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Error-based adaptive optimal tracking control of nonlinear discrete-time systems

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Science China(Information Sciences) 2024年第1期67卷 154-167页

作者： Chun LI Jinliang DING Frank L.LEWIS Tianyou CHAI State Key Laboratory of Synthetical automation for process Industries Northeastern University UTA research Institute The University of Texas at Arlington

In this paper,for the output tracking problem of nonlinear discrete-time systems,a performance index is newly defined using the adaptive dynamic programming(ADP) technique to completely eliminate tracking errors in *** contrast to traditional definitions of performance indices in other ADP-based methods,the proposed performance index is not only designed from the perspective of output tracking errors but also introduced errors of system states and control inputs at adjacent stages,which is suitable for practical situations in many industrial applications,such as the alumina production,the flotation process,and the mineral grinding *** proved that the obtained controller can make the system output fully track the given reference trajectory by applying the iterative criteria of the ADP *** addition,the proposed algorithm was implemented using a data-driven technique and neural networks to avoid analyzing and deducing the complicated dynamics of actual industrial ***,using historical data for a forced-circulation evaporation system in the alumina production process,the effect of the proposed approach was verified through a numerical simulation and compared with that of the proportional-integral controller.

关键词： adaptive dynamic programming iterative criteria performance index tracking errors tracking problem

A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling process

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Journal of Systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of automation China University of Geosciences Hubei Key Laboratory of advanced control and Intelligent automation for Complex Systems Engineering research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta The Tokyo Institute of Technology

In the process of coal mine drilling, controlling the rotary speed is important as it determines the efficiency and safety of drilling. In this paper, a linear extended state observer(LESO) based backstepping controller for rotary speed is proposed, which can overcome the impact of changes in coal seam hardness on rotary speed. Firstly, the influence of coal seam hardness on the drilling rig's rotary system is considered for the first time, which is reflected in the numerical variation of load torque, and a dynamic model for the design of rotary speed controller is established. Then an LESO is designed to observe the load torque, and feedforward compensation is carried out to overcome the influence of coal seam hardness. Based on the model of the compensated system, a backstepping method is used to design a controller to achieve tracking control of the rotary speed. Finally, the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments, the steady-state error of the rotary speed in field is 1 r/min, and the overshoot is reduced to 5.8%. This greatly improves the stability and security, which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

Bayesian Filtering for High-Dimensional State-Space Models With State Partition and Error Compensation

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1239-1249页

作者： Ke Li Shunyi Zhao Biao Huang Fei Liu Key Laboratory of advanced process control for Light Industry(Ministry of Education) Institute of AutomationJiangnan UniversityWuxi 214122China Department of Chemical and Materials Engineering University of AlbertaEdmonton AB T6G 2G6Canada

In the era of exponential growth of data availability,the architecture of systems has a trend toward high dimensionality,and directly exploiting holistic information for state inference is not always computationally *** paper proposes a novel Bayesian filtering algorithm that considers algorithmic computational cost and estimation accuracy for high-dimensional linear *** high-dimensional state vector is divided into several blocks to save computation resources by avoiding the calculation of error covariance with immense *** that,two sequential states are estimated simultaneously by introducing an auxiliary variable in the new probability space,mitigating the performance degradation caused by state ***,the computational cost and error covariance of the proposed algorithm are analyzed analytically to show its distinct features compared with several existing *** results illustrate that the proposed Bayesian filtering can maintain a higher estimation accuracy with reasonable computational cost when applied to high-dimensional linear systems.

关键词： filtering estimation error

Adaptive Optimal Output Regulation of Interconnected Singularly Perturbed Systems With Application to Power Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 595-607页

作者： Jianguo Zhao Chunyu Yang Weinan Gao Linna Zhou Xiaomin Liu the Engineering research Center of Intelligent control for Underground Space Ministry of EducationChina University of Mining and TechnologyXuzhou 221116 the School of Information and control Engineering China University of Mining and TechnologyXuzhou 221116 IEEE the State Key Laboratory of Synthetical automation for process Industries Northeastern UniversityShenyang 110819China

This article studies the adaptive optimal output regulation problem for a class of interconnected singularly perturbed systems(SPSs) with unknown dynamics based on reinforcement learning(RL).Taking into account the slow and fast characteristics among system states,the interconnected SPS is decomposed into the slow time-scale dynamics and the fast timescale dynamics through singular perturbation *** the fast time-scale dynamics with interconnections,we devise a decentralized optimal control strategy by selecting appropriate weight matrices in the cost *** the slow time-scale dynamics with unknown system parameters,an off-policy RL algorithm with convergence guarantee is given to learn the optimal control strategy in terms of measurement *** combining the slow and fast controllers,we establish the composite decentralized adaptive optimal output regulator,and rigorously analyze the stability and optimality of the closed-loop *** proposed decomposition design not only bypasses the numerical stiffness but also alleviates the *** efficacy of the proposed methodology is validated by a load-frequency control application of a two-area power system.

