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Guidance,Navigation and Control 2024年第3期4卷 166-190页

作者： Bosong Wei Xiaokui Yue Zhiwei Hao Zongcheng Liu school of Astronautics Northwestern Polytechnical University school of Aviation Engineering Air Force Engineering University

The problem of in-orbit cooperative target enclosing involving N thrust-limited satellites under collision avoidance and maneuver amplitude constraints is studied. In order to find global optimal trajectories for target enclosing task with all constraints above, by integrating the collision threat and maneuver boundaries into a novel nonlinear cost functional, the studied target enclosing problem is described as a nonlinear nonzero-sum differential game. Further, to avoid iterative calculations caused by traditional nonlinear-game-solving methods, an approximate solution which can be constructed directly is designed. Then the approximate Nash equilibrium strategies can be educed by the constructive approximate solution for the proposed nonzero-sum game. Analysis shows that the proposed control strategies can asymptotically approach the exact one and can ensure a zero-error tracking of the enclosing *** results illustrate lower time costs and better enclosing accuracy while the collision avoidance and maneuver amplitude constraints are satisfied simultaneously.

关键词： Approximate Nash equilibrium asymptotic stability differential game invariant manifold target enclosing

3D surface profile diagnosis using digital image processing for laboratory use

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Journal of Central South University 2020年第3期27卷 811-823页

作者： Robert FRISCHER Ondrej KREJCAR Ali SELAMAT Kamil KUCA Center for Basic and Applied Research Faculty of Informatics and ManagementUniversity of Hradec KraloveRokitanskeho 62Hradec Kralove 50003Czech Republic Malaysia Japan International Institute of Technology(MJIIT) Universiti Teknologi Malaysia Kuala LumpurJalan Sultan Yahya PetraKuala Lumpur 54100Malaysia Media and games Center of Excellence(MagicX) Universiti Teknologi MalaysiaSkudai 81310Malaysia school of Computing Faculty of EngineeringUniversiti Teknologi Malaysia(UTM)Skudai 81310Malaysia

The measurement of the surface quality and the profile preciseness is major issues in many industrial branches such that the surface quality of semi products directly affects the subsequent production ***,there are many ways to obtain required data,the hardware necessary for the measurements such as 2D or 3D scanners,depending on the problem’s complexity,is too ***,in this paper,what we put forward as a novelty is an algorithm which is verified on the model of simple 3D scanner on the image processing basis with the resolution of 0.1 *** are many ways to scan surface profile;however,the image processing currently is the most trending topic in industry *** importantly,in order to obtain surface images,standard high resolution reflex camera is used and thus the post processing could be realized with MatLab as the software ***,this solution is an alternative to the expensive scanners,and single-purpose devices could be extended by many additional functions.

关键词： profile diagnostics image processing 3D surface MatLab measurement

Alternate Iteration Scheme for Approximating Equilibrium Strategy

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Alternate Iteration Scheme for Approximating Equilibrium Str...

Irrational-Behavior-Proof Conditions for Stochastic games over Event Trees

第25届中国控制与决策会议

作者： Hengmiao Shui Junfeng Li Wanfang Che Hexi Baoyin school of Aerospace Tsinghua University

ISBN: (纸本)9781467355339

The two-player differential games is considered to be two mutually coupled optimal control problems （OCPs）, and a novel decoupling approach based on Lagrange multipliers is constructed to reformulate the original problem as a non-cooperative game composed of the other two independent OCPs, then a new scheme is proposed to solving these two OCPs alternately and iteratively, and Nash equilibrium of the original problem is approximated progressively. Last by not least, the proposed scheme is used to solve a missile aircraft pursuit-evasion game in a vertical plane, and Gauss pseudospectral method is adopted to solve each OPC, results of simulations not only successfully illustrate the effectiveness of the alternate iteration scheme, process, but also gain a fresh insight into differential game guidance law.

关键词： Alternate iteration scheme Equilibrium strategy Differential games Guidance

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Journal of the Operations Research Society of China 2024年第1期12卷 243-263页

作者： Lei Wang Cui Liu Hong-Wei Gao Chong Lin school of Automation Institute of Complexity ScienceQingdao UniversityQingdao 266071ShandongChina school of Mathematics and Statistics Institute of Applied Mathematics of ShandongQingdao UniversityQingdao 266071ShandongChina

In this paper,the irrational-behavior-proof conditions in a class of stochastic dynamic games over event trees are *** kinds of irrational-behavior-proof conditions are proposed by the imputation distribution procedure,and their relationships are *** specific properties for the general transformation of characteristic functions are developed,based on which,the irrational-behavior-proof conditions are proved to be true in a transformed cooperative game.

