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Science China(Information Sciences) 2024年第7期67卷 224-239页

作者： Zhijia ZHAO Jiale WU Zhijie LIU We HE C.L.Philip CHEN School of Mechanical and Electrical Engineering Guangzhou University School of Intelligence Science and Technology and Key lab.ratory of Intelligent Bionic unmanned systems of Ministry of Education University of Science and Technology Beijing School of Computer Science and Engineering South China University of Technology Pazhou lab

In this study, an adaptive neural network(NN) control is proposed for nonlinear two-degree-offreedom(2-DOF) helicopter systems considering the input constraints and global prescribed ***, radial basis function NN(RBFNN) is employed to estimate the unknown dynamics of the helicopter system. Second, a smooth nonaffine function is exploited to approximate and address nonlinear constraint functions. Subsequently, a new prescribed function is proposed, and an original constrained error is transformed into an equivalent unconstrained error using the error transformation and barrier function transformation methods. The analysis of the established Lyapunov function proves that the controlled system is globally uniformly bounded. Finally, the simulation and experimental results on a constructed Quanser's test platform verify the rationality and feasibility of the proposed control.

关键词： adaptive NN control 2-DOF helicopter global prescribed performance input constraints

An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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Control Theory and Technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key lab.of Autonomous Intelligent unmanned systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collab.rate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collab.ration

Multiple-stage spatial-temporal cooperative guidance without time-to-go estimation

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Chinese Journal of Aeronautics 2024年第9期37卷 399-416页

作者： Chunyan WANG Weilin WANG Wei DONG Jianan WANG Fang DENG School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China National Key lab.of Autonomous Intelligent unmanned systems Beiing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go ***,a two-stage cooperative guidance strategy,namely the cooperative guidance and the Proportional Navigation Guidance(PNG)stage strategy,is developed to realize the spatial-temporal constraints in two *** the former stage,two controllers are designed and superimposed to satisfy both impact time consensus and impact angle *** the convergent conditions are satisfied,the flight vehicles will switch to the PNG stage to ensure zero miss *** further extend the results to three dimensions,a planar pursuit guidance stage is additionally imposed at the beginning of *** to the inde-pendence of time-to-go estimation,the proposed guidance strategy possesses great performance in satisfying complex spatial-temporal constraints even under flight speed ***,several numerical simulations are implemented to verify the effectiveness and advantages of the proposed results under different scenarios.

关键词： Cooperative guidance Guided missiles Impact time consensus Impact angle constraint Spatial-temporal cooperative guidance

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

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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

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Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key lab.of Autonomous Intelligent unmanned systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collab.ration and human-robot collab.ration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Higher-order properties and extensions for indirect MRAC and APPC of linear systems

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Science China(Information Sciences) 2024年第4期67卷 218-238页

作者： Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG National Key lab.of Autonomous Intelligent unmanned systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center College of Control Science and Engineering Zhejiang University Department of Electrical and Electronic Engineering Imperial College London KIOS Research and Innovation Center of Excellence University of Cyprus

Recently, a reference derived some new higher-order output tracking properties for direct model reference adaptive control(MRAC) of linear time-invariant(LTI) systems: limt→∞ e~((i))(t) = 0, i = 1,..., n~*-1, where n~* and e~((i))(t) denote the relative degree of the system and the i-th derivative of the output tracking error, respectively. However, a naturally arising question involves whether indirect adaptive control(including indirect MRAC and indirect adaptive pole placement control) of LTI systems still has higher-order tracking properties. Such properties have not been reported in the literature. Therefore, this paper provides an affirmative answer to this question. Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and, in particular, without the persistent excitation condition. Given the higher-order properties, a new adaptive control system is developed with stronger tracking features.(1) It can track a reference signal with any order derivatives being unknown.(2) It has higher-order exponential or practical output tracking properties.(3) Finally, it is different from the usual MRAC system, whose reference signal’s derivatives up to the n~* order are assumed to be known. Finally, two simulation examples are provided to verify the theoretical results obtained in this paper.

关键词： higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control

Zero-Dynamics Attacks for Multi-Agent systems Without Velocity Measurements

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Journal of systems Science & Complexity 2024年第5期37卷 1809-1831页

作者： GAO Jinming WANG Yijing ZUO Zhiqiang ZHANG Wentao Tianjin Key lab.ratory of Intelligent unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Continental-NTU Corporate lab School of Electrical and Electronic Engineering Nanyang Technological University

This paper studies the periodic zero-dynamics attacks(ZDAs) in multi-agent systems without velocity measurements under directed graph. Specifically, two types of attack modes are addressed,i.e., infinite number and finite number of zero-dynamics attacks. For the former case, the authors show that the consensus of the considered system cannot be guaranteed. For the latter case, the dynamic evolution of the agents is investigated and it is found that only attacking the rooted agents can destroy the consensus. Then, a sufficient condition which quantifies whether or not the consensus value is destroyed is given, revealing the relationship among parameters of system model, filter and attack ***, simulations are carried out to verify the effectiveness of the theoretical findings.

关键词： Consensus directed graph multi-agent systems zero-dynamics attacks

Effect of Active–Passive Deformation on the Thrust by the Pectoral Fins of Bionic Manta Robot

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Journal of Bionic Engineering 2024年第2期21卷 718-728页

作者： Yang Lu Shaomin Meng Cheng Xing Yiwei Hao Yonghui Cao Guang Pan Yong Cao School of Marine Science and Technology Northwestern Polytechnical UniversityXi’an710072China unmanned Vehicle Innovation Center Ningbo Institute of NPUNingbo315103China State Key lab.of Fluid Power and Mechatronic systems School of Mechanical EngineeringZhejiang UniversityHangzhou310027China Zhejiang Key lab.ratory of Advanced Manufacturing Technology School of Mechanical EngineeringZhejiang UniversityHangzhou310027China

Bionic manta underwater vehicles will play an essential role in future oceans and can perform tasks,such as long-duration reconnaissance and exploration,due to their efficient *** manta wings’deformation is evident during the swimming *** improve the propulsion performance of the unmanned submersible,the study of the deformation into the bionic pectoral fin is *** this research,we designed and fabricated a flexible bionic pectoral fin,which is based on the Fin Ray®effect with active and passive deformation(APD)*** APD fin was actively controlled by two servo motors and could be passively deformed to variable *** APD fin was moved at 0.5 Hz beat frequency,and the propulsive performance was experimentally verified of the bionic pectoral fins equipped with different extents of *** results showed that the pectoral fin with active–passive deformed capabilities could achieve similar natural biological deformation in the wingspan *** average thrust(T)under the optimal wingspan deformation is 61.5%higher than the traditional passive deformed pectoral *** obtained results shed light on the design and optimization of the bionic pectoral fins to improve the propulsive performance of unmanned underwater vehicles(UUV).

关键词： Manta ray Bionic pectoral fin Fin Ray®effect Active-passive deformation(APD)

An innovative heterogeneous transfer learning framework to enhance the scalab.lity of deep reinforcement learning controllers in buildings with integrated energy systems

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Building Simulation 2024年第5期17卷 739-770页

作者： Davide Coraci Silvio Brandi Tianzhen Hong Alfonso Capozzoli Politecnico di Torino Department of EnergyTEBE research groupBAEDA Lab.Corso Duca degli Abruzzi 24Torino10129Italy Building Technology and Urban systems Division Lawrence Berkeley National LaboratoryOne Cyclotron RoadBerkeleyCA 94720USA

Deep Reinforcement Learning(DRL)-based control shows enhanced performance in the management of integrated energy systems when compared with Rule-Based Controllers(RBCs),but it still lacks scalab.lity and generalisation due to the necessity of using tailored models for the training *** Learning(TL)is a potential solution to address this ***,existing TL applications in building control have been mostly tested among buildings with similar features,not addressing the need to scale up advanced control in real-world scenarios with diverse energy *** paper assesses the performance of an online heterogeneous TL strategy,comparing it with RBC and offline and online DRL controllers in a simulation setup using EnergyPlus and *** study tests the transfer in both transductive and inductive settings of a DRL policy designed to manage a chiller coupled with a Thermal Energy Storage(TES).The control policy is pre-trained on a source building and transferred to various target buildings characterised by an integrated energy system including photovoltaic and battery energy storage systems,different building envelope features,occupancy schedule and boundary conditions(e.g.,weather and price signal).The TL approach incorporates model slicing,imitation learning and fine-tuning to handle diverse state spaces and reward functions between source and target *** show that the proposed methodology leads to a reduction of 10% in electricity cost and between 10% and 40% in the mean value of the daily average temperature violation rate compared to RBC and online DRL ***,online TL maximises self-sufficiency and self-consumption by 9% and 11% with respect to ***,online TL achieves worse performance compared to offline DRL in either transductive or inductive ***,offline Deep Reinforcement Learning(DRL)agents should be trained at least for 15 episodes to reach the same level of performance as the online

关键词： transfer learning reinforcement learning building control building energy management

When LoRa meets distributed machine learning to optimize the network connectivity for green and intelligent transportation system

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Green Energy and Intelligent Transportation 2024年第3期3卷 24-41页

作者： Malak Abid Ali Khan Hongbin Ma Arshad Farhad Asad Mujeeb Imran Khan Mirani Muhammad Hamza National Key lab.of Autonomous Intelligent unmanned systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Computer Science Namal UniversityPakistan Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Faculty of Information Technology Beijing University of TechnologyBeijing 100124China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China

LoRa technology contributes to green energy by enabling efficient,long-range communication for the Internet of Things(IoT).This paper addresses the challenges related to coverage range in outdoor monitoring systems utilizing LoRa,where the network performance is affected by the density of gateways(GWs)and end devices(EDs),as well as environmental *** mitigate interference,data throughput losses,and high-power consumption,the proposed spreading factor(SF)and hybrid(data rate|SF)models dynamically adjust the transmission *** orchestration of concurrent data modifications within the network server(NS)is crucial for uninterrupted communication between GWs and EDs,especially in monitoring electric vehicle(EV)stations to reduce traffic congestion and *** K-means and density-based spatial clustering of applications with noise(DBSCAN)algorithms optimizes ED allocation,averts data congestion,and improves the signal-tointerference noise ratio(SINR).These methods ensure seamless information reception by meticulously allocated EDs across various GW *** estimate the free-space losses(FSL),a log-distance path loss model(log-PL)is *** various bandwidths(BWs),bidirectional communications,and duty cycles(DCs)helps to prevent saturation,thus prolonging the operational lifespan of *** findings reveal a notable packet rejection rate(PRR)of 0%for the DBSCAN(hybrid model).In contrast,the K-means exhibits a PRR ranging from 5%(hybrid model)to 35.29%(SF model)for the ten GWs ***,the network saturation is reduced to 10.185%and 9.503%,respectively,highlighting an improvement in the average efficiency of slotted ALOHA(91.1%)and pure ALOHA(90.7%).These enhancements increase the lifespan of EDs to 15,465.27 days.

关键词： DBSCAN Green transportation Hybrid model Intelligent transportation K-means