检索结果-南通市图书馆

Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle research center for unmanned autonomous systems The Hong Kong Polytechnic University

autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

Adaptive Sensor-Fault Tolerant Control of unmanned Underwater Vehicles With Input Saturation

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 907-918页

作者： Xuerao Wang Qingling Wang Yanxu Su Yuncheng Ouyang Changyin Sun the School of Artificial Intelligence the Engineering Research Center of Autonomous Unmanned System Technologyand the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent TechnologyMinistry of EducationAnhui UniversityHefei 230601China the School of Automation Southeast UniversityNanjing 210096China

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean *** active sensor fault-tolerant control scheme is ***,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor ***,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback *** is shown that the effect of sensor faults is online estimated and compensated by an adaptive *** the proposed controller,the tracking error and estimation error can asymptotically converge to ***,simulation results are performed to demonstrate the effectiveness of the proposed method.

关键词： Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle

A survey of decision making in adversarial games

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2024年第4期67卷 85-112页

作者： Xiuxian LI Min MENG Yiguang HONG Jie CHEN College of Electronics and Information Engineering Tongji University Shanghai research institute for Intelligent autonomous systems

In many practical applications, such as poker, chess, drug interdiction, cybersecurity, and national defense, players often have adversarial stances, i.e., the selfish actions of each player inevitably or intentionally inflict loss or wreak havoc on other players. Therefore, adversarial games are important in realworld applications. However, only special adversarial games, such as Bayesian games, are reviewed in the literature. In this respect, this study aims to provide a systematic survey of three main game models widely employed in adversarial games, i.e., zero-sum normal-form and extensive-form games, Stackelberg(security) games, and zero-sum differential games, from an array of perspectives, including basic knowledge of game models,(approximate) equilibrium concepts, problem classifications, research frontiers,(approximate) optimal strategy-seeking techniques, prevailing algorithms, and practical applications. Finally, promising future research directions are also discussed for relevant adversarial games.

关键词： adversarial games zero-sum games Stackelberg games differential games Nash equilibrium correlated equilibrium regret

同方期刊数据库

Online Consensus Control of Nonlinear Affine systems From Disturbed Data

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 551-553页

作者： Yifei Li Wenjie Liu Jian Sun Chen Chen Jia Zhang Gang Wang National Key Laborary of autonomous Intelligent unmanned systems Beijing Institute of TechnologyBeijing 100081 Beijing institute of Technology Chongqing Innovation center Chongqing 401120China

Dear Editor,In this letter, we introduce a novel online distributed data-driven robust control approach for learning controllers of unknown nonlinear multi-agent systems(MASs) using state-dependent representations.

关键词： agent online Online

Adaptive PI Control Based Stability Margin Configuration of Aircraft Control systems with Unknown System Parameters and Time Delay

在线全文

学校读者我要写书评

暂无评论

Journal of systems Science & Complexity 2024年第4期37卷 1507-1525页

作者： ZHANG Zhibing ZHOU Dapeng WANG Yeguang GAO Wanxin ZHANG Yanjun AVIC Shenyang Aircraft Design and research institute Shenyang 110035China School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Lab of autonomous Intelligent unmanned systems Beijing Institute of TechnologyBeijing 100081China

The stability margin is a vital indicator for assessing the safety level of aircraft control *** should maintain sufficient stability margin to ensure safety during flight,especially in the process of large maneuver *** stability margin is generally quantified by the Bode diagram,which strictly depends on the system parameters and the open-loop transfer ***,due to the uncertain flight environments,transmission delays of sensors and mode switchings,etc.,there exist large parameter and structure uncertainties in the aircraft control systems,which make it difficult to precisely configure the stability margin to the desired value by the usual control *** address this problem,an indirect adaptive control strategy is proposed in this paper,where an adaptive PI control law with the capability of self-configuration of stability margin is *** developed control law not only achieves stable time-varying command tracking in the time domain,but also is able to automatically configure the phase margin and gain margin in the frequency ***,the simulation of the one-degree-of-freedom roll rate control model of the air vehicle verifies the validity of the proposed control method.

关键词： Adaptive control aircraft control parameter uncertainty stability margin configuration

Control of 2-D Semi-Markov Jump systems:A View from Mode Generation Mechanism

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 258-260页

作者： Yunzhe Men Jian Sun Jie Chen the National Key Laboratory of autonomous Intelligent unmanned systems the School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing institute of Technology Chongqing Innovation center Chongqing 401120China the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of autonomous Intelligent unmanned systems Beijing Institute of TechnologyBeijing 100081China

Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.

