In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system a...In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.展开更多
This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight enviro...This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight environment for aerial vehicles.Delaunay-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's safety.By using such techniques,it is possible to avoid the collision with obstacles and collision between UAVs.Bezier-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight corridor.The trajectory tracking controller is also designed based on model predictive control to track the planned trajectory accurately.The simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.展开更多
针对半主动型膝关节置换手术机器人的柔顺跟随医生意图运动和手术安全范围约束问题,提出了一种模型预测导纳控制算法.首先,为了提高算法运行效率,使用斯特林插值方法对机械臂动力学模型进行线性化,并作为预测模型,该方法计算简单且求解...针对半主动型膝关节置换手术机器人的柔顺跟随医生意图运动和手术安全范围约束问题,提出了一种模型预测导纳控制算法.首先,为了提高算法运行效率,使用斯特林插值方法对机械臂动力学模型进行线性化,并作为预测模型,该方法计算简单且求解精度高;其次,基于导纳模型力柔顺控制机理识别操作医生的力意图生成机械臂期望运动轨迹;然后,设计虚拟状态,提高模型预测控制算法的显式处理约束能力,利用模型预测控制的滚动优化和反馈校正特性提高控制鲁棒性;最后,结合成机械臂模型预测导纳控制器.设计三环PID(Proportional integral derivative)控制对照试验,验证了模型预测控制算法的轨迹跟踪性能更好,可以更好的实现期望的导纳动态,从而得到更优的柔顺效果.在此基础上,进一步验证模型预测导纳控制器在具有强耦合性、复杂系统参数结构特性的机械臂上的主动约束效果.结果表明模型预测导纳控制算法能实现比传统三环PID控制更好的柔顺性,且具备满足膝关节置换手术需求的安全性.本文有望促进半主动手术机器人的实际应用.展开更多
When a line failure occurs in a power grid, a load transfer is implemented to reconfigure the network by changingthe states of tie-switches and load demands. Computation speed is one of the major performance indicator...When a line failure occurs in a power grid, a load transfer is implemented to reconfigure the network by changingthe states of tie-switches and load demands. Computation speed is one of the major performance indicators inpower grid load transfer, as a fast load transfer model can greatly reduce the economic loss of post-fault powergrids. In this study, a reinforcement learning method is developed based on a deep deterministic policy gradient.The tedious training process of the reinforcement learning model can be conducted offline, so the model showssatisfactory performance in real-time operation, indicating that it is suitable for fast load transfer. Consideringthat the reinforcement learning model performs poorly in satisfying safety constraints, a safe action-correctionframework is proposed to modify the learning model. In the framework, the action of load shedding is correctedaccording to sensitivity analysis results under a small discrete increment so as to match the constraints of line flowlimits. The results of case studies indicate that the proposed method is practical for fast and safe power grid loadtransfer.展开更多
【目的】探明不同种植方式下10%三氟苯嘧啶SC拌种水稻后对稻飞虱的田间防治效果及对天敌蜘蛛和水稻的安全性,为该药剂拌种水稻防治稻飞虱提供理论依据。【方法】以不同浓度(22.5、45.0、67.5和90.0 g a.i./ha)的10%三氟苯嘧啶SC对杂交稻...【目的】探明不同种植方式下10%三氟苯嘧啶SC拌种水稻后对稻飞虱的田间防治效果及对天敌蜘蛛和水稻的安全性,为该药剂拌种水稻防治稻飞虱提供理论依据。【方法】以不同浓度(22.5、45.0、67.5和90.0 g a.i./ha)的10%三氟苯嘧啶SC对杂交稻(丰优香占)和粳稻(南粳9108)进行拌种处理,以25%噻虫嗪WDG(135.0 g a.i./ha)为对照药剂,以清水处理为空白对照,室内分别测定拌种7和15 d后水稻种子的发芽率和出苗率,并在田间调查药剂拌种对稻飞虱的防治效果及对稻田蜘蛛和水稻的安全性。【结果】不同浓度10%三氟苯嘧啶SC拌种水稻后,各处理种子的发芽率和出苗率与空白对照均无显著差异(P>0.05)。10%三氟苯嘧啶SC用量≥22.5 g a.i./ha时,直播粳稻播种后98 d、杂交稻播种后126 d对稻飞虱的防效均在90.00%以上;机插秧粳稻播种后112 d、杂交稻播种后119 d对稻飞虱的防效均在90.00%以上;不同浓度10%三氟苯嘧啶SC拌种处理对旱育移栽秧田稻飞虱的防效较差,持效期短,自调查日起已基本丧失对稻飞虱的控制能力。对稻田蜘蛛调查及对水稻生长观察结果显示,直播稻和机插秧稻田蜘蛛种群数量均明显低于空白对照田,而不同处理旱育秧移栽田蜘蛛种群数量与空白对照田相当;不同浓度10%三氟苯嘧啶SC拌种处理对水稻生长发育无不良影响。【结论】利用10%三氟苯嘧啶SC 22.5~90.0 g a.i./ha拌种水稻可有效降低直播稻和机插秧田田间稻飞虱种群数量,对水稻安全,对天敌蜘蛛影响较小,可在水稻生产中推广应用。展开更多
基金supported in part by the National Science Foundation of China(62173183)。
文摘In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.
