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Distributed collaborative complete coverage path planning based on hybrid strategy

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Journal of Systems Engineering and Electronics 2024年第2期35卷 463-472页

作者： ZHANG Jia DU Xin DONG Qichen XIN Bin School of automation Beijing Institute of TechnologyBeijing 100081China National key laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor *** to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.

关键词： multi-agent cooperation unmanned aerial vehicles(UAV) distributed algorithm complete coverage path planning(CCPP)

Prediction and Output Estimation of Pattern Moving in Non-Newtonian Mechanical Systems Based on Probability Density Evolution

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Computer Modeling in Engineering & Sciences 2024年第4期139卷 515-536页

作者： Cheng Han Zhengguang Xu School of automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China key laboratory of Knowledge automation for Industrial Processes University of Science and Technology BeijingBeijing100083China

A prediction framework based on the evolution of pattern motion probability density is proposed for the output prediction and estimation problem of non-Newtonian mechanical systems,assuming that the system satisfies the generalized Lipschitz *** a complex nonlinear system primarily governed by statistical laws rather than Newtonian mechanics,the output of non-Newtonian mechanics systems is difficult to describe through deterministic variables such as state variables,which poses difficulties in predicting and estimating the system’s *** this article,the temporal variation of the system is described by constructing pattern category variables,which are non-deterministic *** pattern category variables have statistical attributes but not operational attributes,operational attributes are assigned to them by posterior probability density,and a method for analyzing their motion laws using probability density evolution is ***,a data-driven form of pattern motion probabilistic density evolution prediction method is designed by combining pseudo partial derivative(PPD),achieving prediction of the probability density satisfying the system’s output *** on this,the final prediction estimation of the system’s output value is realized by minimum variance unbiased ***,a corresponding PPD estimation algorithm is designed using an extended state observer(ESO)to estimate the parameters to be estimated in the proposed prediction *** effectiveness of the parameter estimation algorithm and prediction method is demonstrated through theoretical analysis,and the accuracy of the algorithm is verified by two numerical simulation examples.

关键词： Non-newtonian mechanical systems prediction and estimation pattern moving probability density evolution pseudo partial derivative

Data-Driven Adaptive Predictive Control Method With Autotuned Weighting Factor for Nonlinear Systems Using Triangular Dynamic Linearization

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1880-1882页

作者： Zhong-Hua Pang Yumo Zhang Xueyuan Sun Shengnan Gao Guo-Ping Liu key laboratory of fieldbus technology and automation of beijing North China University of TechnologyBeijing 100144China School of Data Science Capital University of Economics and BusinessBeijing 100070China Center for Control Science and technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,a novel data-driven adaptive predictive control method is proposed using the triangular dynamic linearization *** proposed method only contains one time-varying parameter with explicit physical meaning,which can prevent severe deviation in parameter ***,a triangular dynamic linearization(TDL)data model is employed to predict future system outputs,and then to correct inaccurate predictive outputs,a feedback regulator is *** autotuned weighing factor is introduced to alleviate the computational burden in practical applications and further improve output tracking ***-loop stability conditions are derived by rigorous *** results are provided to demonstrate the efficacy of the proposed method.

关键词： estimation technique method

Aerial target threat assessment based on gated recurrent unit and self-attention mechanism

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Journal of Systems Engineering and Electronics 2024年第2期35卷 361-373页

作者： CHEN Chen QUAN Wei SHAO Zhuang School of automation Beijing Institute of TechnologyBeijing 100081China State key laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

Aerial threat assessment is a crucial link in modern air combat, whose result counts a great deal for commanders to make decisions. With the consideration that the existing threat assessment methods have difficulties in dealing with high dimensional time series target data, a threat assessment method based on self-attention mechanism and gated recurrent unit(SAGRU) is proposed. Firstly, a threat feature system including air combat situations and capability features is established. Moreover, a data augmentation process based on fractional Fourier transform(FRFT) is applied to extract more valuable information from time series situation features. Furthermore, aiming to capture key characteristics of battlefield evolution, a bidirectional GRU and SA mechanisms are designed for enhanced ***, after the concatenation of the processed air combat situation and capability features, the target threat level will be predicted by fully connected neural layers and the softmax classifier. Finally, in order to validate this model, an air combat dataset generated by a combat simulation system is introduced for model training and testing. The comparison experiments show the proposed model has structural rationality and can perform threat assessment faster and more accurately than the other existing models based on deep learning.

