The Industrial Internet of Things(IIoT)is increasingly vulnerable to sophisticated cyber threats,particularly zero-day attacks that exploit unknown vulnerabilities and evade traditional security measures.To address th...The Industrial Internet of Things(IIoT)is increasingly vulnerable to sophisticated cyber threats,particularly zero-day attacks that exploit unknown vulnerabilities and evade traditional security measures.To address this critical challenge,this paper proposes a dynamic defense framework named Zero-day-aware Stackelberg Game-based Multi-Agent Distributed Deep Deterministic Policy Gradient(ZSG-MAD3PG).The framework integrates Stackelberg game modeling with the Multi-Agent Distributed Deep Deterministic Policy Gradient(MAD3PG)algorithm and incorporates defensive deception(DD)strategies to achieve adaptive and efficient protection.While conventional methods typically incur considerable resource overhead and exhibit higher latency due to static or rigid defensive mechanisms,the proposed ZSG-MAD3PG framework mitigates these limitations through multi-stage game modeling and adaptive learning,enabling more efficient resource utilization and faster response times.The Stackelberg-based architecture allows defenders to dynamically optimize packet sampling strategies,while attackers adjust their tactics to reach rapid equilibrium.Furthermore,dynamic deception techniques reduce the time required for the concealment of attacks and the overall system burden.A lightweight behavioral fingerprinting detection mechanism further enhances real-time zero-day attack identification within industrial device clusters.ZSG-MAD3PG demonstrates higher true positive rates(TPR)and lower false alarm rates(FAR)compared to existing methods,while also achieving improved latency,resource efficiency,and stealth adaptability in IIoT zero-day defense scenarios.展开更多
Deep deterministic policy gradient(DDPG)has been proved to be effective in optimizing particle swarm optimization(PSO),but whether DDPG can optimize multi-objective discrete particle swarm optimization(MODPSO)remains ...Deep deterministic policy gradient(DDPG)has been proved to be effective in optimizing particle swarm optimization(PSO),but whether DDPG can optimize multi-objective discrete particle swarm optimization(MODPSO)remains to be determined.The present work aims to probe into this topic.Experiments showed that the DDPG can not only quickly improve the convergence speed of MODPSO,but also overcome the problem of local optimal solution that MODPSO may suffer.The research findings are of great significance for the theoretical research and application of MODPSO.展开更多
Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonom...Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonomous driving due to the unpredictable entry and exit of vehicles,susceptibility to traffic flow bottlenecks,and imperfect data in perceiving environmental information,rendering them a vital issue in the practical application of autonomous driving.To address the traffic challenges,this work focused on complex roundabouts with multi-lane and proposed a Perception EnhancedDeepDeterministic Policy Gradient(PE-DDPG)for AutonomousDriving in the Roundabouts.Specifically,themodel incorporates an enhanced variational autoencoder featuring an integrated spatial attention mechanism alongside the Deep Deterministic Policy Gradient framework,enhancing the vehicle’s capability to comprehend complex roundabout environments and make decisions.Furthermore,the PE-DDPG model combines a dynamic path optimization strategy for roundabout scenarios,effectively mitigating traffic bottlenecks and augmenting throughput efficiency.Extensive experiments were conducted with the collaborative simulation platform of CARLA and SUMO,and the experimental results show that the proposed PE-DDPG outperforms the baseline methods in terms of the convergence capacity of the training process,the smoothness of driving and the traffic efficiency with diverse traffic flow patterns and penetration rates of autonomous vehicles(AVs).Generally,the proposed PE-DDPGmodel could be employed for autonomous driving in complex scenarios with imperfect data.展开更多
We propose a new architecture of truck-based mobile energy couriers(MEC)for power distribution networks with high penetration of renewable energy sources(RES).Each MEC is a truck equipped with high-density inverters,c...We propose a new architecture of truck-based mobile energy couriers(MEC)for power distribution networks with high penetration of renewable energy sources(RES).Each MEC is a truck equipped with high-density inverters,converters,capacitor banks,and energy storage devices.The MEC platform can improve the flexibility,resilience,and RES hosting capability of a distribution grid through spatial-temporal energy reallocation based on the stochastic behaviors of RES and loads.The employment of MEC necessitates the development of complex scheduling and control schemes that can adaptively cope with the dynamic natures of both the power grid and the transportation network.The problem is formulated as a non-convex optimization problem to minimize the total generation cost,subject to the various constraints imposed by conventional and renewable energy sources,energy storage,and transportation networks,etc.The problem is solved by combining optimal power flow(OPF)with deep reinforcement learning(DRL)under the framework of deep deterministic policy gradient(DDPG).Simulation results demonstrate that the proposed MEC platform with DDPG can achieve significant cost reduction compared to conventional systems with static energy storage.展开更多
