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Event-triggered H_(∞) consensus control for input-constrained multi-agent systems via reinforcement learning

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Control Theory and Technology 2024年第1期22卷 25-38页

作者： jinxuan Zhang Chang-E ren College of Information Engineering Capital Normal UniversityBeijing100089China

This article presents an event-triggered H_(∞) consensus control scheme using reinforcement learning (RL) for nonlinear second-order multi-agent systems (MASs) with control constraints. First, considering control constraints, the constrained H_(∞) consensus problem is transformed into a multi-player zero-sum game with non-quadratic performance functions. Then, an event-triggered control method is presented to conserve communication resources and a new triggering condition is developed for each agent to make the triggering threshold independent of the disturbance attenuation level. To derive the optimal controller that can minimize the cost function in the case of worst disturbance, a constrained Hamilton–Jacobi–Bellman (HJB) equation is defined. Since it is difficult to solve analytically due to its strongly non-linearity, reinforcement learning (RL) is implemented to obtain the optimal controller. In specific, the optimal performance function and the worst-case disturbance are approximated by a time-triggered critic network;meanwhile, the optimal controller is approximated by event-triggered actor network. After that, Lyapunov analysis is utilized to prove the uniformly ultimately bounded (UUB) stability of the system and that the network weight errors are UUB. Finally, a simulation example is utilized to demonstrate the effectiveness of the control strategy provided.

关键词： H_(∞)optimal control Input constrains Multi-agent systems(MASs) Reinforcement learning(RL)

基于深度强化学习的工业物联网多用户频谱分配

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电讯技术 2021年第6期61卷 666-673页

作者：邵瑞宇黎智雄任瑾璇广东工业大学自动化学院广州510006

随着5G时代的来临,工业物联网将迎来蓬勃发展。然而,联网设备数量的不断增加,加剧了有限的频谱资源与大量的通信需求之间的矛盾。针对以上问题,提出了一种基于聚类分组和深度强化学习的合作式动态频谱分配算法,使用户可以获得较低的信... 详细信息

随着5G时代的来临,工业物联网将迎来蓬勃发展。然而,联网设备数量的不断增加,加剧了有限的频谱资源与大量的通信需求之间的矛盾。针对以上问题,提出了一种基于聚类分组和深度强化学习的合作式动态频谱分配算法,使用户可以获得较低的信息传输中断概率以及较少的多跳转发次数,快速找到信息传输的最优路径。在动态频谱分配中,该算法可以有效降低主、次用户信道接入的碰撞概率,提升频谱资源的利用率。对于少部分计算能力有限的用户,通过协调同组次用户的计算能力来完成策略的训练,实现了计算资源的高效利用。经过多次仿真实验验证,所提出的联合算法与现有的方法相比具有更高的信道利用率和更低的用户接入碰撞率。

关键词：工业物联网认知无线电深度强化学习频谱分配聚类分组

A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

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Science China(Information Sciences) 2024年第2期67卷 118-143页

作者： Guang-ren DUAN Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett’s two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system(FAS)approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关键词： nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems

A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

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Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： Guang-ren DUAN Center for Control Theory and Guidance Technology Harbin Institute of Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

Resilient control of flexible hypersonic vehicles against unmatched distributed faults

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Chinese Journal of Aeronautics 2024年第5期37卷 60-70页

作者： Dong ZHAO Wenjing ren School of Artificial Intelligence Anhui UniversityHefei 230601China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China School of Electrical Engineering and Automation Hefei University of TechnologyHefei 230009China

This paper studies a robust fault compensation and vibration suppression problem of flexible hypersonic *** controlled plant is represented by a cascade system composed of a nonlinear Ordinary Differential Equation(ODE)and an Euler-Bernoulli Beam Equation(EBBE),in which the vibration dynamics is coupled with the rigid dynamics and suffers from distributed faults.A state differential transformation is introduced to transfer distributed faults to an EBBE boundary and a longitudinal dynamics is refined by utilizing T-S fuzzy IF-THEN rules.A novel T-S fuzzy based fault-tolerant control algorithm is developed and related stability conditions are *** robust exponential stability and well-posedness are proved by using the modified l_(0)-semigroup based Lyapunov direct approach.A simulation study on the longitudinal dynamics of flexible hypersonic vehicles effectively verifies the validity of the developed theoretical results.