关键词： Markov mode system

Spontaneous Recovery in Directed Dynamical Networks

在线全文

学校读者我要写书评

暂无评论

Engineering 2024年第6期37卷 208-214页

作者： Xueming Liu Xian Yan H.Eugene Stanley School of Artificial Intelligence and Automation&The MOE Engineering research center of autonomous Intelligent unmanned systems&the Key Laboratory of Image Processing Huazhong University of Science and TechnologyWuhan 430074China center for Polymer Studies Department of PhysicsBoston UniversityBostonMA 02215USA

Complex networked systems,which range from biological systems in the natural world to infrastructure systems in the human-made world,can exhibit spontaneous recovery after a failure;for example,a brain may spontaneously return to normal after a seizure,and traffic flow can become smooth again after a *** studies on the spontaneous recovery of dynamical networks have been limited to undirected ***,most real-world networks are *** fill this gap,we build a model in which nodes may alternately fail and recover,and we develop a theoretical tool to analyze the recovery properties of directed dynamical *** find that the tool can accurately predict the final fraction of active nodes,and the prediction accuracy decreases as the fraction of bidirectional links in the network increases,which emphasizes the importance of directionality in network *** to different initial states,directed dynamical networks may show alternative stable states under the same control parameter,exhibiting hysteresis *** addition,for networks with finite sizes,the fraction of active nodes may jump back and forth between high and low states,mimicking repetitive failure-recovery *** findings could help clarify the system recovery mechanism and enable better design of networked systems with high resilience.

关键词： Network resilience Directed dynamical networks Spontaneous recovery

Optimal confrontation position selecting games model and its application to one-on-one air combat

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Defence Technology（防务技术） 2024年第1期31卷 417-428页

作者： Zekun Duan Genjiu Xu Xin Liu Jiayuan Ma Liying Wang School of Mathematics and Statistics Northwestern Polytechnical UniversityXi'an 710072China International Joint research center on Operations research Optimization and Artificial IntelligenceXi'an 710129China AVIC Xi’an Aeronautics Computing Technique research institute Xi'an 710065China unmanned System research institute Northwestern Polytechnical UniversityXi'an 710072China

In the air combat process,confrontation position is the critical factor to determine the confrontation situation,attack effect and escape probability of ***,selecting the optimal confrontation position becomes the primary goal of maneuver *** taking the position as the UAV’s maneuver strategy,this paper constructs the optimal confrontation position selecting games(OCPSGs)*** the OCPSGs model,the payoff function of each UAV is defined by the difference between the comprehensive advantages of both sides,and the strategy space of each UAV at every step is defined by its accessible space determined by the *** we design the limit approximation of mixed strategy Nash equilibrium(LAMSNQ)algorithm,which provides a method to determine the optimal probability distribution of positions in the strategy *** the simulation phase,we assume the motions on three directions are independent and the strategy space is a cuboid to simplify the *** simulations are performed to verify the feasibility,effectiveness and stability of the algorithm.

关键词： unmanned aerial vehicles(UAVs) Air combat Continuous strategy space Mixed strategy Nash equilibrium

Mixed H_(∞)/Passive Exponential Synchronization for Delayed Memristive Neural Networks with Switching Event-Triggered Control

在线全文

学校读者我要写书评

暂无评论

Journal of systems Science & Complexity 2024年第1期37卷 294-317页

作者： WU Wenhuang GUO Lulu CHEN Hong Shanghai research institute for Intelligent autonomous systems Tongji UniversityShanghai 200092China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

This paper is devoted to event-triggered synchronization of delayed memristive neural networks with H∞and passivity *** aim is to guarantee the exponential synchronization and mixed H∞and passivity control for memristive neural networks by using event-triggered ***,a switching system is constructed under the event-triggered control ***,by adopting a piece-wise Lyapunov functional,a sufficient condition is established for the exponential synchronization and mixed H_(∞)and passivity ***,an event-triggered controller design scheme is proposed using matrix decoupling ***,the effectiveness of the designed controller is exemplified by a numerical example.

关键词： Event-triggered control exponential synchronization memristive neural networks time delays.