This study proposes an automatic control system for Autonomous Underwater Vehicle(AUV)docking,utilizing a digital twin(DT)environment based on the HoloOcean platform,which integrates six-degree-of-freedom(6-DOF)motion...This study proposes an automatic control system for Autonomous Underwater Vehicle(AUV)docking,utilizing a digital twin(DT)environment based on the HoloOcean platform,which integrates six-degree-of-freedom(6-DOF)motion equations and hydrodynamic coefficients to create a realistic simulation.Although conventional model-based and visual servoing approaches often struggle in dynamic underwater environments due to limited adaptability and extensive parameter tuning requirements,deep reinforcement learning(DRL)offers a promising alternative.In the positioning stage,the Twin Delayed Deep Deterministic Policy Gradient(TD3)algorithm is employed for synchronized depth and heading control,which offers stable training,reduced overestimation bias,and superior handling of continuous control compared to other DRL methods.During the searching stage,zig-zag heading motion combined with a state-of-the-art object detection algorithm facilitates docking station localization.For the docking stage,this study proposes an innovative Image-based DDPG(I-DDPG),enhanced and trained in a Unity-MATLAB simulation environment,to achieve visual target tracking.Furthermore,integrating a DT environment enables efficient and safe policy training,reduces dependence on costly real-world tests,and improves sim-to-real transfer performance.Both simulation and real-world experiments were conducted,demonstrating the effectiveness of the system in improving AUV control strategies and supporting the transition from simulation to real-world operations in underwater environments.The results highlight the scalability and robustness of the proposed system,as evidenced by the TD3 controller achieving 25%less oscillation than the adaptive fuzzy controller when reaching the target depth,thereby demonstrating superior stability,accuracy,and potential for broader and more complex autonomous underwater tasks.展开更多
The low Earth orbit(LEO)satellite networks have outstanding advantages such as wide coverage area and not being limited by geographic environment,which can provide a broader range of communication services and has bec...The low Earth orbit(LEO)satellite networks have outstanding advantages such as wide coverage area and not being limited by geographic environment,which can provide a broader range of communication services and has become an essential supplement to the terrestrial network.However,the dynamic changes and uneven distribution of satellite network traffic inevitably bring challenges to multipath routing.Even worse,the harsh space environment often leads to incomplete collection of network state data for routing decision-making,which further complicates this challenge.To address this problem,this paper proposes a state-incomplete intelligent dynamic multipath routing algorithm(SIDMRA)to maximize network efficiency even with incomplete state data as input.Specifically,we model the multipath routing problem as a markov decision process(MDP)and then combine the deep deterministic policy gradient(DDPG)and the K shortest paths(KSP)algorithm to solve the optimal multipath routing policy.We use the temporal correlation of the satellite network state to fit the incomplete state data and then use the message passing neuron network(MPNN)for data enhancement.Simulation results show that the proposed algorithm outperforms baseline algorithms regarding average end-to-end delay and packet loss rate and performs stably under certain missing rates of state data.展开更多
High penetration of renewable energy sources(RESs)induces sharply-fluctuating feeder power,leading to volt-age deviation in active distribution systems.To prevent voltage violations,multi-terminal soft open points(M-s...High penetration of renewable energy sources(RESs)induces sharply-fluctuating feeder power,leading to volt-age deviation in active distribution systems.To prevent voltage violations,multi-terminal soft open points(M-sOPs)have been integrated into the distribution systems to enhance voltage con-trol flexibility.However,the M-SOP voltage control recalculated in real time cannot adapt to the rapid fluctuations of photovol-taic(PV)power,fundamentally limiting the voltage controllabili-ty of M-SOPs.To address this issue,a full-model-free adaptive graph deep deterministic policy gradient(FAG-DDPG)model is proposed for M-SOP voltage control.Specifically,the attention-based adaptive graph convolutional network(AGCN)is lever-aged to extract the complex correlation features of nodal infor-mation to improve the policy learning ability.Then,the AGCN-based surrogate model is trained to replace the power flow cal-culation to achieve model-free control.Furthermore,the deep deterministic policy gradient(DDPG)algorithm allows FAG-DDPG model to learn an optimal control strategy of M-SOP by continuous interactions with the AGCN-based surrogate model.Numerical tests have been performed on modified IEEE 33-node,123-node,and a real 76-node distribution systems,which demonstrate the effectiveness and generalization ability of the proposed FAG-DDPGmodel.展开更多
Unmanned Aerial Vehicles(UAVs)play a vital role in military warfare.In a variety of battlefield mission scenarios,UAVs are required to safely fly to designated locations without human intervention.Therefore,finding a ...Unmanned Aerial Vehicles(UAVs)play a vital role in military warfare.In a variety of battlefield mission scenarios,UAVs are required to safely fly to designated locations without human intervention.Therefore,finding a suitable method to solve the UAV Autonomous Motion Planning(AMP)problem can improve the success rate of UAV missions to a certain extent.In recent years,many studies have used Deep Reinforcement Learning(DRL)methods to address the AMP problem and have achieved good results.From the perspective of sampling,this paper designs a sampling method with double-screening,combines it with the Deep Deterministic Policy Gradient(DDPG)algorithm,and proposes the Relevant Experience Learning-DDPG(REL-DDPG)algorithm.The REL-DDPG algorithm uses a Prioritized Experience Replay(PER)mechanism to break the correlation of continuous experiences in the experience pool,finds the experiences most similar to the current state to learn according to the theory in human education,and expands the influence of the learning process on action selection at the current state.All experiments are applied in a complex unknown simulation environment constructed based on the parameters of a real UAV.The training experiments show that REL-DDPG improves the convergence speed and the convergence result compared to the state-of-the-art DDPG algorithm,while the testing experiments show the applicability of the algorithm and investigate the performance under different parameter conditions.展开更多
The ever-changing battlefield environment requires the use of robust and adaptive technologies integrated into a reliable platform. Unmanned combat aerial vehicles(UCAVs) aim to integrate such advanced technologies wh...The ever-changing battlefield environment requires the use of robust and adaptive technologies integrated into a reliable platform. Unmanned combat aerial vehicles(UCAVs) aim to integrate such advanced technologies while increasing the tactical capabilities of combat aircraft. As a research object, common UCAV uses the neural network fitting strategy to obtain values of attack areas. However, this simple strategy cannot cope with complex environmental changes and autonomously optimize decision-making problems. To solve the problem, this paper proposes a new deep deterministic policy gradient(DDPG) strategy based on deep reinforcement learning for the attack area fitting of UCAVs in the future battlefield. Simulation results show that the autonomy and environmental adaptability of UCAVs in the future battlefield will be improved based on the new DDPG algorithm and the training process converges quickly. We can obtain the optimal values of attack areas in real time during the whole flight with the well-trained deep network.展开更多
Eavesdropping attacks have become one of the most common attacks on networks because of their easy implementation. Eavesdropping attacks not only lead to transmission data leakage but also develop into other more harm...Eavesdropping attacks have become one of the most common attacks on networks because of their easy implementation. Eavesdropping attacks not only lead to transmission data leakage but also develop into other more harmful attacks. Routing randomization is a relevant research direction for moving target defense, which has been proven to be an effective method to resist eavesdropping attacks. To counter eavesdropping attacks, in this study, we analyzed the existing routing randomization methods and found that their security and usability need to be further improved. According to the characteristics of eavesdropping attacks, which are “latent and transferable”, a routing randomization defense method based on deep reinforcement learning is proposed. The proposed method realizes routing randomization on packet-level granularity using programmable switches. To improve the security and quality of service of legitimate services in networks, we use the deep deterministic policy gradient to generate random routing schemes with support from powerful network state awareness. In-band network telemetry provides real-time, accurate, and comprehensive network state awareness for the proposed method. Various experiments show that compared with other typical routing randomization defense methods, the proposed method has obvious advantages in security and usability against eavesdropping attacks.展开更多
The coordinated optimization problem of the electricity-gas-heat integrated energy system(IES)has the characteristics of strong coupling,non-convexity,and nonlinearity.The centralized optimization method has a high co...The coordinated optimization problem of the electricity-gas-heat integrated energy system(IES)has the characteristics of strong coupling,non-convexity,and nonlinearity.The centralized optimization method has a high cost of communication and complex modeling.Meanwhile,the traditional numerical iterative solution cannot deal with uncertainty and solution efficiency,which is difficult to apply online.For the coordinated optimization problem of the electricity-gas-heat IES in this study,we constructed a model for the distributed IES with a dynamic distribution factor and transformed the centralized optimization problem into a distributed optimization problem in the multi-agent reinforcement learning environment using multi-agent deep deterministic policy gradient.Introducing the dynamic distribution factor allows the system to consider the impact of changes in real-time supply and demand on system optimization,dynamically coordinating different energy sources for complementary utilization and effectively improving the system economy.Compared with centralized optimization,the distributed model with multiple decision centers can achieve similar results while easing the pressure on system communication.The proposed method considers the dual uncertainty of renewable energy and load in the training.Compared with the traditional iterative solution method,it can better cope with uncertainty and realize real-time decision making of the system,which is conducive to the online application.Finally,we verify the effectiveness of the proposed method using an example of an IES coupled with three energy hub agents.展开更多
The deep deterministic policy gradient(DDPG)algo-rithm is an off-policy method that combines two mainstream reinforcement learning methods based on value iteration and policy iteration.Using the DDPG algorithm,agents ...The deep deterministic policy gradient(DDPG)algo-rithm is an off-policy method that combines two mainstream reinforcement learning methods based on value iteration and policy iteration.Using the DDPG algorithm,agents can explore and summarize the environment to achieve autonomous deci-sions in the continuous state space and action space.In this paper,a cooperative defense with DDPG via swarms of unmanned aerial vehicle(UAV)is developed and validated,which has shown promising practical value in the effect of defending.We solve the sparse rewards problem of reinforcement learning pair in a long-term task by building the reward function of UAV swarms and optimizing the learning process of artificial neural network based on the DDPG algorithm to reduce the vibration in the learning process.The experimental results show that the DDPG algorithm can guide the UAVs swarm to perform the defense task efficiently,meeting the requirements of a UAV swarm for non-centralization,autonomy,and promoting the intelligent development of UAVs swarm as well as the decision-making process.展开更多
In consideration of the field-of-view(FOV)angle con-straint,this study focuses on the guidance problem with impact time control.A deep reinforcement learning guidance method is given for the missile to obtain the desi...In consideration of the field-of-view(FOV)angle con-straint,this study focuses on the guidance problem with impact time control.A deep reinforcement learning guidance method is given for the missile to obtain the desired impact time and meet the demand of FOV angle constraint.On basis of the framework of the proportional navigation guidance,an auxiliary control term is supplemented by the distributed deep deterministic policy gradient algorithm,in which the reward functions are developed to decrease the time-to-go error and improve the terminal guid-ance accuracy.The numerical simulation demonstrates that the missile governed by the presented deep reinforcement learning guidance law can hit the target successfully at appointed arrival time.展开更多
The popularity of quadrotor Unmanned Aerial Vehicles(UAVs)stems from their simple propulsion systems and structural design.However,their complex and nonlinear dynamic behavior presents a significant challenge for cont...The popularity of quadrotor Unmanned Aerial Vehicles(UAVs)stems from their simple propulsion systems and structural design.However,their complex and nonlinear dynamic behavior presents a significant challenge for control,necessitating sophisticated algorithms to ensure stability and accuracy in flight.Various strategies have been explored by researchers and control engineers,with learning-based methods like reinforcement learning,deep learning,and neural networks showing promise in enhancing the robustness and adaptability of quadrotor control systems.This paper investigates a Reinforcement Learning(RL)approach for both high and low-level quadrotor control systems,focusing on attitude stabilization and position tracking tasks.A novel reward function and actor-critic network structures are designed to stimulate high-order observable states,improving the agent’s understanding of the quadrotor’s dynamics and environmental constraints.To address the challenge of RL hyper-parameter tuning,a new framework is introduced that combines Simulated Annealing(SA)with a reinforcement learning algorithm,specifically Simulated Annealing-Twin Delayed Deep Deterministic Policy Gradient(SA-TD3).This approach is evaluated for path-following and stabilization tasks through comparative assessments with two commonly used control methods:Backstepping and Sliding Mode Control(SMC).While the implementation of the well-trained agents exhibited unexpected behavior during real-world testing,a reduced neural network used for altitude control was successfully implemented on a Parrot Mambo mini drone.The results showcase the potential of the proposed SA-TD3 framework for real-world applications,demonstrating improved stability and precision across various test scenarios and highlighting its feasibility for practical deployment.展开更多