关键词： target threat assessment gated recurrent unit(GRU) self-attention(SA) fractional Fourier transform(FRFT)

Confidence Estimation Transformer for Long-Term Renewable Energy Forecasting in Reinforcement Learning-based Power Grid Dispatching

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CSEE Journal of Power and Energy Systems 2024年第4期10卷 1502-1513页

作者： Xinhang Li Nan Yang Zihao Li Yupeng Huang Zheng Yuan Xuri Song Lei Li Lin Zhang beijing University of Posts and Telecommunications Beijing 100876China beijing key laboratory of Research and System Evaluation of Power Dispatching automation technology

Expansion of renewable energy could help realize the goals of peaking carbon dioxide emissions and carbon *** existing grid dispatching methods integrating short-term renewable energy prediction and reinforcement learning(RL)have been proven to alleviate the adverse impact of energy fluctuations ***,these methods omit long-term output prediction,which leads to stability and security problems on optimal power *** paper proposes a confidence estimation Transformer for long-term renewable energy forecasting in reinforcement learning-based power grid dispatching(Conformer-RLpatching).Conformer-RLpatching predicts long-term active output of each renewable energy generator with an enhanced Transformer to ensure stable operation of the hybrid energy grid and improve the utilization rate of renewable energy,thus boosting dispatching ***,a confidence estimation method is proposed to reduce the prediction error of renewable ***,a dispatching necessity evaluation mechanism is put forward to decide whether the active output of a generator needs to be *** carried out on the SG-126 power grid simulator show that Conformer-RLpatching achieves great improvement over the second best algorithm DDPG in security score by 25.8%and achieves a better total reward compared with the golden medal team in the power grid dispatching competition sponsored by State Grid Corporation of China under the same simulation *** are outsourced in https://***/BUPT-ANTlab/Conformer-RLpatching.

关键词： Conformer-RLpatching optimal power flow reinforcement learning renewable energy prediction

Deadline-Constrained and Cost-Effective Multi-Workflow Scheduling with Uncertainty in Cloud Control Systems

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Journal of Systems Science & Complexity 2024年第5期37卷 1861-1886页

作者： YE Lingjuan YANG Liwen XIA Yuanqing ZHAN Yufeng ZHAO Xinchao School of Science Beijing University of Posts and Telecommunications key laboratory of Mathematics and Information Networks Beijing University of Posts and Telecommunications Ministry of Education School of automation Nanjing University of Information Science and Technology School of automation Beijing Institute of Technology

In cloud control systems, generating an efficient and economical workflow scheduling strategy for deadline-constrained workflow applications, especially in uncertain multi-workflow dynamic scheduling processes, is a crucial challenge. To optimize the total cost of workflow scheduling, the authors propose a cost-driven heuristic scheduling algorithm F-MWSA which consists of two phases:Fuzzy deadline distribution and fuzzy task scheduling. In the fuzzy deadline distribution phase, a new workflow deadline distribution strategy with fuzziness is designed to obtain the sub-deadline constraint of each task. The fuzzy task scheduling phase focuses on a cost-effective strategy to assign tasks to cloud resources, reducing multi-workflow scheduling costs. Performance evaluations on five real-world workflows demonstrate that the proposed F-MWSA outperforms the baseline policy in terms of total cost, success ratio, resource utilization, and makespan.

关键词： Cloud computing cost-effective deadline constraint multi-workflow scheduling uncertainty

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Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1151-1162页

作者： Yang Yuan Haibin Duan Zhigang Zeng State key laboratory of Virtual Reality technology and Systems the School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083China State key laboratory of Virtual Reality technology and Systems the School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083 Virtual Reality Fundamental Research laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China School of Artificial Intelligence and automation Huazhong University of Science and TechnologyWuhan 430074China

The shipboard landing problem for a quadrotor is addressed in this paper,where the ship trajectory tracking control issue is transformed into a stabilization control issue by building a relative position *** guarantee both transient performance and steady-state landing error,a prescribed performance evolution control(PPEC)method is developed for the relative position *** addition,a novel compensation system is proposed to expand the performance boundaries when the input saturation occurs and the error exceeds the predefined *** the wind and wave on the relative position model,an adaptive sliding mode observer(ASMO)is designed for the disturbance with unknown upper *** on the dynamic surface control framework,a shipboard landing controller integrating PPEC and ASMO is established for the quadrotor,and the relative position control error is guaranteed to be uniformly ultimately *** results have verified the feasibility and effectiveness of the proposed shipboard landing control scheme.

