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Deterministic Learning-Based Neural PID control for Nonlinear Robotic Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1227-1238页

作者： Qinchen Yang Fukai Zhang Cong Wang The authors are with the school of control Science and engineering Shandong UniversityJinan 250061China

Traditional proportional-integral-derivative(PID)controllers have achieved widespread success in industrial ***,the nonlinearity and uncertainty of practical systems cannot be ignored,even though most of the existing research on PID controllers is focused on linear ***,developing a PID controller with learning ability is of great significance for complex nonlinear *** article proposes a deterministic learning-based advanced PID controller for robot manipulator systems with *** introduction of neural networks(NNs)overcomes the upper limit of the traditional PID feedback mechanism’s *** proposed control scheme not only guarantees system stability and tracking error convergence but also provides a simple way to choose the three parameters of PID by setting the proportional *** the partial persistent excitation(PE)condition,the closed-loop system unknown dynamics of robot manipulator systems are accurately approximated by *** on the acquired knowledge from the stable control process,a learning PID controller is developed to further improve overall control performance,while overcoming the problem of repeated online weight *** studies and physical experiments demonstrate the validity and practicality of the proposed strategy discussed in this article.

关键词： PID robot system

Assessment and Enhancement of FRC of Power Systems Considering Thermal Power Dynamic Conditions

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CSEE Journal of Power and Energy Systems 2024年第4期10卷 1371-1383页

作者： Feng Hong Yalei Pang Weiming Ji Lu Liang Fang Fang Junhong Hao Jizhen Liu State Key Laboratory of Alternate electric Power System with Renewable Energy Sources and school of control and Computer engineering North China Electric Power UniversityBeijing 102206China State Key Laboratory of Alternate electric Power System with Renewable Energy Sources School of Energy Power and Mechanical EngineeringNorth China Electric Power UniversityBeijing 102206China

Frequency stability and security have been a vital challenge as large-scale renewable energy is integrated into power *** contrast,the proportion of traditional thermal power units decreases during the decarbonization transformation process,resulting in poor frequency *** paper aims to explore the potential of frequency regulation support,dynamic assessment,and capacity promotion of thermal power plants in the transition *** the dynamic characteristics of the main steam working fluid under different working conditions,a nonlinear observer is constructed by extracting the main steam pressure and valve opening degree *** real-time frequency modulation capacity of thermal power units can provide a dynamic state for the power grid.A dynamic adaptive modification for primary frequency control(PFC)of power systems,including wind power and thermal power,is proposed and *** power dynamic allocation factor is adaptively optimized by predicting the speed droop ratio,and the frequency modulation capability of the system is improved by more than 11%under extreme ***,through the Monte Carlo simulation of unit states of the system under various working conditions,the promotion of the frequency regulation capacity with high wind power penetration(WPP)is verified.

关键词： Dynamic evaluation frequency regulation power system predictive modeling wind penetration

Ultrathin two-dimensional medium-entropy oxide as a highly efficient and stable electrocatalyst for oxygen evolution reaction

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Nano Research 2024年第4期17卷 2555-2562页

作者： Guangyuan Yan Tianlu Wang Biwei Zhao Wenjing Gao Tong Wu Liming Ou school of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

Medium-entropy oxides(MEOs)with broad compositional tunability and entropy-driven structural stability,are receiving booming attention as a promising candidate for oxygen evolution reaction(OER)***,ultrathin two-dimensional(2D)nanostructure offers extremely large specific surface area and is therefore considered to be an ideal catalyst ***,it remains a grant challenge to synthesize ultrathin 2D MEOs due to distinct nucleation and growth kinetics of constituent multimetallic elements in 2D anisotropic *** this work,an ultrathin 2D MEO(MnFeCoNi)O was successfully synthesized by a facile and low-temperature ionic layer epitaxy *** from multi-metal synergistic effects within ultrathin 2D nanostructure,this 2D MEO(MnFeCoNi)O revealed excellent OER electrocatalytic performance with a quite low overpotential of 117 mV at 10 mA·cm^(-2) and an impressive stability for 120 h continuous operation with only 6.9%***,the extremely high mass activity(5584.3 A·g^(-1))was three orders of magnitude higher than benchmark RuO_(2)(3.4 A·g^(-1))at the same overpotential of 117 *** work opens up a new avenue for developing highly efficient and stable electrocatalysts by creating 2D nanostructured MEOs.

关键词： medium-entropy oxide two-dimensional nanomaterials ionic layer epitaxy oxygen evolution reaction electrocatalysis

Toroidal dipole response in rectangular waveguide:used to generate vector beams and vector vortex beams

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Chinese Optics Letters 2024年第1期22卷 90-97页

作者：罗灏陈聪高鹏冯越任紫燕乔昱嘉刘海 school of Information and control engineering China University of Mining and TechnologyXuzhou 221116China

Toroidal multipole is a special current distribution that has many different characteristics from electric multipole and magnetic multipole *** of its special properties,the toroidal dipole is a research hotspot in the field of metamaterials and ***,the low scattering of the toroidal dipole moment makes its excitation a challenging *** present,there are relatively few studies on its specific engineering *** this paper,by slotting in the rectangular cavity,the excitation of an equivalent toroidal dipole is successfully achieved over a wide frequency range of 53-58 *** indicate that under the action of the toroidal dipole,the TE_(10)mode electromagnetic waves transmitted in the rectangular waveguide are converted into vector beams and are radiated *** adjusting the spatial distribution of the magnetic dipoles in the toroidal dipoles yields results that indicate that the resonance mode in the slot is still dominated by the magnetic toroidal dipole moment,and the electromagnetic waves radiating outward are vortex beams carrying vector *** scattered energy of each dipole moment inside the antenna is *** calculation verifies that the mass of the vector beam and vector vortex beam is closely related to the toroidal dipole supported by this *** proposed structure can be applied to explorations in vortex filtering,in photon entanglement,and in the photonic spin Hall effect.

