employed to optimize them online at the same time. Firstly, a flexible velocity planning strategy is designed based on the signal phase and time(SPAT) information received from IVHS and then the Pontryagin’s minimum principle(PMP) is adopted to formulate the optimal control problem of the BSS. Then, the flexible velocity planning strategy and the optimal control problem of BSS are embedded into an MPC framework, which is online solved using the shooting method in a fashion of receding horizon. Simulation results verify that the proposed strategy achieves a superior performance compared with the hierarchical strategy in terms of transportation efficiency, battery capacity loss, energy consumption and computation time.

关键词： electric vehicle(EV) model predictive control(MPC) Pontryagin’s minimum principle(PMP) power-split

Constrained nonlinear MPC for accelerated tracking piece-wise references and its applications to thermal systems

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Control Theory and Technology 2022年第1期20卷 69-79页

作者： defeng he Qingsong Wang Ping Han Haiping Du College of Information Engineering Zhejiang University of TechnologyHangzhou310023ZhejiangChina School of Electrical Computer and Telecommunications EngineeringUniversity of WollongongWollongongNSW2522Australia

In this paper,we propose a model predictive control(MPC)strategy for accelerated offset-free tracking piece-wise constant reference signals of nonlinear systems subject to state and control *** special contractive constraints on tracking errors and terminal constraints are embedded into the tracking nonlinear MPC ***,recursive feasibility and closed-loop convergence of the tracking MPC are guaranteed in the presence of piece-wise references and constraints by deriving some sufficient ***,the local optimality of the tracking MPC is achieved for unreachable output reference *** comparing to traditional tracking MPC,the simulation experiment of a thermal system is used to demonstrate the acceleration ability and the effectiveness of the tracking MPC scheme proposed here.

关键词： Model predictive control Nonlinear systems Constrained control Tracking control Thermal systems

Platinum-Group Element Geochemical Characteristics of the Picrites and High-Ti Basalts in the Binchuan Area,Yunnan Province

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Acta Geologica Sinica(English Edition) 2013年第1期87卷 158-175页

作者： BAI Mei ZHONG Hong ZHU Weiguang BAI Zhongjie he defeng State Key Laboratory of Ore Deposit Geochemistry Institute of GeochemistryChinese Academy of Sciences Chengdu University of Technology Graduate University of Chinese Academy of Sciences

The Binchuan area of Yunnan is located in the western part of the Emeishan large igneous province in the western margin of the Yangtze Block. In the present study, the Wuguiqing profile in thickness of about 1440 m is mainly composed of high-Ti basalts, with minor picrites in the lower part and andesites, trachytes, and rhyolites in the upper part. The picrites have relatively higher platinum- group element （PGE） contents （PGE=16.3-28.2 ppb）, with high Cu/Zr and Pd/Zr ratios, and low S contents （5.03-16.9 ppm）, indicating the parental magma is S-unsaturated and generated by high degree of partial melting of the Emeishan large igneous province （ELIP） mantle source. The slightly high Cu/Pd ratios （11 000-24 000） relative to that of the primitive mantle suggest that 0.007% sulfides have been retained in the mantle source. The PGE contents of the high-Ti basalts exhibit a wider range （~PGE=0.517-30.8 ppb）. The samples in the middle and upper parts are depleted in PGE and have ~Nd （260 Ma） ratios ranging from -2.8 to -2.2, suggesting that crustal contamination of the parental magma during ascent triggered sulfur saturation and segregation of about 0.446%-0.554% sulfides, and the sulfide segregation process may also provide the ore-forming material for the magmatic Cu-Ni-PGE sulfide deposits close to the studied basalts. The samples in this area show Pt- Pd type primitive mantle-normalized PGE patterns, and the Pd/Ir ratios are higher than that of the primitive mantle （Pd/Ir=l）, indicating that the obvious differentiation between Ir-group platinum- group elements （IPGE） and Pd-group platinum-group elements （PPGE） are mainly controlled by olivine or chromites fractionation during magma evolution. The Pd/Pt ratios of most samples are higher than the average ratio of mantle （Pd/Pt=0.55）, showing that the differentiation happened between Pt and Pd. The differentiation in picrites may be relevant to Pt hosted in discrete refractory Pt-alloy phase in the mantle; whereas the dif

关键词： Picrites high-Ti basalts platinum-group element Emeishan large igneous province,sulfide segregation

Iterative Model Predictive Control for Automatic Carrier Landing of Carrier-Based Aircrafts Under Complex Surroundings and Constraints

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Journal of Shanghai Jiaotong university(Science) 2024年第4期29卷 712-724页

作者： ZHANG Xiaotian he defeng LIAO Fei College of Information Engineering Zhejiang University of TechnologyHangzhou310023China Aerospace Technology Institute China Aerodynamics Research and Development CenterMianyang621000SichuanChina

This paper considers the automatic carrier landing problem of carrier-based aircrafts subjected to constraints,deck motion,measurement noises,and unknown *** iterative model predictive control(MPC)strategy with constraints is proposed for automatic landing control of the ***,the long short-term memory(LSTM)neural network is used to calculate the adaptive reference trajectories of the *** the Sage-Husa adaptive Kalman filter and the disturbance observer are introduced to design the composite ***,an iterative optimization algorithm is presented to fast solve the receding horizon optimal control problem of MPC based on the Lagrange’s ***,some sufficient conditions are derived to guarantee the stability of the landing system in a closed loop with the ***,the simulation results of F/A-18A aircraft show that compared with the conventional MPC,the presented MPC strategy improves the computational efficiency by nearly 56%and satisfies the control performance requirements of carrier landing.