关键词： error integrating stabilization

Security-constrained Transmission Maintenance Optimization Considering Generation and Operational Risk Costs

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Journal of Modern Power Systems and Clean Energy 2024年第3期12卷 767-781页

作者： Dan Xu Zhi Cai Qian Cheng Guodong Huang Jingyang Zhou Junjie Tang beijing key laboratory of Research and System Evaluation of Power Dispatching automation technology China Electric Power Research InstituteBeijing 100192China State key laboratory of Power Transmission Equipment&System Security and New technology Chongqing UniversityChongqing 400044China

With the large-scale integration of renewable energy,the traditional maintenance arrangement during the load valley period cannot satisfy the transmission demand of renewable energy ***,in a market-oriented operation mode,the power dispatching control center aims to reduce the overall power purchase cost while ensuring the security of the power ***,a security-constrained transmission maintenance optimization model considering generation and operational risk costs is proposed *** model is built on double-layer optimization framework,where the upper-layer model is used for maintenance and generation planning,and the lowerlayer model is primarily used to address the operational security risk arising from the random prediction error and N-1 transmission ***,a generation-maintenance iterative algorithm based on a defined cost feedback is included to increase solution *** cost is determined using long-term security-constrained unit commitment,and the operational risk cost is obtained using a double-layer N-1 risk assessment *** electrical correlation coupling coefficient is proposed for the solution process to avoid maintenance of associated equipment simultaneously,thereby improving model convergence *** IEEE 118-bus system is used as a test case for illustration,and test results suggest that the proposed model and algorithm can reduce the total cost of transmission maintenance and system operation while effectively improving the solution efficiency of the joint optimization model.

关键词： Transmission maintenance security-constrained unit commitment iterative algorithm cost feedback N−1 risk assessment

Multiplayer Reach-Avoid Differential Games in 3D Space Inspired by Harris'Hawks'Cooperative Hunting Tactics

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Research 2024年第2期2023卷 41-54页

作者： Wanying Ruan Haibin Duan Yongbin Sun Wanmai Yuan Jie Xia State key laboratory of Virtual Reality technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijingChina Peng Cheng laboratory ShenzhenChina Information Science Academy of CETC BeijingChina

This paper investigates a multiplayer reach-avoid differential game in 3-dimensional(3D)space,which involves multiple pursuers,multiple evaders,and a designated target *** evaders aim to reach the target region,while the pursuers attempt to guard the target region by capturing the *** class of research holds significant practical ***,the complexity of the problem escalates substantially with the growing number of players,rendering its solution extremely *** this paper,the multiplayer game is divided into many subgames considering the cooperation among pursuers,reducing the computational burden,and obtaining numerically tractable strategies for ***,the Apollonius sphere,a fundamental geometric tool for analyzing the 3D differential game,is formulated,and its properties are *** on this,the optimal interception point for the pursuer to capture the evader is derived and the winning conditions for the pursuer and evader are ***,based on the Apollonius sphere,the optimal state feedback strategies of players are designed,and simultaneously,the optimal one-to-one pairings are ***,the Value function of the multiplayer reach-avoid differential game is explicitly given and is proved to satisfy Hamilton-Jacobi-Isaacs(HJI)***,the matching algorithm for the case with pursuers outnumbered evaders is provided through constructing a weighted bipartite graph,and the cooperative tactics for multiple pursuers are proposed,inspired by the Harris'Hawks intelligent cooperative hunting ***,numerical simulations are conducted to illustrate the effectiveness of the theoretical results for both cases where the number of adversary players is equal and unequal between the 2 groups.

关键词： holds satisfy rendering