关键词： Flexible hypersonic vehicles ODE-EBBE cascade Robust exponential stability Unmatched distributed fault compensation Vibration suppression

Progress in modeling and control of probe-and-drogue autonomous aerial refueling

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Chinese Journal of Aeronautics 2024年第5期37卷 6-26,I0001页

作者： Jinrui ren Quan QUAN School of Automation Xi’an University of Posts&TelecommunicationsXi'an 710072China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

By refueling aircraft while they are in flight,aerial refueling is an efficient technique to extend their endurance and *** Aerial Refueling(AAR)is anticipated to be used to complete aerial refueling for unmanned *** are three aerial refueling methods:the Probe-and-Drogue Refueling(PDR)refueling method,the flying-boom refueling method,and the boom-drogue-adapter refueling *** paper considers the PDR approach,the most challenging of the three,because the flexible hose-drogue assembly has fast dynamics and is susceptible to various kinds of winds,which makes the probe docking with the drogue *** is divided into four phases,namely the rendezvous phase,joining phase,refueling phase,and reform phase,with the refueling phase being the most *** controller design faces the greatest challenge during the docking control of the refueling phase since it calls for a high level of safety,precision,and *** a result,the modeling and control issues encountered during the refueling phase are typical and *** fundamental idea of AAR is presented in the paper first,after which the characteristics and requirements of AAR are *** progress in modeling and control techniques for the AAR’s refueling phase is then systematically ***,potential future work for high safety,precision,and efficiency requirements is examined and suggested.

关键词： Aerial refueling Probe-and-drogue refueling Docking Flight controlsystems Unmanned Aerial Vehicles

Nonlocal symmetries,soliton-cnoidal wave solution and soliton molecules to a(2+1)-dimensional modified KdV system

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Communications in Theoretical Physics 2024年第4期76卷 14-21页

作者： Jianyong Wang Bo ren Department of Mathematics and Physics Quzhou UniversityQuzhou 324000China Department of Mathematics Zhejiang University of TechnologyHangzhou 310014China

A(2+1)-dimensional modified KdV(2DmKdV)system is considered from several ***,residue symmetry,a type of nonlocal symmetry,and the Bäcklund transformation are obtained via the truncated Painlevéexpansion ***,the residue symmetry is localized to a Lie point symmetry of a prolonged system,from which the finite transformation group is ***,the integrability of the 2DmKdV system is examined under the sense of consistent tanh expansion ***,explicit soliton-cnoidal wave solutions are ***,abundant patterns of soliton molecules are presented by imposing the velocity resonance condition on the multiple-soliton solution.

关键词： soliton-cnoidal wave solution nonlocal symmetry soliton molecule (2+1)-dimensional modified KdV system

Global Solvability for a Predator-Prey Model with Prey-Taxis and Rotational Flux Terms

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Chinese Annals of Mathematics,Series B 2024年第2期45卷 297-318页

作者： Guoqiang ren Bin LIU School of Mathematics and Statistics Huazhong University of Science and Technology Hubei Key Laboratory of Engineering Modeling and Scientific Computing Huazhong Universityof Science and Technology

In this paper the author investigates the following predator-prey model with prey-taxis and rotational?ux terms■in a bounded domain with smooth *** presents the global existence of generalized solutions to the model... 详细信息

关键词： Predator-prey Prey-taxis Giopal existence Kotational flnux

Scientific and technological innovations of wastewater treatment in China

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Frontiers of Environmental Science & Engineering 2024年第6期18卷 43-48页

作者： Hui Huang Rui Ma Hongqiang ren State Key Laboratory of Pollution Control and Resource Reuse School of the EnvironmentNanjing UniversityNanjing 210023China

The“dual-carbon”strategy promotes the development of the wastewater treatment sector and is an important tool for leading science and technology *** on the global climate change and the new policies introduced by China,this paper described the new needs for the development of wastewater treatment science and *** offered a retrospective analysis of the historical trajectory of scientific and technological advancements in this *** bibliometrics,it delineated the research hotspots within wastewater treatment,notably highlighting materials genomics,artificial intelligence,and synthetic ***,it posited that,in the future,the field of wastewater treatment should follow the paths of technological innovations with multi-dimensional needs,such as carbon reduction,pollution reduction,health,standardisation,and *** purpose of this paper was to provide references and suggestions for scientific and technological innovations in the field of wastewater treatment,and to contribute to the common endeavor of moving toward a Pollution-Free Planet.

关键词： Wastewater treatment Dual-carbon strategy Technological innovation Carbon reduction