基金National Natural Science Foundation of China(No.61903350)Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight environment for aerial vehicles.Delaunay-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's safety.By using such techniques,it is possible to avoid the collision with obstacles and collision between UAVs.Bezier-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight corridor.The trajectory tracking controller is also designed based on model predictive control to track the planned trajectory accurately.The simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.
文摘针对半主动型膝关节置换手术机器人的柔顺跟随医生意图运动和手术安全范围约束问题,提出了一种模型预测导纳控制算法.首先,为了提高算法运行效率,使用斯特林插值方法对机械臂动力学模型进行线性化,并作为预测模型,该方法计算简单且求解精度高;其次,基于导纳模型力柔顺控制机理识别操作医生的力意图生成机械臂期望运动轨迹;然后,设计虚拟状态,提高模型预测控制算法的显式处理约束能力,利用模型预测控制的滚动优化和反馈校正特性提高控制鲁棒性;最后,结合成机械臂模型预测导纳控制器.设计三环PID(Proportional integral derivative)控制对照试验,验证了模型预测控制算法的轨迹跟踪性能更好,可以更好的实现期望的导纳动态,从而得到更优的柔顺效果.在此基础上,进一步验证模型预测导纳控制器在具有强耦合性、复杂系统参数结构特性的机械臂上的主动约束效果.结果表明模型预测导纳控制算法能实现比传统三环PID控制更好的柔顺性,且具备满足膝关节置换手术需求的安全性.本文有望促进半主动手术机器人的实际应用.
基金the Incubation Project of State Grid Jiangsu Corporation of China“Construction and Application of Intelligent Load Transferring Platform for Active Distribution Networks”(JF2023031).
文摘When a line failure occurs in a power grid, a load transfer is implemented to reconfigure the network by changingthe states of tie-switches and load demands. Computation speed is one of the major performance indicators inpower grid load transfer, as a fast load transfer model can greatly reduce the economic loss of post-fault powergrids. In this study, a reinforcement learning method is developed based on a deep deterministic policy gradient.The tedious training process of the reinforcement learning model can be conducted offline, so the model showssatisfactory performance in real-time operation, indicating that it is suitable for fast load transfer. Consideringthat the reinforcement learning model performs poorly in satisfying safety constraints, a safe action-correctionframework is proposed to modify the learning model. In the framework, the action of load shedding is correctedaccording to sensitivity analysis results under a small discrete increment so as to match the constraints of line flowlimits. The results of case studies indicate that the proposed method is practical for fast and safe power grid loadtransfer.
文摘【目的】探明不同种植方式下10%三氟苯嘧啶SC拌种水稻后对稻飞虱的田间防治效果及对天敌蜘蛛和水稻的安全性,为该药剂拌种水稻防治稻飞虱提供理论依据。【方法】以不同浓度(22.5、45.0、67.5和90.0 g a.i./ha)的10%三氟苯嘧啶SC对杂交稻(丰优香占)和粳稻(南粳9108)进行拌种处理,以25%噻虫嗪WDG(135.0 g a.i./ha)为对照药剂,以清水处理为空白对照,室内分别测定拌种7和15 d后水稻种子的发芽率和出苗率,并在田间调查药剂拌种对稻飞虱的防治效果及对稻田蜘蛛和水稻的安全性。【结果】不同浓度10%三氟苯嘧啶SC拌种水稻后,各处理种子的发芽率和出苗率与空白对照均无显著差异(P>0.05)。10%三氟苯嘧啶SC用量≥22.5 g a.i./ha时,直播粳稻播种后98 d、杂交稻播种后126 d对稻飞虱的防效均在90.00%以上;机插秧粳稻播种后112 d、杂交稻播种后119 d对稻飞虱的防效均在90.00%以上;不同浓度10%三氟苯嘧啶SC拌种处理对旱育移栽秧田稻飞虱的防效较差,持效期短,自调查日起已基本丧失对稻飞虱的控制能力。对稻田蜘蛛调查及对水稻生长观察结果显示,直播稻和机插秧稻田蜘蛛种群数量均明显低于空白对照田,而不同处理旱育秧移栽田蜘蛛种群数量与空白对照田相当;不同浓度10%三氟苯嘧啶SC拌种处理对水稻生长发育无不良影响。【结论】利用10%三氟苯嘧啶SC 22.5~90.0 g a.i./ha拌种水稻可有效降低直播稻和机插秧田田间稻飞虱种群数量,对水稻安全,对天敌蜘蛛影响较小,可在水稻生产中推广应用。