关键词： Dynamic cooperative game Event tree Irrational-behavior-proof condition Imputation distribution procedure Transformation of characteristic function

GOPS:A general optimal control problem solver for autonomous driving and industrial control applications

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Communications in Transportation Research 2023年第1期3卷 92-106页

作者： Wenxuan Wang Yuhang Zhang Jiaxin Gao Yuxuan Jiang Yujie Yang Zhilong Zheng Wenjun Zou Jie Li Congsheng Zhang Wenhan Cao Genjin Xie Jingliang Duan Shengbo Eben Li school of Vehicle and Mobility Tsinghua UniversityBeijing100084China

Solving optimal control problems serves as the basic demand of industrial control *** methods like model predictive control often suffer from heavy online computational *** learning has shown promise in computer and board games but has yet to be widely adopted in industrial applications due to a lack of accessible,high-accuracy *** Reinforcement learning(RL)solvers are often developed for academic research and require a significant amount of theoretical knowledge and programming ***,many of them only support Python-based environments and limit to model-free *** address this gap,this paper develops General Optimal control Problems Solver(GOPS),an easy-to-use RL solver package that aims to build real-time and high-performance controllers in industrial *** is built with a highly modular structure that retains a flexible framework for secondary *** the diversity of industrial control tasks,GOPS also includes a conversion tool that allows for the use of Matlab/Simulink to support environment construction,controller design,and performance *** handle large-scale problems,GOPS can automatically create various serial and parallel trainers by flexibly combining embedded buffers and *** offers a variety of common approximate functions for policy and value functions,including polynomial,multilayer perceptron,convolutional neural network,***,constrained and robust algorithms for special industrial control systems with state constraints and model uncertainties are also integrated into *** examples,including linear quadratic control,inverted double pendulum,vehicle tracking,humanoid robot,obstacle avoidance,and active suspension control,are tested to verify the performances of GOPS.

关键词： Industrial control Reinforcement learning Approximate dynamic programming Optimal control Neural network Benchmark

Multi-agent graphical games with input constraints:an online learning solution

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Control Theory and Technology 2020年第2期18卷 148-159页

作者： Tianxiang WANG Bingchang WANG Yong LIANG school of Control Science and Engineering Shandong UniversityJinan Shandong 250061China

This paper studies an online iterative algorithm for solving discrete-time multi-agent dynamic graphical games with input *** order to obtain the optimal strategy of each agent,it is necessary to solve a set of coupled Hamilton-Jacobi-Bellman(HJB)*** is very difficult to solve HJB equations by the traditional *** relevant game problem will become more complex if the control input of each agent in the dynamic graphical game is *** this paper,an online iterative algorithm is proposed to find the online solution to dynamic graphical game without the need for drift dynamics of ***,this algorithm is to find the optimal solution of Bellman equations *** solution employs a distributed policy iteration process,using only the local information available to each *** can be proved that under certain conditions,when each agent updates its own strategy simultaneously,the whole multi-agent system will reach Nash *** the process of algorithm implementation,for each agent,two layers of neural networks are used to fit the value function and control strategy,***,a simulation example is given to show the effectiveness of our method.

关键词： Actor-critic algorithm differential games input constraints neural network(NN) reinforcement learning(RL)

Spatial patterns of the main trees in a plant micro-reserve constructed in the 2022 Beijing Winter Olympics mountainous competition zone

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Journal of Mountain Science 2023年第8期20卷 2228-2241页

作者： WANG Jian-yong ZHANG Zhi-xiang school of Ecology and Nature Conservation Beijing Forestry UniversityBeijing 100083China

Several plant micro-reserves were established to preserve the vegetation in local mountain areas during the construction of the Yanqing competition zone of the 2022 Beijing Winter *** spatial patterns of the main species in one of the micro-reserves and the factors affecting these patterns were characterized in this *** distribution of arbor species was found to be mostly aggregated,especially at fine scales(<5 m).Minor species were found to be more aggregated than the major species in each forest *** spatial patterns were found to be affected by habitat heterogeneity,intraspecific relationships,interspecific competition,and seed dispersal *** heterogeneity was found to affect large-scale spatial patterns,and its effects were observed throughout population *** competition is another factor affecting the distribution of the species,and its effects were stronger during the later stages of population *** heterogeneity was found to affect competition among species and is key for species *** these processes are affected by the seed dispersal limitation,and intraspecific relationships are a legacy of seed *** point patterns can be used as a tool for the initial assessment of the status of communities within *** consideration of these relationships in the development,management,and formulation of policies for micro-reserves in mountainous areas will facilitate the achievement of conservation *** careful consideration of habitat conditions when selecting sites for micro-reserves establishment can promote species conservation.

