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Multi-agent differential game based cooperative synchronization control using a data-drivenmethod

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Frontiers of Information Technology & Electronic Engineering 2022年第7期23卷 1043-1056页

作者： yu SHI Yongzhao HUA jianglong yu Xiwang DONG Zhang REN School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Institute of Artificial Intelligence Beihang UniversityBeijing 100191China

This paper studies the multi-agent differential game based problem and its application to cooperative synchronization control.A systematized formulation and analysis method for the multi-agent differential game is proposed and a data-driven methodology based on the reinforcement learning(RL)technique is given.First,it is pointed out that typical distributed controllers may not necessarily lead to global Nash equilibrium of the differential game in general cases because of the coupling of networked interactions.Second,to this end,an alternative local Nash solution is derived by defining the best response concept,while the problem is decomposed into local differential games.An off-policy RL algorithm using neighboring interactive data is constructed to update the controller without requiring a system model,while the stability and robustness properties are proved.Third,to further tackle the dilemma,another differential game configuration is investigated based on modified coupling index functions.The distributed solution can achieve global Nash equilibrium in contrast to the previous case while guaranteeing the stability.An equivalent parallel RL method is constructed corresponding to this Nash solution.Finally,the effectiveness of the learning process and the stability of synchronization control are illustrated in simulation results.

关键词： Multi-agent system Differential game Synchronization control Data-driven Reinforcement learning

Three-dimensional cooperative guidance strategy and guidance law for intercepting highly maneuvering target

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Chinese Journal of Aeronautics 2021年第5期34卷 485-495页

作者： Ziyan CHEN jianglong yu Xiwang DONG Zhang REN School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijing 100191China Beijing Advanced Innovation Center for Big Data cmd Brain Computing Beihang UniversityBeijing 100191China

Cooperative interception of the target with strong maneuverability by multiple missiles with weak maneuverability in the three-dimensional nonlinear model is studied.Firstly,the three-dimensional nonlinear model of cooperative guidance is established.The three-dimensional reachable region is represented composed of lateral acceleration and longitudinal acceleration in the two-dimensional coordinate system.Secondly,the problem of the multiple missile’s reachable coverage area is transformed into the problem of cooperative coverage.A cooperative coverage strategy is proposed and an algorithm for quickly calculating the number of required missiles is designed.Then,the guidance law based on the cooperative coverage strategy is proposed,and it is proved that cooperative interception of the target can be achieved under the acceleration limit.Moreover,the relations among the number of missiles,the initial array position of terminal guidance and the coverage area of the target’s large maneuver are analyzed.The dynamic adjustment strategy of guidance parameters is proposed to reduce the guidance error.Finally,simulation results show that multiple missiles with low maneuverability can achieve effective interception of target with strong maneuverability through the proposed cooperative strategy and cooperative guidance method.

关键词： Acceleration constraint Cooperative interception Coverage strategy Guidance law Highly maneuvering target

A machine-learning-enabled approach for bridging multiscale simulations of CNTs/PDMS composites

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National Science Open 2024年第2期3卷 21-35页

作者： Lingjie yu Chao Zhi Zhiyuan Sun Hao Guo jianglong Chen Hanrui Dong Mengqiu Zhu Xiaonan Wang Department of Chemical Engineering Tsinghua UniversityBeijing 100084China School of Textile Science and Engineering Xi’an Polytechnic UniversityXi’an 710048China State Key Laboratory of Intelligent Textile Material and Products Xi’an Polytechnic UniversityXi’an 710048China Materials Genome Institute of Shanghai University Shanghai UniversityShanghai 201900China

Benefitting from the interlaced networking structure of carbon nanotubes(CNTs),the composites of CNTs/polydimethylsiloxane(PDMS)have found extensive applications in wearable electronics.While hierarchical multiscale simulation frameworks exist to optimize the structure parameters,their wide applications were hindered by the high computational cost.In this study,a machine learning model based on the artificial neural networks(ANN)embedded graph attention network,termed as AGAT,was proposed.The datasets collected from the micro-scale and the macro-scale simulations are utilized to train the model.The ANN layer within the model framework is trained to pass the information from micro-scale to macro-scale,while the whole model is aimed to predict the electro-mechanical behavior of the CNTs/PDMS composites.By comparing the AGAT model with the original multiscale simulation results,the data-driven strategy is shown to be promising with high accuracy,demonstrating the potential of the machine-learning-enabled approach for the structure optimization of CNT-based composites.