Plug-in Hybrid Electric Vehicles(PHEVs)represent an innovative breed of transportation,harnessing diverse power sources for enhanced performance.Energy management strategies(EMSs)that coordinate and control different ...Plug-in Hybrid Electric Vehicles(PHEVs)represent an innovative breed of transportation,harnessing diverse power sources for enhanced performance.Energy management strategies(EMSs)that coordinate and control different energy sources is a critical component of PHEV control technology,directly impacting overall vehicle performance.This study proposes an improved deep reinforcement learning(DRL)-based EMSthat optimizes realtime energy allocation and coordinates the operation of multiple power sources.Conventional DRL algorithms struggle to effectively explore all possible state-action combinations within high-dimensional state and action spaces.They often fail to strike an optimal balance between exploration and exploitation,and their assumption of a static environment limits their ability to adapt to changing conditions.Moreover,these algorithms suffer from low sample efficiency.Collectively,these factors contribute to convergence difficulties,low learning efficiency,and instability.To address these challenges,the Deep Deterministic Policy Gradient(DDPG)algorithm is enhanced using entropy regularization and a summation tree-based Prioritized Experience Replay(PER)method,aiming to improve exploration performance and learning efficiency from experience samples.Additionally,the correspondingMarkovDecision Process(MDP)is established.Finally,an EMSbased on the improvedDRLmodel is presented.Comparative simulation experiments are conducted against rule-based,optimization-based,andDRL-based EMSs.The proposed strategy exhibitsminimal deviation fromthe optimal solution obtained by the dynamic programming(DP)strategy that requires global information.In the typical driving scenarios based onWorld Light Vehicle Test Cycle(WLTC)and New European Driving Cycle(NEDC),the proposed method achieved a fuel consumption of 2698.65 g and an Equivalent Fuel Consumption(EFC)of 2696.77 g.Compared to the DP strategy baseline,the proposed method improved the fuel efficiency variances(FEV)by 18.13%,15.1%,and 8.37%over the Deep QNetwork(DQN),Double DRL(DDRL),and original DDPG methods,respectively.The observational outcomes demonstrate that the proposed EMS based on improved DRL framework possesses good real-time performance,stability,and reliability,effectively optimizing vehicle economy and fuel consumption.展开更多
Device-to-device(D2D)communications underlying cellular networks enabled by unmanned aerial vehicles(UAV)have been regarded as promising techniques for next-generation communications.To mitigate the strong interferenc...Device-to-device(D2D)communications underlying cellular networks enabled by unmanned aerial vehicles(UAV)have been regarded as promising techniques for next-generation communications.To mitigate the strong interference caused by the line-of-sight(LoS)airto-ground channels,we deploy a reconfigurable intelligent surface(RIS)to rebuild the wireless channels.A joint optimization problem of the transmit power of UAV,the transmit power of D2D users and the RIS phase configuration are investigated to maximize the achievable rate of D2D users while satisfying the quality of service(QoS)requirement of cellular users.Due to the high channel dynamics and the coupling among cellular users,the RIS,and the D2D users,it is challenging to find a proper solution.Thus,a RIS softmax deep double deterministic(RIS-SD3)policy gradient method is proposed,which can smooth the optimization space as well as reduce the number of local optimizations.Specifically,the SD3 algorithm maximizes the reward of the agent by training the agent to maximize the value function after the softmax operator is introduced.Simulation results show that the proposed RIS-SD3 algorithm can significantly improve the rate of the D2D users while controlling the interference to the cellular user.Moreover,the proposed RIS-SD3 algorithm has better robustness than the twin delayed deep deterministic(TD3)policy gradient algorithm in a dynamic environment.展开更多
基金funded in part by the Humanities and Social Sciences Planning Foundation of Ministry of Education of China under Grant No.24YJAZH123National Undergraduate Innovation and Entrepreneurship Training Program of China under Grant No.202510347069the Huzhou Science and Technology Planning Foundation under Grant No.2023GZ04.
文摘The Industrial Internet of Things(IIoT)is increasingly vulnerable to sophisticated cyber threats,particularly zero-day attacks that exploit unknown vulnerabilities and evade traditional security measures.To address this critical challenge,this paper proposes a dynamic defense framework named Zero-day-aware Stackelberg Game-based Multi-Agent Distributed Deep Deterministic Policy Gradient(ZSG-MAD3PG).The framework integrates Stackelberg game modeling with the Multi-Agent Distributed Deep Deterministic Policy Gradient(MAD3PG)algorithm and incorporates defensive deception(DD)strategies to achieve adaptive and efficient protection.While conventional methods typically incur considerable resource overhead and exhibit higher latency due to static or rigid defensive mechanisms,the proposed ZSG-MAD3PG framework mitigates these limitations through multi-stage game modeling and adaptive learning,enabling more efficient resource utilization and faster response times.The Stackelberg-based architecture allows defenders to dynamically optimize packet sampling strategies,while attackers adjust their tactics to reach rapid equilibrium.Furthermore,dynamic deception techniques reduce the time required for the concealment of attacks and the overall system burden.A lightweight behavioral fingerprinting detection mechanism further enhances real-time zero-day attack identification within industrial device clusters.ZSG-MAD3PG demonstrates higher true positive rates(TPR)and lower false alarm rates(FAR)compared to existing methods,while also achieving improved latency,resource efficiency,and stealth adaptability in IIoT zero-day defense scenarios.
文摘Deep deterministic policy gradient(DDPG)has been proved to be effective in optimizing particle swarm optimization(PSO),but whether DDPG can optimize multi-objective discrete particle swarm optimization(MODPSO)remains to be determined.The present work aims to probe into this topic.Experiments showed that the DDPG can not only quickly improve the convergence speed of MODPSO,but also overcome the problem of local optimal solution that MODPSO may suffer.The research findings are of great significance for the theoretical research and application of MODPSO.
基金supported in part by the projects of the National Natural Science Foundation of China(62376059,41971340)Fujian Provincial Department of Science and Technology(2023XQ008,2023I0024,2021Y4019),Fujian Provincial Department of Finance(GY-Z230007,GYZ23012)Fujian Key Laboratory of Automotive Electronics and Electric Drive(KF-19-22001).
文摘Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonomous driving due to the unpredictable entry and exit of vehicles,susceptibility to traffic flow bottlenecks,and imperfect data in perceiving environmental information,rendering them a vital issue in the practical application of autonomous driving.To address the traffic challenges,this work focused on complex roundabouts with multi-lane and proposed a Perception EnhancedDeepDeterministic Policy Gradient(PE-DDPG)for AutonomousDriving in the Roundabouts.Specifically,themodel incorporates an enhanced variational autoencoder featuring an integrated spatial attention mechanism alongside the Deep Deterministic Policy Gradient framework,enhancing the vehicle’s capability to comprehend complex roundabout environments and make decisions.Furthermore,the PE-DDPG model combines a dynamic path optimization strategy for roundabout scenarios,effectively mitigating traffic bottlenecks and augmenting throughput efficiency.Extensive experiments were conducted with the collaborative simulation platform of CARLA and SUMO,and the experimental results show that the proposed PE-DDPG outperforms the baseline methods in terms of the convergence capacity of the training process,the smoothness of driving and the traffic efficiency with diverse traffic flow patterns and penetration rates of autonomous vehicles(AVs).Generally,the proposed PE-DDPGmodel could be employed for autonomous driving in complex scenarios with imperfect data.