关键词： Spatial patterns Point patterns Microreserve Juglans mandshurica forest Beijing mountainous area

Evolutionary Game Dynamics in a Fitness-Dependent Wright-Fisher Process with Noise

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Communications in Theoretical Physics 2011年第9期56卷 404-410页

作者：全吉王先甲 Institute of Systems Engineering Wuhan University Economics and Management school of Wuhan University

Evolutionary game dynamics in finite size populations can be described by a fitness-dependent Wright- Fisher process. We consider symmetric 2×2 games in a well-mixed population. In our model, two parameters to describe the level of player＇s rationality and noise intensity in environment are introduced. In contrast with the fixation probability method that used in a noiseless case, the introducing of the noise intensity parameter makes the process an ergodic Markov process and based on the limit distribution of the process, we can analysis the evolutionary stable strategy （ESS） of the games. We illustrate the effects of the two parameters on the ESS of games using the Prisoner＇s dilemma games （PDG） and the snowdrift games （SG）. We also compare the ESS of our model with that of the replicator dynamics in infinite size populations. The results are determined by simulation experiments.

关键词： evolutionary games Wright-Fisher process evolutionary stable strategy noise

Simplification of Shapley value for cooperative games via minimum carrier

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Control Theory and Technology 2021年第2期19卷 157-169页

作者： Haitao Li Shuling Wang Aixin Liu Meixia Xia school of Mathematics and Statistics Shandong Normal UniversityJinan250014ShandongChina

Shapley value is one of the most fundamental concepts in cooperative *** paper investigates the calculation of the Shapley value for cooperative games and establishes a new formula via ***,a necessary and sufficient condition is presented for the verification of carrier,based on which an algorithm is worked out to find the unique minimum ***,by virtue of the properties of minimum carrier,it is proved that the profit allocated to dummy players(players which do not belong to the minimum carrier)is zero,and the profit allocated to players in minimum carrier is only determined by the minimum ***,a new formula of the Shapley value is presented,which greatly reduces the computational complexity of the original formula,and shows that the Shapley value only depends on the minimum ***,based on the semi-tensor product(STP)of matrices,the obtained new formula is converted into an equivalent algebraic form,which makes the new formula convenient for calculation via MATLAB.

关键词： Shapley value Cooperative game Carrier Algebraic form Semi-tensor product of matrices

Intercity connections and a world city network based on international sport events:Empirical studies on the Beijing,London,and Rio de Janeiro Olympic games

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Journal of Geographical Sciences 2021年第12期31卷 1791-1815页

作者： XUE Desheng OU Yubin school of Geography and Planning Sun Yat-sen UniversityGuangzhou 510275China

With so many sports becoming increasingly popular,sports have come to play an important role in promoting the process of globalization and formatting the world city network(WCN).Previous studies have constructed the WCN based on the distribution of international sport federations(ISFs)and the sites of international sport events(ISEs),but there is still a lack of systematic research on the intercity connections caused by *** three most recent Olympic games as cases,this paper explores intercity connections and WCN based on *** results show that(1)the Olympic WCN has city nodes around the world except in Antarctica,and the number and activity values of the cities in host countries may increase intensively during the Olympic games.(2)A hierarchical city system with four tiers(global central cities,specialized central cities,national central cities and specialized cities)is formed by the intercity connections caused by the Olympic games.(3)The WCN based on the Olympic games,is made up of many subnetworks,while many differences occur due to the diverse decisions made by the Organizing Committee for the Olympic games(OCOG),host cities or even host countries in the events associated with sponsorship activity and publicity *** study not only broadens the relevant fields of sports culture-oriented WCN research but also explores the instability of the WCN,which makes it an effective reference for WCN research based on ISEs.

关键词： globalization world city network Olympic games hierarchy