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Control Policy Learning Design for Vehicle Urban Positioning via BeiDou Navigation

Journal of Systems Science & Complexity 2024年第1期37卷 114-135页

作者： QIN Yahang ZHANG Chengye CHEN Ci XIE Shengli LEWIS Frank L School of automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Key Laboratory of IoT Information Technology Guangzhou 510006China. Center for Intelligent Batch Manufacturing Based on IoT Technology Key Laboratory of Intelligent Detection and The Internet of Things in Manufacturing Ministry of EducationGuangzhou 510006China Guangdong-HongKong-Macao Joint Laboratory for Smart discrete Manufacturing Guangzhou 510006China Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of EducationGuangzhou 510006China. UTA Research Institute The University of Texas at ArlingtonFort WorthTX 76019USA

This paper presents a learning-based control policy design for point-to-point vehicle positioning in the urban environment via BeiDou *** navigating in urban canyons,the multipath effect is a kind of interference that causes the navigation signal to drift and thus imposes severe impacts on vehicle localization due to the reflection and diffraction of the BeiDou ***,the authors formulated the navigation control system with unknown vehicle dynamics into an optimal control-seeking problem through a linear discrete-time system,and the point-to-point localization control is modeled and handled by leveraging off-policy reinforcement learning for feedback *** proposed learning-based design guarantees optimality with prescribed performance and also stabilizes the closed-loop navigation system,without the full knowledge of the vehicle *** is seen that the proposed method can withstand the impact of the multipath effect while satisfying the prescribed convergence rate.A case study demonstrates that the proposed algorithms effectively drive the vehicle to a desired setpoint under the multipath effect introduced by actual experiments of BeiDou navigation in the urban environment.

关键词： BeiDou navigation multipath effect prescribed convergence rate reinforcement learning urban localization.

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Finite-Time Stabilization for Constrained discrete-time Systems by Using Model Predictive Control

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1656-1666页

作者： Bing Zhu Xiaozhuoer Yuan Li Dai Zhiwen Qiang IEEE the Seventh Research Division Beihang UniversityBeijing 100191China the School of automation Beijing Institute of TechnologyBeijing 100081China

In this paper, a model predictive control(MPC)framework is proposed for finite-time stabilization of linear and nonlinear discrete-time systems subject to state and control constraints. The proposed MPC framework guarantees the finite-time convergence property by assigning the control horizon equal to the dimension of the overall system, and only penalizing the terminal cost in the optimization, where the stage costs are not penalized explicitly. A terminal inequality constraint is added to guarantee the feasibility and stability of the closed-loop *** feasibility can be improved via augmentation. The finite-time convergence of the proposed MPC is proved theoretically,and is supported by simulation examples.

关键词： Constraints deadbeat control finite-time stabilization model predictive control(MPC)

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Enhanced UAV Pursuit-Evasion Using Boids Modelling:A Synergistic Integration of Bird Swarm Intelligence and DRL

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Computers, Materials & Continua 2024年第9期80卷 3523-3553页

作者： Weiqiang Jin Xingwu Tian Bohang Shi Biao Zhao Haibin Duan Hao Wu School of Information and communications Engineering Faculty of Electronic and Information EngineeringXi’an Jiaotong UniversityXi’an710049China China Academy of Electronics and Information Technology China Electronics Technology Group Corporation(CETC)Beijing100041China Department ofAutomatic Control School of Automation Science and Electrical EngineeringBeihangUniversityBeijing100191China

TheUAV pursuit-evasion problem focuses on the efficient tracking and capture of evading targets using unmanned aerial vehicles(UAVs),which is pivotal in public safety applications,particularly in scenarios involving intrusion monitoring and *** address the challenges of data acquisition,real-world deployment,and the limited intelligence of existing algorithms in UAV pursuit-evasion tasks,we propose an innovative swarm intelligencebased UAV pursuit-evasion control framework,namely“Boids Model-based DRL Approach for Pursuit and Escape”(Boids-PE),which synergizes the strengths of swarm intelligence from bio-inspired algorithms and deep reinforcement learning(DRL).The Boids model,which simulates collective behavior through three fundamental rules,separation,alignment,and cohesion,is adopted in our *** integrating Boids model with the Apollonian Circles algorithm,significant improvements are achieved in capturing UAVs against simple evasion *** further enhance decision-making precision,we incorporate a DRL algorithm to facilitate more accurate strategic *** also leverage self-play training to continuously optimize the performance of pursuit *** experimental evaluation,we meticulously designed both one-on-one and multi-to-one pursuit-evasion scenarios,customizing the state space,action space,and reward function models for each *** simulations,supported by the PyBullet physics engine,validate the effectiveness of our proposed *** overall results demonstrate that Boids-PE significantly enhance the efficiency and reliability of UAV pursuit-evasion tasks,providing a practical and robust solution for the real-world application of UAV pursuit-evasion missions.