关键词： toroidal dipole vector beams vector vortex beams

Quantum block coherence with respect to projective measurements

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Chinese Physics B 2024年第8期33卷 213-220页

作者：王璞李忠艳孟会贤 school of control and Computer engineering North China Electric Power UniversityBeijing 102206China school of Mathematics and Physics North China Electric Power UniversityBeijing 102206China

Quantum coherence serves as a defining characteristic of quantum mechanics,finding extensive applications in quantum computing and quantum communication *** study explores quantum block coherence in the context of projective measurements,focusing on the quantification of such ***,we define the correlation function between the two general projective measurements P and Q,and analyze the connection between sets of block incoherent states related to two compatible projective measurements P and ***,we discuss the measure of quantum block coherence with respect to projective *** on a given measure of quantum block coherence,we characterize the existence of maximal block coherent states through projective *** research integrates the compatibility of projective measurements with the framework of quantum block coherence,contributing to the advancement of block coherence measurement theory.

关键词： quantum coherence compatibility projective measurement quantum block coherence

Data-driven active vibration control for helicopter with trailing-edge flaps using adaptive dynamic programming

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Chinese Journal of Aeronautics 2024年第6期37卷 151-166页

作者： Yu CHEN Qun ZONG Xiuyun ZHANG Jinna LI school of electrical and Information engineering Tianjin UniversityTianjin 300072China school of Information and control engineering Liaoning Petrochemical UniversityFushun 113001China

The helicopter Trailing-Edge Flaps(TEFs)technology is one of the recent hot topics in morphing wing *** employing controlled deflection,TEFs can effectively reduce the vibration level of ***,designing specific vibration reduction control methods for the helicopters equipped with trailing-edge flaps is of significant practical *** paper studies the optimal control problem for helicopter-vibration systems with TEFs under the framework of adaptive dynamic programming combined with Reinforcement Learning(RL).Time-delay and disturbances,caused by complexity of helicopter dynamics,inevitably deteriorate the control performance of vibration *** solve this problem,a zero-sum game formulation with a linear quadratic form for reducing vibration of helicopter systems is presented with a virtual *** this context,an off-policy reinforcement learning algorithm is developed to determine the optimal control *** algorithm utilizes only vertical vibration load data to achieve a policy that reduces vibration,attains Nash equilibrium,and addresses disturbances while compensating for time-delay without knowledge of the dynamics of the helicopter *** effectiveness of the proposed method is demonstrated in a virtual platform.

关键词： Active control Adaptive dynamic program-ming Helicopter rotor Vibration control Zero-sum game

Unmanned Ship Identification Based on Improved YOLOv8s Algorithm

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Computers, Materials & Continua 2024年第3期78卷 3071-3088页

作者： Chun-Ming Wu Jin Lei Wu-Kai Liu Mei-Ling Ren Ling-Li Ran Key Laboratory of Modern Power System Simulation and control&Renewable Energy Technology School of Electrical EngineeringNortheast Electric Power UniversityJilin132012China school of Biomedical engineering Taiyuan University of TechnologyTaiyuan030600China

Aiming at defects such as low contrast in infrared ship images,uneven distribution of ship size,and lack of texture details,which will lead to unmanned ship leakage misdetection and slow detection,this paper proposes an infrared ship detection model based on the improved YOLOv8 algorithm(R_YOLO).The algorithm incorporates the Efficient Multi-Scale Attention mechanism(EMA),the efficient Reparameterized Generalized-feature extraction module(CSPStage),the small target detection header,the Repulsion Loss function,and the context aggregation block(CABlock),which are designed to improve the model’s ability to detect targets at multiple scales and the speed of model *** algorithm is validated in detail on two vessel *** comprehensive experimental results demonstrate that,in the infrared dataset,the YOLOv8s algorithm exhibits improvements in various performance ***,compared to the baseline algorithm,there is a 3.1%increase in mean average precision at a threshold of 0.5(mAP(0.5)),a 5.4%increase in recall rate,and a 2.2%increase in mAP(0.5:0.95).Simultaneously,while less than 5 times parameters,the mAP(0.5)and frames per second(FPS)exhibit an increase of 1.7%and more than 3 times,respectively,compared to the CAA_YOLO ***,the evaluation indexes on the visible light data set have shown an average improvement of 4.5%.

关键词： Unmanned ships R_YOLO EMA CSPStage YOLOv8s

Fuzzy-Inverse-Model-Based Networked Tracking control Frameworks of Time-Varying Signals

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1708-1710页

作者： Shiwen Tong Dianwei Qian Keya Yuan Dexin Liu Yuan Li Jiancheng Zhang the College of Robotics Beijing Union UniversityBeijing 100101China the school of control and Computer engineering North China Electric Power UniversityBeijing 102206China

Dear Editor,Tracking control in networked environment is a very challenging problem due to the contradiction of rapid response to the time-varying signal and the inevitable delay introduced by networks. This letter has proposed several fuzzy-inverse-model-based network tracking control frameworks which are helpful in handling the system with nonlinear dynamics and uncertainties.

关键词： contradiction letter inverse

Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for Robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model control(VMC)and Whole-Body control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency