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Minimal-cost route planning via Fibonacci-heap-typed data structure 通过斐波那契堆类型数据结构进行最小成本路线规划
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-09-08 DOI: 10.1049/cth2.12735
Wangjia Zhan, Haohao Qiu, Bo Min, Lin Lin

Efficient route planning in transportation networks, particularly under stochastic conditions like severe weather (i.e. snow or hail), poses a significant computational challenge. This article addresses this challenge by modeling the route planning problem as a Markov decision process (MDP) problem, establishing reachability criteria, and identifying the minimum-weight arborescence in the directed graph. To achieve this, the reachability determination algorithm is designed to assess the courier company's reachability to all junctions based on the queue-typed data structure and breadth-first search idea. Subsequently, the minimal-cost route planning algorithm is developed to find a feasible transport route with the minimal cost of clearing obstacles by resorting to the Edmonds' algorithm and some feasible data structures. In particular, the article introduces a Fibonacci-heap-typed data structure to the minimal-cost route planning algorithm, resulting in a remarkable reduction of the time complexity from O(mn)$O(mn)$ to O(m+nlogn)$O(m + nlog n)$, where m$m$ and n$n$ represent the cardinalities of the arc set and nodeset, respectively. Ultimately, the proposed method is applied to optimize route planning in a transportation network, providing a cost-efficient solution for logistics and transportation planning.

交通网络中的高效路线规划,尤其是在恶劣天气(如大雪或冰雹)等随机条件下的路线规划,是一项重大的计算挑战。本文通过将路线规划问题建模为马尔可夫决策过程(MDP)问题、建立可达性标准以及确定有向图中的最小权重树枝来应对这一挑战。为此,设计了可达性确定算法,根据队列类型数据结构和广度优先搜索思想,评估快递公司到达所有路口的可达性。随后,利用埃德蒙兹算法和一些可行的数据结构,开发了最小成本路线规划算法,以最小的清障成本找到可行的运输路线。其中,m $m$和n $n$分别代表弧集和节点集的心数。最终,提出的方法被应用于优化运输网络中的路线规划,为物流和运输规划提供了一种经济高效的解决方案。
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引用次数: 0
Stability of networked evolutionary games with payoff perturbation 具有报酬扰动的网络演化博弈的稳定性
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-09-06 DOI: 10.1049/cth2.12741
Ziyun Wang, Xiaoyu Zhao, Shihua Fu

In networked evolutionary games (NEGs), some elements in the payoff matrix of players may change due to environmental factors. In this article, the stability of NEGs with payoff perturbation is studied using the semi-tensor product (STP) of matrices, and some new results are given. First, the perturbation of a column of the payoff matrix is considered, and a necessary and sufficient condition to ensure that the transition matrix of the profiles evolution dynamics to remain unchanged is provided. Second, the case that multiple columns of the game profile transition matrix are perturbed is investigated, and a necessary and sufficient condition for the stability of the NEGs is proposed. Finally, the validity of the results is illustrated by an example.

在网络演化博弈(NEGs)中,博弈者报酬矩阵中的某些元素可能会因环境因素而发生变化。本文利用矩阵的半张量积(STP)研究了具有报酬扰动的 NEG 的稳定性,并给出了一些新结果。首先,考虑了报酬矩阵一列的扰动,并提供了确保轮廓演化动态过渡矩阵保持不变的必要条件和充分条件。其次,研究了博弈剖面过渡矩阵的多列被扰动的情况,并提出了一个必要且充分的条件来确保 NEGs 的稳定性。最后,通过一个例子说明了结果的有效性。
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引用次数: 0
Finite-time H ∞ ${{H}_infty }$ fault detection for large-scale power system via Markov jumping mechanism 基于马尔可夫跳变机制的大型电力系统有限时间H∞故障检测${{H}_infty }$
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-09-05 DOI: 10.1049/cth2.12732
Xunting Wang, Bin Xu, Jinjin Ding, Chengcheng Ren, Qian Zhang

This paper investigates the finite-time H${{H}_infty }$ fault detection problem for large-scale power systems via the Markov jumping mechanism subject to unknown disturbances. The novel power system is described by a large-scale system model, and the residual dynamic properties of unknown input signals and fault signals, including unknown disturbances and modelling errors, are obtained by reconstructing the system. Then, the energy norm indicators of the residual disturbance signal and fault signal are, respectively, selected to reflect their suppression effect on disturbance and sensitivity to faults. Moreover, the design of a fault detection observer is formulated as an optimisation problem. Based on Lyapunov theory and linear matrix inequalities (LMI), sufficient conditions for the designed fault detection observer solutions are given, and an optimisation design method is provided. Finally, the simulation results show that the optimised observer can detect the fault signal effectively and can contain the effect of unknown disturbances on the residuals within a given range when a fault occurs.