关键词： Adaptive optimal control decentralized control output regulation reinforcement learning(RL) singularly perturbed systems(SPSs)

Fully distributed dynamic event-triggered formation-containment tracking for multiagent systems with multiple types of disturbances

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Science China(Information Sciences) 2024年第1期67卷 168-186页

作者： Weihua LI Huaguang ZHANG Juan ZHANG Rui WANG College of Information Science and Engineering Northeastern University State Key Laboratory of Synthetical automation for process Industries Northeastern University

This paper is dedicated to addressing the time-varying output formation-containment tracking(TVOFCT) problem for heterogeneous linear multiagent systems(MASs) with multiple types of disturbances under directed communication *** agents are divided into tracking leaders,formation leaders,and *** the output space,the formation leaders are required to form an expected geometric formation while tracking the tracking leader,and the followers are required to enter the convex hull spanned by formation ***,a disturbance observer is designed to observe the disturbance with deterministic ***,by combining adaptive technology with event-triggered technology,an independent fully distributed dynamic event-triggered(FDDET) compensator is designed to estimate the state of the tracking *** main advantages of this compensator lie in the following three aspects:(1) the adaptive weight does not increase unboundedly;(2) the interval time between events is expanded;(3) the design does not rely on any global *** to the design of this compensator,an independent FDDET convex hull observer is further designed to observe the convex hull spanned by formation ***,based on the designed disturbance observer,compensator,and convex hull observer,the adaptive disturbance rejection control input which can make the MASs achieve TVOFCT is ***,a numerical simulation is provided to clearly verify the validity of the theoretical results.

关键词： formation-containment tracking disturbance rejection multiagent systems fully distributed control dynamic event-triggered control

Cascaded four-wave mixing all-optical wavelength converter based on highly nonlinear fiber deposited graphene oxide

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Journal of Materials Science & Technology 2024年第4期171卷 10-15页

作者： Yuanhongliu Gao Xiaoyu Chen Tonglei Cheng Fang Wang Xin Yan College of Information Science and Engineering State Key Laboratory of Synthetical Automation for Process IndustriesNortheastern UniversityShenyang 110819China

The all-optical wavelength conversion using cascaded four-wave mixing(FWM)phenomena with graphene oxide(GO)and a highly nonlinear fiber(HNLF)device is demonstrated *** has a strong third-order nonlinear effect and is an excellent nonlinear optical material for nonlinear optical wavelength *** group velocity matching of pump and signal,HNLF,and GO amplification promote the cascaded nonlinear frequency mixing *** the experimental and analytical results,the maximum spacing between signal and pump is 21 nm,and specifically,the order of cascaded FWM light increases from order 1 to order 2 with increasing GO,and the first-order FWM conversion effi-ciency increases to a maximum of−14.5 *** the best of our knowledge,this is the first time that cascaded FWM-based all-optical wavelength conversion in HNLF-GO with wide wavelength selectivity is investigated with combined pump and signal *** findings not only provide an effective method for achieving all-optical wavelength conversion in cascaded FWM but also offer the possibility of fabricating high-performance nonlinear optical devices.

关键词： Four-wave mixing Graphene oxide Highly nonlinear fiber Optical wavelength conversion

Steady-state Voltage Security-constrained Optimal Frequency control for Weak HVDC Sending-end AC Power Systems

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 658-669页

作者： Qiangqiang Wang Liangzhong Yao Jian Xu Yuping Zheng Wei Li Wei Wang School of Electrical Engineering and automation Wuhan UniversityWuhan 430072China Hubei Engineering and Technology research Center for AC/DC Intelligent Distribution Network(Wuhan University) Wuhan 430072China State Key Laboratory of Smart Grid Protection and control NARI Group Corporation(State Grid Electric Power Research Institute)Nanjing 211106China

