War rehearsals have become increasingly important in national security due to the growing complexity of international affairs.However,traditional rehearsal methods,such as military chess simulations,are inefficient an...War rehearsals have become increasingly important in national security due to the growing complexity of international affairs.However,traditional rehearsal methods,such as military chess simulations,are inefficient and inflexible,with particularly pronounced limitations in command and decision-making.The overwhelming volume of information and high decision complexity hinder the realization of autonomous and agile command and control.To address this challenge,an intelligent warfare simulation framework named Command-Agent is proposed,which deeply integrates large language models(LLMs)with digital twin battlefields.By constructing a highly realistic battlefield environment through real-time simulation and multi-source data fusion,the natural language interaction capabilities of LLMs are leveraged to lower the command threshold and to enable autonomous command through the Observe-Orient-Decide-Act(OODA)feedback loop.Within the Command-Agent framework,a multimodel collaborative architecture is further adopted to decouple the decision-generation and command-execution functions of LLMs.By combining specialized models such as Deep Seek-R1 and MCTool,the limitations of single-model capabilities are overcome.MCTool is a lightweight execution model fine-tuned for military Function Calling tasks.The framework also introduces a Vector Knowledge Base to mitigate hallucinations commonly exhibited by LLMs.Experimental results demonstrate that Command-Agent not only enables natural language-driven simulation and control but also deeply understands commander intent.Leveraging the multi-model collaborative architecture,during red-blue UAV confrontations involving 2 to 8 UAVs,the integrated score is improved by an average of 41.8%compared to the single-agent system(MCTool),accompanied by a 161.8%optimization in the battle loss ratio.Furthermore,when compared with multi-agent systems lacking the knowledge base,the inclusion of the Vector Knowledge Base further improves overall performance by 16.8%.In comparison with the general model(Qwen2.5-7B),the fine-tuned MCTool leads by 5%in execution efficiency.Therefore,the proposed Command-Agent introduces a novel perspective to the military command system and offers a feasible solution for intelligent battlefield decision-making.展开更多
The output feedback active disturbance rejection control of a valve-controlled cylinder electro-hydraulic servo system is investigated in this paper.First,a comprehensive nonlinear mathematical model that encompasses ...The output feedback active disturbance rejection control of a valve-controlled cylinder electro-hydraulic servo system is investigated in this paper.First,a comprehensive nonlinear mathematical model that encompasses both matched and mismatched disturbances is formulated.Due to the fact that only position information can be measured,a linear Extended State Observer(ESO)is introduced to estimate unknown states and matched disturbances,while a dedicated disturbance observer is constructed to estimate mismatched disturbances.Different from the traditional observer results,the design of the disturbance observer used in this study is carried out under the constraint of output feedback.Furthermore,an output feedback nonlinear controller is proposed leveraging the aforementioned observers to achieve accurate trajectory tracking.To mitigate the inherent differential explosion problem of the traditional backstepping framework,a finite-time stable command filter is incorporated.Simultaneously,considering transient filtering errors,a set of error compensation signals are designed to counter their negative impact effectively.Theoretical analysis affirms that the proposed control strategy ensures the boundedness of all signals within the closed-loop system.Additionally,under the specific condition of only time-invariant disturbances in the system,the conclusion of asymptotic stability is established.Finally,the algorithm’s efficacy is validated through comparative experiments.展开更多
文摘War rehearsals have become increasingly important in national security due to the growing complexity of international affairs.However,traditional rehearsal methods,such as military chess simulations,are inefficient and inflexible,with particularly pronounced limitations in command and decision-making.The overwhelming volume of information and high decision complexity hinder the realization of autonomous and agile command and control.To address this challenge,an intelligent warfare simulation framework named Command-Agent is proposed,which deeply integrates large language models(LLMs)with digital twin battlefields.By constructing a highly realistic battlefield environment through real-time simulation and multi-source data fusion,the natural language interaction capabilities of LLMs are leveraged to lower the command threshold and to enable autonomous command through the Observe-Orient-Decide-Act(OODA)feedback loop.Within the Command-Agent framework,a multimodel collaborative architecture is further adopted to decouple the decision-generation and command-execution functions of LLMs.By combining specialized models such as Deep Seek-R1 and MCTool,the limitations of single-model capabilities are overcome.MCTool is a lightweight execution model fine-tuned for military Function Calling tasks.The framework also introduces a Vector Knowledge Base to mitigate hallucinations commonly exhibited by LLMs.Experimental results demonstrate that Command-Agent not only enables natural language-driven simulation and control but also deeply understands commander intent.Leveraging the multi-model collaborative architecture,during red-blue UAV confrontations involving 2 to 8 UAVs,the integrated score is improved by an average of 41.8%compared to the single-agent system(MCTool),accompanied by a 161.8%optimization in the battle loss ratio.Furthermore,when compared with multi-agent systems lacking the knowledge base,the inclusion of the Vector Knowledge Base further improves overall performance by 16.8%.In comparison with the general model(Qwen2.5-7B),the fine-tuned MCTool leads by 5%in execution efficiency.Therefore,the proposed Command-Agent introduces a novel perspective to the military command system and offers a feasible solution for intelligent battlefield decision-making.
基金supported by the National Key R&D Program of China(No.2021YFB2011300)the Special Funds Project for the Transformation of Scientific and Technological Achievements of Jiangsu Province,China(No.BA2023039)+1 种基金the National Natural Science Foundation of China(No.52075262)the Fundamental Research Funds for the Central Universities,China(No.30922010706).
文摘The output feedback active disturbance rejection control of a valve-controlled cylinder electro-hydraulic servo system is investigated in this paper.First,a comprehensive nonlinear mathematical model that encompasses both matched and mismatched disturbances is formulated.Due to the fact that only position information can be measured,a linear Extended State Observer(ESO)is introduced to estimate unknown states and matched disturbances,while a dedicated disturbance observer is constructed to estimate mismatched disturbances.Different from the traditional observer results,the design of the disturbance observer used in this study is carried out under the constraint of output feedback.Furthermore,an output feedback nonlinear controller is proposed leveraging the aforementioned observers to achieve accurate trajectory tracking.To mitigate the inherent differential explosion problem of the traditional backstepping framework,a finite-time stable command filter is incorporated.Simultaneously,considering transient filtering errors,a set of error compensation signals are designed to counter their negative impact effectively.Theoretical analysis affirms that the proposed control strategy ensures the boundedness of all signals within the closed-loop system.Additionally,under the specific condition of only time-invariant disturbances in the system,the conclusion of asymptotic stability is established.Finally,the algorithm’s efficacy is validated through comparative experiments.