研究了基于马尔可夫跳变机制的大型电力系统有限时间H∞${{H}_infty }$故障检测问题。采用大尺度系统模型对新型电力系统进行描述,通过重构得到未知输入信号和故障信号的剩余动态特性,包括未知干扰和建模误差。然后,分别选取残余扰动信号和故障信号的能量范数指标,以反映其对扰动的抑制效果和对故障的敏感性。此外,故障检测观测器的设计被表述为一个优化问题。基于李雅普诺夫理论和线性矩阵不等式(LMI),给出了设计的故障检测观测器解的充分条件,并给出了一种优化设计方法。仿真结果表明,优化后的观测器能有效地检测出故障信号,并能在给定范围内抑制未知干扰对残差的影响。
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引用次数: 0
Event-triggered anti-disturbance control for switched singular systems based on the uncertainty and disturbance estimator 基于不确定性和扰动估计的开关奇异系统事件触发抗干扰控制
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-09-03 DOI: 10.1049/cth2.12734
Anqing Yang, Shuping Ma

This article studies the event-triggered anti-disturbance control problem for switched singular systems (SSSs) based on the uncertainty and disturbance estimator (UDE). First, a composite controller consisting of feedback control and anti-disturbance control based on UDE is proposed. By constructing the multiple Lyapunov functions and using the average dwell time (ADT) method, sufficient conditions are given to ensure that the closed-loop system is regular, impulse-free and globally uniformly asymptotically stable (GUAS). Further, in order to save resources, the event-triggered control method is introduced into the feedback control, and a novel hybrid event-triggered mechanism (ETM) is proposed, which guarantees that asynchronous switching and Zeno behavior are excluded. And the solvable conditions in terms of linear matrix inequalities (LMIs) are given. Finally, the validity of the proposed results is verified by the simulations.

研究了基于不确定性和扰动估计的切换奇异系统的事件触发抗干扰问题。首先,提出了一种基于UDE的反馈控制与抗干扰控制相结合的复合控制器。通过构造多个Lyapunov函数并采用平均停留时间(ADT)方法,给出了闭环系统是正则、无脉冲和全局一致渐近稳定的充分条件。为了节省资源,在反馈控制中引入了事件触发控制方法,提出了一种新的混合事件触发机制(ETM),保证了异步切换和Zeno行为的排除。并给出了线性矩阵不等式的可解条件。最后,通过仿真验证了所提结果的有效性。
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引用次数: 0
Network control based load frequency control considering the transmission delay 考虑传输时延的基于负荷频率控制的网络控制
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-09-02 DOI: 10.1049/cth2.12738
Boming Zhang, Herbert Iu, Xinan Zhang, Tat Kei Chau

This study introduces a network-based controller to regulate frequency within power systems. The primary objective of this investigation is to ensure the stability of power systems experiencing delays in control signal transmission. Initially, a modified networked predictor is proposed to anticipate future signals within a decentralized load frequency control framework. Subsequently, a timestamp technique is employed to actively compensate for the impact of transmission delays. Additionally, an event trigger mechanism is incorporated to complement the extended state observer and optimize signal transmission resource usage. The outcomes of the study indicate that the proposed method effectively mitigates delay effects while maintaining superior performance. Moreover, the proposed method remarkably reduces the required transmission resources.

本文介绍了一种基于网络的电力系统频率调节控制器。本研究的主要目的是确保电力系统在控制信号传输中出现延迟时的稳定性。首先,提出了一种改进的网络预测器来预测分散负荷频率控制框架下的未来信号。随后,采用时间戳技术主动补偿传输延迟的影响。此外,还引入了事件触发机制,以补充扩展状态观测器,优化信号传输资源的使用。研究结果表明,该方法在保持优越性能的同时,有效地减轻了延迟效应。此外,该方法显著减少了所需的传输资源。
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引用次数: 0
Neuro-adaptive prescribed performance control for spacecraft rendezvous based on the fully-actuated system approach 基于全动系统方法的航天器交会的神经自适应规定性能控制
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-08-30 DOI: 10.1049/cth2.12736
Shiyi Li, Kerun Liu, Ming Liu, Xibin Cao

This paper investigates the control problem of spacecraft rendezvous with obstacle constraint, considering the external disturbance forces caused by orbit perturbation. Firstly, the translational dynamic model of spacecraft rendezvous is given and then rewritten into a second-order fully-actuated system form. Then, by employing the prescribed performance control method, the performance function and error transformation are determined, pre-defining the prescribed performance bounds. Moreover, the fully-actuated system approach is used to linearize the original nonlinear system, which simplifies the processes of control law design and ensures model accuracy. After that, to ensure that the spacecraft could avoid the dangerous zone during its manoeuvre, the artificial potential function is introduced, based on which a sliding mode surface is designed. Finally, the prescribed performance control–artificial potential function-based control law is derived, further adopting the neuro-adaptive method to deal with external interferences. The stability of the close-loop control system is analysed through the Lyapunov approach and the effectiveness of the proposed control scheme is verified by carrying out a numerical simulation.

本文研究了具有障碍物约束的航天器交会控制问题,考虑了轨道扰动引起的外部干扰力。首先,给出了航天器交会的平移动力学模型,并将其重写为二阶全动系统形式。然后,通过采用规定性能控制方法,确定性能函数和误差变换,预设规定性能边界。此外,利用全动系统方法对原非线性系统进行线性化处理,简化了控制律设计过程,确保了模型的准确性。之后,为确保航天器在机动过程中避开危险区域,引入了人工势函数,并在此基础上设计了滑动模态面。最后,推导出基于人工势函数的规定性能控制法,并进一步采用神经自适应方法来处理外部干扰。通过 Lyapunov 方法分析了闭环控制系统的稳定性,并通过数值模拟验证了所提控制方案的有效性。
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引用次数: 0
Adaptive polynomial Kalman filter for nonlinear state estimation in modified AR time series with fixed coefficients 自适应多项式卡尔曼滤波器用于具有固定系数的修正 AR 时间序列中的非线性状态估计
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-08-29 DOI: 10.1049/cth2.12727
Dileep Sivaraman, Songpol Ongwattanakul, Branesh M. Pillai, Jackrit Suthakorn

This article presents a novel approach for adaptive nonlinear state estimation in a modified autoregressive time series with fixed coefficients, leveraging an adaptive polynomial Kalman filter (APKF). The proposed APKF dynamically adjusts the evolving system dynamics by selecting an appropriate autoregressive time-series model corresponding to the optimal polynomial order, based on the minimum residual error. This dynamic selection enhances the robustness of the state estimation process, ensuring accurate predictions, even in the presence of varying system complexities and noise. The proposed methodology involves predicting the next state using polynomial extrapolation. Extensive simulations were conducted to validate the performance of the APKF, demonstrating its superiority in accurately estimating the true system state compared with traditional Kalman filtering methods. The root-mean-square error was evaluated for various combinations of standard deviations of sensor noise and process noise for different sample sizes. On average, the root-mean-square error value, which represents the disparity between the true sensor reading and estimate derived from the adaptive Kalman filter, was 35.31% more accurate than that of the traditional Kalman filter. The comparative analysis highlights the efficacy of the APKF, showing significant improvements in state estimation accuracy and noise resilience.

本文提出了一种利用自适应多项式卡尔曼滤波器(APKF)在具有固定系数的修正自回归时间序列中进行自适应非线性状态估计的新方法。所提出的 APKF 可根据最小残余误差,选择与最优多项式阶对应的适当自回归时间序列模型,从而动态调整不断变化的系统动态。这种动态选择增强了状态估计过程的鲁棒性,即使在系统复杂性和噪声不断变化的情况下,也能确保预测的准确性。所提出的方法包括使用多项式外推法预测下一个状态。为了验证 APKF 的性能,我们进行了大量仿真,结果表明,与传统卡尔曼滤波方法相比,APKF 在准确估计真实系统状态方面更具优势。针对不同样本量的传感器噪声和过程噪声的各种标准偏差组合,对均方根误差进行了评估。平均而言,均方根误差值(代表真实传感器读数与自适应卡尔曼滤波器得出的估计值之间的差距)比传统卡尔曼滤波器的精度高 35.31%。对比分析凸显了自适应卡尔曼滤波器的功效,在状态估计精度和抗噪能力方面都有显著提高。
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引用次数: 0
Observer-based adaptive control of vehicle platoon with uncertainty and input constraints 基于观测器的具有不确定性和输入约束条件的车辆编队自适应控制
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-08-28 DOI: 10.1049/cth2.12731
Shengping Lin, Lei Liu

This study focuses on the highway platoon driving mode and proposes a distributed adaptive control algorithm based on an observer. Firstly, the adaptive observer is designed to compensate for the effect of unknown driving resistance and thus enhance the adaptation ability of the system to uncertainty. Secondly, an auxiliary system is introduced to specifically address actuator saturation constraints, ensuring the stability of the platoon driving in extreme conditions. Lastly, combining an event-triggered mechanism, a control strategy is designed to achieve the stability of the entire platoon while maximizing the conservation of communication resources. The algorithm's viability and efficiency are confirmed through simulation outcomes.