关键词： UAV pursuit-evasion swarm intelligence algorithm Boids model deep reinforcement learning self-play training

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2D DOA Estimation of Coherent Signals with a Separated Linear Acoustic Vector-Sensor Array

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China communications 2024年第2期21卷 155-165页

作者： Sheng Liu Jing Zhao Decheng Wu Yiwang Huang Kaiwu Luo School of Data Science Tongren UniversityTongren 554300China School of automation Chongqing University of Posts and TelecommunicationsChongqing 400065China

In this paper, a two-dimensional(2D) DOA estimation algorithm of coherent signals with a separated linear acoustic vector-sensor(AVS) array consisting of two sparse AVS arrays is proposed. Firstly,the partitioned spatial smoothing(PSS) technique is used to construct a block covariance matrix, so as to decorrelate the coherency of signals. Then a signal subspace can be obtained by singular value decomposition(SVD) of the covariance matrix. Using the signal subspace, two extended signal subspaces are constructed to compensate aperture loss caused by *** elevation angles can be estimated by estimation of signal parameter via rotational invariance techniques(ESPRIT) algorithm. At last, the estimated elevation angles can be used to estimate automatically paired azimuth angles. Compared with some other ESPRIT algorithms, the proposed algorithm shows higher estimation accuracy, which can be proved through the simulation results.

关键词： acoustic vector-sensor coherent signals extended signal subspace sparse array

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Dynamical behaviors in discrete memristor-coupled small-world neuronal networks

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Chinese Physics B 2024年第4期33卷 729-734页

作者：鲁婕妤谢小华卢亚平吴亚联李春来马铭磷 School of automation and Electronic Information Xiangtan UniversityXiangtan 411105China School of Computer Science School of Cyberspace Science Xiangtan UniversityXiangtan 411105China

The brain is a complex network system in which a large number of neurons are widely connected to each other and transmit signals to each *** memory characteristic of memristors makes them suitable for simulating neuronal synapses with *** this paper,a memristor is used to simulate a synapse,a discrete small-world neuronal network is constructed based on Rulkov neurons and its dynamical behavior is *** explore the influence of system parameters on the dynamical behaviors of the discrete small-world network,and the system shows a variety of firing patterns such as spiking firing and triangular burst firing when the neuronal parameterαis *** results of a numerical simulation based on Matlab show that the network topology can affect the synchronous firing behavior of the neuronal network,and the higher the reconnection probability and number of the nearest neurons,the more significant the synchronization state of the *** addition,by increasing the coupling strength of memristor synapses,synchronization performance is *** results of this paper can boost research into complex neuronal networks coupled with memristor synapses and further promote the development of neuroscience.

关键词： small-world networks Rulkov neurons memristor synchronization

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Attention-Based CNN Fusion Model for Emotion Recognition During Walking Using discrete Wavelet Transform on EEG and Inertial Signals

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Big Data Mining and Analytics 2024年第1期7卷 188-204页

作者： Yan Zhao Ming Guo Xiangyong Chen Jianqiang Sun Jianlong Qiu School of Communication Engineering Hangzhou Dianzi UniversityHangzhou 310018China School of automation and Electrical Engineering Linyi UniversityLinyi 276000China

Walking as a unique biometric tool conveys important information for emotion *** in different emotional states exhibit distinct walking *** this purpose,this paper proposes a novel approach to recognizing emotion during walking using electroencephalogram(EEG)and inertial *** recognition of emotion is achieved by training in an end-to-end deep learning fashion and taking into account multi-modal *** wear virtual reality head-mounted display(VR-HMD)equipment to immerse in strong emotions during *** environment shows excellent imitation and experience ability,which plays an important role in awakening and changing *** addition,the multi-modal signals acquired from EEG and inertial sensors are separately represented as virtual emotion images by discrete wavelet transform(DWT).These serve as input to the attention-based convolutional neural network(CNN)fusion *** designed network structure is simple and lightweight while integrating the channel attention mechanism to extract and enhance *** effectively improve the performance of the recognition system,the proposed decision fusion algorithm combines Critic method and majority voting strategy to determine the weight values that affect the final decision *** investigation is made on the effect of diverse mother wavelet types and wavelet decomposition levels on model performance which indicates that the 2.2-order reverse biorthogonal(rbio2.2)wavelet with two-level decomposition has the best recognition *** experiment results show that the proposed method outperforms other existing state-of-the-art works with an accuracy of 98.73%.