Due to the fact that a high share of renewable energy sources(RESs)are connected to high-voltage direct current(HVDC)sending-end AC power systems,the voltage and frequency regulation capabilities of HVDC sending-end AC power systems have *** has resulted in potential system operating problems such as overvoltage and overfrequency,which occur simultaneously when block faults exist in the HVDC *** this study,a steady-state voltage security-constrained optimal frequency control method for weak HVDC sending-end AC power systems is *** integrated virtual inertia control of RESs is employed for system frequency *** dynamic reactive power compensation devices are utilized to control the voltage of all nodes meet voltage security ***,an optimization model that simultaneously considers the frequency and steady-state voltage security constraints for weak HVDC sending-end AC power systems is *** optimal control scheme with the minimum total cost of generation tripping and additional dynamic reactive power compensation required is obtained through the optimization *** are conducted on a modified IEEE 9-bus test system and practical Qing-Yu line commutated converter based HVDC(LCC-HVDC)sending-end AC power system to verify the effectiveness of the proposed method.

关键词： Renewable energy source(RES) high-voltage direct current(HVDC) AC power system optimal frequency control steady-state voltage security dynamic reactive power compensation

Multi-step state-based opacity for unambiguous weighted machines

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Science China(Information Sciences) 2024年第11期67卷 211-221页

作者： Zhipeng ZHANG Chengyi XIA Guoyuan QI Jun FU School of Artificial Intelligence Tiangong University School of control Science and Engineering Tiangong University State Key Laboratory of Synthetical automation for process Industries Northeastern University

Opacity is a central concept in the issue of privacy security and has been studied extensively in fields such as finite automata, probabilistic automata, and stochastic automata. Here, we investigate the problem of validating multi-step opaque properties through unambiguous weighted machines from the perspective of cyber-physical systems. First, the notion of multi-step state-based opacity for unambiguous weighted machines is presented and defined. It includes two variants of delays with a finite K and infinite steps. Subsequently, the weighted state estimate with K(infinite)-step delay is established by abstracting the possible state set that the system could have through these weighted observations. Meanwhile, to keep the observable weighted sequence consistent between the bidirectional observers, the unobserved weights of the reverse weighted machine are assumed to be reserved. Subsequently, the existence conditions are developed, and the corresponding algorithms, termed the weighted bidirectional observer, are generalized to verify these properties. Finally, several numerical examples are illustrated to demonstrate the effectiveness of the proposed method. Taken together, the current approach will be conducive to a deep understanding of the security and privacy of cyber-physical systems.

关键词： logical dynamical systems weighted state machine state estimation opacity cyber physical systems

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Low-Rank Optimal Transport for Robust Domain Adaptation

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1667-1680页

作者： Bingrong Xu Jianhua Yin Cheng Lian Yixin Su Zhigang Zeng IEEE the School of automation Wuhan University of TechnologyWuhan 430070China Intelligent Transportation Systems research Center Wuhan University of TechnologyWuhan 430063 Chongqing research Institute Wuhan University of TechnologyChongqingChina the School of Artificial Intelligence and automation Huazhong University of Science and TechnologyWuhan 430074 the Key Laboratory of Image processing and Intelligent control of Education Ministry of China Wuhan 430074China

When encountering the distribution shift between the source(training) and target(test) domains, domain adaptation attempts to adjust the classifiers to be capable of dealing with different domains. Previous domain adaptation research has achieved a lot of success both in theory and practice under the assumption that all the examples in the source domain are welllabeled and of high quality. However, the methods consistently lose robustness in noisy settings where data from the source domain have corrupted labels or features which is common in reality. Therefore, robust domain adaptation has been introduced to deal with such problems. In this paper, we attempt to solve two interrelated problems with robust domain adaptation:distribution shift across domains and sample noises of the source domain. To disentangle these challenges, an optimal transport approach with low-rank constraints is applied to guide the domain adaptation model training process to avoid noisy information influence. For the domain shift problem, the optimal transport mechanism can learn the joint data representations between the source and target domains using a measurement of discrepancy and preserve the discriminative information. The rank constraint on the transport matrix can help recover the corrupted subspace structures and eliminate the noise to some extent when dealing with corrupted source data. The solution to this relaxed and regularized optimal transport framework is a convex optimization problem that can be solved using the Augmented Lagrange Multiplier method, whose convergence can be mathematically proved. The effectiveness of the proposed method is evaluated through extensive experiments on both synthetic and real-world datasets.

关键词： Domain adaptation low-rank constraint noise corruption optimal transport