关键词： automatic carrier landing model predictive control(MPC) long short-term memory(LSTM)neural network stability computational efficiency

CBF-Based Distributed Model Predictive Control for Safe Formation of Autonomous Mobile Robots

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Journal of Shanghai Jiaotong university(Science) 2024年第4期29卷 678-688页

作者： MU Jianbin YANG Haili he defeng College of Information Engineering Zhejiang University of TechnologyHangzhou310023China

A distributed model predictive control(DMPC)method based on robust control barrier function(RCBF)is developed to achieve the safe formation target of multi-autonomous mobile robot systems in an uncertain disturbed *** first step is to analyze the safety requirements of the system during safe formation and categorize them into collision avoidance and distance connectivity *** constraints are designed based on collision avoidance and connectivity maintenance requirements,and security constraints are achieved through a ***,the specified safety constraints are integrated with the objective of forming a multi-autonomous mobile robot *** ensure safe control,the optimization problem is integrated with the DMPC ***,the RCBF-DMPC algorithm is proposed to ensure iterative feasibility and stability while meeting the constraints and expected *** experiments illustrate that the designed algorithm can achieve cooperative formation and ensure system security.

关键词： distributed model predictive control(DMPC) robust control barrier function(RCBF) autonomous mobile robot formation control collision avoidance

The performance of the Noblesse multi-collector noble gas mass spectrometer for ^(40)Ar/^(39)Ar geochronology

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Acta Geochimica 2018年第5期37卷 734-745页

作者： defeng he Finlay M.Stuart Dan N.Barfod Fang Xiao Hong Zhong State Key Laboratory of Ore Deposit Geochemistry Institute of Geochemistry Chinese Academy of Sciences Isotope Geoscience Unit Scottish Universities Environmental Research Centre NERC Argon Isotope Facility Scottish Universities Environmental Research Centre

Noblesse multi-collector noble gas mass spec- trometer is specially designed for multi-collection of Ar isotopes with different beam sizes, especially for small ion beams, precisely, and hence is perfectly suitable for ^40Ar/^39Ar geochronology. We have analyzed widely used sanidine, muscovite, and biotite standards with recom- mended ages of - 1.2-133 Ma, with the aim to assess the reliability of Noblesse for ^40Ar/^39Ar dating. An ESI MIR10 30W CO2 laser was used for total fusion or incremental heating samples. Extracted gases were routinely purified by four SAES NP10 getters （one at - 400 ℃ and others at room temperature）. A GP50 getter and a metal cold finger cooled by liquid N （- 196 ℃） were also attached for additional purification if necessary. The Ar isotopes were then measured by Noblesse using Faraday or multiplier according to the signal intensities. Over a period of 1.5 months 337 air calibrations produced a weighted mean ^40Ar/^36Ar of 296.50 ± 0.08 （2σ, MSWD = 4.77）. Fish Canyon sanidine is used to calculate J-values, which show good linear relationship with position in irradiation. The age of four mineral standards （Alder Creek sanidine, Brione muscovite, Yabachi sanidine, and Fangshan biotite） are within error of the accepted ages. Five Alder Creek sanidine aliquots yielded an age range of 1.174-1.181 ± 0.013 Ma （2σ） which broadly overlaps the established age of the standard and the uncertainty approaches those of the foremost Ar/Ar laboratories in the world. The weighted mean ages of four Brione muscovite aliquots （18.75 i 0.16 Ma, 2σ）, five Yabachi sanidine aliquots （29.50 ± 0.19 Ma, 2σ）, and three Fangshan bio- tite aliquots （133.0 ± 0.76 Ma, 2σ） are consistent with the recommended values of these standards, and the uncer- tainties are typical of modem Ar/Ar laboratories world- wide.

关键词： Ar/Ar geochronology Multi-collector Highprecision Noblesse Age standard

Dating Kimberlite Using Apatite U-Pb Geochronology: A Case Study from Diamond-Bearing Dikes in South China

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Journal of Earth Science 2024年第3期35卷 1059-1062页

作者： Jiawei Zhang Huan Wang defeng he Yuhua Zhu Kun Wang Yuan Qiu Guizhou Geological Survey Bureau of Geology and Mineral Exploration and Development of Guizhou ProvinceGuiyang 550081China College of Resources and Environmental Engineering Guizhou UniversityGuiyang 550025China Yanduzhongshi Geological Analysis Laboratory Ltd. Beijing 100080China State Key Laboratory of Ore Deposit Geochemistry Institute of GeochemistryChinese Academy of SciencesGuiyang 550081China

Kimberlite,one of the deepest known magmatic rocks on Earth,offers valuable glimpses into the deep mantle composition(Woodhead et al.,2019),craton structure(Gardiner et al.,2020),global geodynamic variation(Tappe et al.,2018),and diamond formation(Giuliani et al.,2023).The accurate determination of the emplacement of this special rock is crucial for revealing such ***,dating kimberlite is challenging due to its silica-poor,volatile-rich,strongly altered,and hybrid nature(Mitchell et al.,2019).Zircon is unsuitable for dating kimberlite and related rocks due to its preference for crystallizing in intermediate to felsic melts(Gervasoni et al.,2016)rather than silica-poor *** if present,zircon is prone to Pb loss through hydrothermal alteration(Zi et al.,2022)in a volatile-rich system like kimberlitic magmas.

关键词： dating magma alteration