关键词： multiscale simulation machine learning material property prediction CNTs/PDMS composites

Cooperative guidance strategy for multiple hypersonic gliding vehicles system

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Chinese Journal of Aeronautics 2020年第3期33卷 990-1005页

作者： jianglong yu Xiwang DONG Qingdong LI Zhang REN Jinhu LV School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijing 100083China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang UniversityBeijing 100083China Shananxi Key Laboratory of Integrated and Intelligent Navigation Xi’an 710068China

Cooperative guidance strategy for multiple hypersonic gliding vehicles system with flight constraints and cooperative constraints is investigated.This paper mainly cares about the coordination of the entry glide flight phase and driving-down phase.Different from the existing results,both the attack time and the attack angle constraints are considered simultaneously.Firstly, for the entry glide flight phase, a two-stage method is proposed to achieve the rapid cooperative trajectories planning, where the control signal corridors are designed based on the quasi-equilibrium gliding conditions.In the first stage, the bank angle curve is optimized to achieve the attack angle coordination.In the second stage, the angle of attack curve is optimized to achieve the attack time coordination.The optimized parameters can be obtained by the secant method.Secondly, for the driving-down phase, the cooperative terminal guidance law is designed where the terminal attack time and attack angle are considered.The guidance law is then transformed into the bank angle and angle of attack commands.The cooperative guidance strategy is summarized as an algorithm.Finally, a numerical simulation example with three hypersonic gliding vehicles is provided for revealing the effectiveness of the acquired strategy and algorithm.

关键词： Attack angle constraints Attack time constraints Cooperative guidance Cooperative path planning Entry guidance Hypersonic vehicles

A review on research and development of iron-based sorbents for removal of hydrogen sulfide from hot coal gases

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Frontiers of Chemical Science and Engineering 2010年第4期4卷 529-535页

作者： jianglong yu Liping CHANG Fan LI Kechang XIE Key Laboratory of Coal-Based Fuels for Aviation Shenyang Aerospace UniversityShenyang 110136China Key Laboratory of Coal Science and Technology(Ministry of Education and Shanxi Province) Taiyuan University of TechnologyTaiyuan 030024China School of Chemical Engineering University of Science and Technology LiaoningAnshan 114051China

In poly-generation and integrated gasificationcombined cycle(IGCC)systems for clean energy conversion,it is essential to remove impurities such as sulfur species from hot coal gases prior to entering the subsequent units.This paper provides a comprehensive review on previous studies on high temperature removal of hydrogen sulfide from high temperature coal gases using iron-based sorbents.A two-step desulphurization process for hot coal gas cleanup is highlighted,which is integrated with direct production of elemental sulfur during regeneration of ironbased sorbents in the primary desulphurization step.Different kinetic modeling approaches for sulfidation and regeneration were compared.Limited research on activated carbon supported sorbents was also briefly summarized.

关键词： hot coal gas cleanup iron-based sorbents sulfidation regeneration sulphur recovery

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基于覆盖理论的高速强机动目标协同围捕策略

工程科学学报 2024年第7期46卷 1169-1178页

作者：江涌王林波王蒙一宋勋安鹏飞于江龙中国长峰机电研究院北京100854 北京电子工程总体研究所北京100854 北京遥感设备研究所北京100854 北京航空航天大学人工智能研究院北京100191

为了应对进攻性高超声速飞行器带来的威胁与挑战,基于覆盖理论提出了一种针对高速强机动目标的分布式协同围捕策略.首先,考虑飞行器与目标的机动特性,包括速度关系、最大过载比等参数,引入阿波罗尼奥斯圆的概念对围捕区域进行分析.然后... 详细信息