本研究主要针对高速公路排阻驾驶模式,提出了一种基于观测器的分布式自适应控制算法。首先,设计了自适应观测器来补偿未知行驶阻力的影响,从而增强系统对不确定性的适应能力。其次,引入了一个辅助系统,专门用于解决执行器饱和约束,确保在极端条件下排驾驶的稳定性。最后,结合事件触发机制,设计了一种控制策略,以实现整个排的稳定性,同时最大限度地节约通信资源。该算法的可行性和效率通过仿真结果得到了证实。
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引用次数: 0
An improved two-degree-of-freedom ADRC for asynchronous motor vector system 用于异步电机矢量系统的改进型两自由度 ADRC
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-08-27 DOI: 10.1049/cth2.12733
Changhui Wan, Na Duan, Guochao Xie, Yuang Liu

This paper proposes an improved two-degree-of-freedom active disturbance rejection controller for the coupling problem of asynchronous motor vector system. To simplify the analysis process and accommodate observers of different types, a unified expression based on different controllers for the system output is developed. The closed-loop transfer function generated by the reference input and load disturbance is given. For the coupling problem of motor output speed and immunity, the structure of a higher-order extended state observer is reconstructed. The extended state observer estimates both the output speed and the total system disturbance, which serve as feedback and feed-forward compensation quantities. Compared to the PI controller and traditional active disturbance rejection controller, the proposed controller achieves decoupling of output response speed and immunity, simplifies the process of parameter tuning. Finally, simulation and experiment results verify the feasibility and effectiveness of the algorithm in this paper.

本文针对异步电机矢量系统的耦合问题,提出了一种改进的两自由度主动干扰抑制控制器。为了简化分析过程并适应不同类型的观测器,本文开发了基于不同控制器的系统输出统一表达式。给出了由参考输入和负载扰动产生的闭环传递函数。针对电机输出速度和抗扰度的耦合问题,重建了高阶扩展状态观测器的结构。扩展状态观测器同时估计输出速度和系统总扰动,作为反馈和前馈补偿量。与 PI 控制器和传统的有源干扰抑制控制器相比,所提出的控制器实现了输出响应速度和抗扰度的解耦,简化了参数调整过程。最后,仿真和实验结果验证了本文算法的可行性和有效性。
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引用次数: 0
Receding horizon control for persistent monitoring tasks with monitoring count requirements 针对有监测次数要求的持续监测任务的后退视界控制
IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-08-26 DOI: 10.1049/cth2.12730
Xiaohu Zhao, Yuanyuan Zou, Shaoyuan Li

This article presents a reachability-based receding horizon control (RHC) method for addressing persistent monitoring problems with count requirements. An agent is assigned to monitor multiple targets in a given environment to minimize the average uncertainty metric of all targets, while ensuring the monitoring count requirements of specific targets within predetermined time windows. To account for the spatial and temporal constraints in the monitoring requirements, a persistence predicate within the signal temporal logic (STL) specifications is introduced, which incorporates cumulative target state signals to effectively describe the monitoring count constraints. Considering the complexities arising from global time domain information requirements in STL constraints validation, an STL formula segmentation method based on completion progress is proposed. Subsequently, a reachability-based controller for the agent is developed by solving a short-term RHC problem while ensuring the satisfaction of the STL formulae. Simulation results are provided to illustrate the performance of proposed method.

本文提出了一种基于可达性的后退地平线控制(RHC)方法,用于解决有数量要求的持续监控问题。一个代理被指派监测给定环境中的多个目标,以最小化所有目标的平均不确定性度量,同时确保在预定的时间窗口内满足特定目标的监测计数要求。为了考虑监测要求中的空间和时间限制,在信号时序逻辑(STL)规范中引入了一个持久性谓词,该谓词结合了累积目标状态信号,以有效地描述监测数量限制。考虑到 STL 约束验证中全局时域信息要求所带来的复杂性,提出了一种基于完成进度的 STL 公式分割方法。随后,在确保满足 STL 公式的前提下,通过解决短期 RHC 问题,为代理开发了基于可达性的控制器。仿真结果说明了所提方法的性能。
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引用次数: 0
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IET Control Theory and Applications
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