关键词： walking multi-modal fusion virtual reality emotion recognition discrete wavelet transform attention mechanism

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A generalized presentation of multi-caloric effects based on exterior derivative theory and its applications

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communications in Theoretical Physics 2024年第8期76卷 156-163页

作者： Jun Yin School of Materials Science and Engineering Nankai UniversityTianjin 300350China School of Mechanical Engineering and automation Fuzhou UniversityFuzhou 350108China

The emerging concept of multi-caloric effects, introduced in 2010, entails the application of multiple interplay fields to a thermodynamic system. While multi-caloric effects are the main focus of experimental endeavors, theoretical considerations fall short of providing a thorough understanding. This paper introduces a comprehensive presentation on multi-caloric effects,employing the method and theory of exterior derivative formations. It addresses every aspect of thermodynamic systems, showcasing its applicability to multi-caloric materials(both singlephase and multi-phase materials), and its adaptability to different scenarios(either in single or multiple force fields). The formulation of Maxwell relationships, characterized by their generality and universality, enables a clear prediction in entropy and temperature, facilitating a distinct identification between independent and interdependent contributions from multi-caloric effects. These insights hold significant importance in designing and developing specialized thermodynamic materials, optimizing functional performances and exploring innovative mechanisms.

关键词： multicaloric effects Maxwell relations isothermal entropy adiabatic temperature

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Dynamics and synchronization in a memristor-coupled discrete heterogeneous neuron network considering noise

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Chinese Physics B 2024年第2期33卷 537-544页

作者：晏询李志军李春来 School of automation and Electronic Information Xiangtan UniversityXiangtan 411105China School of Computer Science&School of Cyberspace Science Xiangtan UniversityXiangtan 411105China

Research on discrete memristor-based neural networks has received much ***,current research mainly focuses on memristor–based discrete homogeneous neuron networks,while memristor-coupled discrete heterogeneous neuron networks are rarely *** this study,a new four-stable discrete locally active memristor is proposed and its nonvolatile and locally active properties are verified by its power-off plot and DC V–I *** on two-dimensional(2D)discrete Izhikevich neuron and 2D discrete Chialvo neuron,a heterogeneous discrete neuron network is constructed by using the proposed discrete memristor as a coupling synapse connecting the two heterogeneous *** the coupling strength as the control parameter,chaotic firing,periodic firing,and hyperchaotic firing patterns are *** particular,multiple coexisting firing patterns are observed,which are induced by different initial values of the *** synchronization between the two heterogeneous neurons is discussed and it is found that they can achieve perfect synchronous at large coupling ***,the effect of Gaussian white noise on synchronization behaviors is also *** demonstrate that the presence of noise not only leads to the transition of firing patterns,but also achieves the phase synchronization between two heterogeneous neurons under low coupling strength.

关键词： heterogeneous neuron network discrete memristor coexisting attractors synchronization noise

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A model reduction approach for discrete-time linear time-variant systems with delayed inputs

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Science China(Information Sciences) 2024年第4期67卷 197-217页

作者： Ai-Guo WU Guang-Ren DUAN Yu WANG Jie ZHANG School of Mechanical Engineering and automation Harbin Institute of Technology(Shenzhen) HIT Wuhu Robot Technology Research Institute Center for Control Science and Technology Southern University of Science and Technology

A model reduction approach is presented for discrete-time linear time-variant input-delayed systems. According to this proposed approach, a dynamical variable is constructed by taking advantage of the current state and historical information of input. It is revealed that the behavior of this dynamical variable is governed by a discrete-time linear delay-free system. It is worth noting that the presented variable transformation does not require the system matrix to be invertible. Based on the reduced delay-free models,stabilizing control laws can be easily obtained for the original delayed system. For the case with a single input delay, the constructed variable is an exact prediction for the future state, and thus the stabilizing control law could be designed by replacing the future state with its prediction. Finally, three discrete-time periodic systems with delayed input are employed to illustrate how to utilize the presented model reduction approaches.

关键词： reduction approach predictor-based feedback time-varying systems delayed input periodic system

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Approximately Bi-Similar Symbolic Model for discretetime Interconnected Switched System

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2185-2187页

作者： Yang Song Yongzhuang Liu Wanqing Zhao School of Mechatronic Engineering and automation Shanghai UniversityShanghai 200444China School of Computing Newcastle UniversityNewcastle upon Tyne NE45TGUK

Dear Editor,This letter concerns the development of approximately bi-similar symbolic models for a discrete-time interconnected switched system(DT-ISS).The DT-ISS under consideration is formed by connecting multiple switched systems known as component switched systems(CSSs).Although the problem of constructing approximately bi-similar symbolic models for DT-ISS has been addressed in some literature,the previous works have relied on the assumption that all the subsystems of CSSs are incrementally input-state stable.

关键词： approximate symbolic connected

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