为了应对进攻性高超声速飞行器带来的威胁与挑战,基于覆盖理论提出了一种针对高速强机动目标的分布式协同围捕策略.首先,考虑飞行器与目标的机动特性,包括速度关系、最大过载比等参数,引入阿波罗尼奥斯圆的概念对围捕区域进行分析.然后,基于重叠角概念提出冗余覆盖策略,根据目标的逃逸边界给出初始飞行器最优数量,设计围捕队形使多飞行器的围捕区域能够对目标逃逸边界完全覆盖,在此基础上考虑多种约束设计围捕高速强机动目标的分布式协同制导律,使多飞行器能够完成所设计的围捕队形,达到目标被飞行器合围后无法逃脱的效果.最后,将上述覆盖策略分别在二维平面和三维空间进行数值仿真,验证了一致性协同制导律能够实现期望的围捕队形,所设计的围捕队形在目标作最大常值机动逃逸以及随机机动两种情况下均能捕获目标,证明了围捕队形和制导律的有效性和优越性.

关键词：覆盖理论协同围捕高速强机动目标阿波罗尼奥斯圆围捕区域

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基于动态规划制导的无人艇自主回收控制方法

中国舰船研究 2024年第1期19卷 264-271页

作者：郭文轩李子豪唐国元王泉斌孙江龙马杰乔瑜华中科技大学船舶与海洋工程学院湖北武汉430074 中国舰船研究设计中心湖北武汉430064 华中科技大学人工智能与自动化学院湖北武汉430074 华中科技大学能源与动力工程学院湖北武汉430074

[目的]针对欠驱动无人艇(USV)自主回收的需求,提出一种基于动态规划制导的跟踪控制方法。[方法]在运动学层面,将平行接近制导(CB)与动态窗口算法(DWA)相结合,引导USV实现目标跟踪与动态避障;在动力学层面,针对模型参数及回收环境的不确... 详细信息

[目的]针对欠驱动无人艇(USV)自主回收的需求,提出一种基于动态规划制导的跟踪控制方法。[方法]在运动学层面,将平行接近制导(CB)与动态窗口算法(DWA)相结合,引导USV实现目标跟踪与动态避障;在动力学层面,针对模型参数及回收环境的不确定性,采用径向基函数神经网络(RBFNN)设计动力学滑模控制器,实现对制导输出的跟踪控制。随后,采用Lyapunov理论对系统的稳定性进行分析。[结果]仿真结果表明,所提方法使USV具备了稳定跟踪性能,可有效规避回收过程中的动态障碍,并能自适应估计模型中的不确定因素和未知的环境干扰。[结论]所提方法展现出较强的鲁棒性与灵活性,可为USV在动态环境下的回收进行制导与目标跟踪提供参考。

关键词：欠驱动无人艇平行接近制导动态窗口法神经网络滑模控制

先后行钻孔引流术+骨瓣开颅血肿清除术+脑膜中动脉栓塞术治疗的1例机化型慢性硬膜下血肿报道及反思

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中华神经医学杂志 2024年第5期23卷 489-490页

作者：吴国鑫廖圣芳陈江龙张义王庄瑜强余惠平解放军联勤保障部队第九一〇医院神经外科泉州

手术是目前治疗症状性慢性硬膜下血肿(CSDH)的一线方法, 包括钻孔引流术、神经内镜下血肿清除术、骨瓣开颅血肿清除术及脑膜中动脉栓塞术(MMAE)等[1]。机化型CSDH是CSDH的一种特殊类型, 占CSDH的0.3%～2.7%, 临床上极少见, 且并不适用... 详细信息

手术是目前治疗症状性慢性硬膜下血肿(CSDH)的一线方法, 包括钻孔引流术、神经内镜下血肿清除术、骨瓣开颅血肿清除术及脑膜中动脉栓塞术(MMAE)等[1]。机化型CSDH是CSDH的一种特殊类型, 占CSDH的0.3%～2.7%, 临床上极少见, 且并不适用于传统的钻孔引流术。解放军联勤保障部队第九一〇医院神经外科曾收治1例影像学表现不典型的机化型CSDH患者, 先后经历钻孔引流术+骨瓣开颅血肿清除术+MMAE治疗, 最终预后良好。笔者现将该病例的诊治过程进行报道及反思, 以期为同道提供参考借鉴。

关键词：慢性硬膜下血肿钻孔引流术骨瓣开颅血肿清除术脑膜中动脉栓塞术

The crucial role of PTS1 in the adaptive evolution of AGT subcellular localization among herbivorous mammals

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The crucial role of PTS1 in the adaptive evolution of AGT su...