文摘We propose a new architecture of truck-based mobile energy couriers(MEC)for power distribution networks with high penetration of renewable energy sources(RES).Each MEC is a truck equipped with high-density inverters,converters,capacitor banks,and energy storage devices.The MEC platform can improve the flexibility,resilience,and RES hosting capability of a distribution grid through spatial-temporal energy reallocation based on the stochastic behaviors of RES and loads.The employment of MEC necessitates the development of complex scheduling and control schemes that can adaptively cope with the dynamic natures of both the power grid and the transportation network.The problem is formulated as a non-convex optimization problem to minimize the total generation cost,subject to the various constraints imposed by conventional and renewable energy sources,energy storage,and transportation networks,etc.The problem is solved by combining optimal power flow(OPF)with deep reinforcement learning(DRL)under the framework of deep deterministic policy gradient(DDPG).Simulation results demonstrate that the proposed MEC platform with DDPG can achieve significant cost reduction compared to conventional systems with static energy storage.
基金supported by the National Science and Technology Council,Taiwan[Grant NSTC 111-2628-E-006-005-MY3]supported by the Ocean Affairs Council,Taiwansponsored in part by Higher Education Sprout Project,Ministry of Education to the Headquarters of University Advancement at National Cheng Kung University(NCKU).
文摘This study proposes an automatic control system for Autonomous Underwater Vehicle(AUV)docking,utilizing a digital twin(DT)environment based on the HoloOcean platform,which integrates six-degree-of-freedom(6-DOF)motion equations and hydrodynamic coefficients to create a realistic simulation.Although conventional model-based and visual servoing approaches often struggle in dynamic underwater environments due to limited adaptability and extensive parameter tuning requirements,deep reinforcement learning(DRL)offers a promising alternative.In the positioning stage,the Twin Delayed Deep Deterministic Policy Gradient(TD3)algorithm is employed for synchronized depth and heading control,which offers stable training,reduced overestimation bias,and superior handling of continuous control compared to other DRL methods.During the searching stage,zig-zag heading motion combined with a state-of-the-art object detection algorithm facilitates docking station localization.For the docking stage,this study proposes an innovative Image-based DDPG(I-DDPG),enhanced and trained in a Unity-MATLAB simulation environment,to achieve visual target tracking.Furthermore,integrating a DT environment enables efficient and safe policy training,reduces dependence on costly real-world tests,and improves sim-to-real transfer performance.Both simulation and real-world experiments were conducted,demonstrating the effectiveness of the system in improving AUV control strategies and supporting the transition from simulation to real-world operations in underwater environments.The results highlight the scalability and robustness of the proposed system,as evidenced by the TD3 controller achieving 25%less oscillation than the adaptive fuzzy controller when reaching the target depth,thereby demonstrating superior stability,accuracy,and potential for broader and more complex autonomous underwater tasks.
文摘The low Earth orbit(LEO)satellite networks have outstanding advantages such as wide coverage area and not being limited by geographic environment,which can provide a broader range of communication services and has become an essential supplement to the terrestrial network.However,the dynamic changes and uneven distribution of satellite network traffic inevitably bring challenges to multipath routing.Even worse,the harsh space environment often leads to incomplete collection of network state data for routing decision-making,which further complicates this challenge.To address this problem,this paper proposes a state-incomplete intelligent dynamic multipath routing algorithm(SIDMRA)to maximize network efficiency even with incomplete state data as input.Specifically,we model the multipath routing problem as a markov decision process(MDP)and then combine the deep deterministic policy gradient(DDPG)and the K shortest paths(KSP)algorithm to solve the optimal multipath routing policy.We use the temporal correlation of the satellite network state to fit the incomplete state data and then use the message passing neuron network(MPNN)for data enhancement.Simulation results show that the proposed algorithm outperforms baseline algorithms regarding average end-to-end delay and packet loss rate and performs stably under certain missing rates of state data.
基金This work was supported by the National Natural Science Foundation of China(No.72331008)GuangdongNaturalScienceFoundation(No.2023A1515010653)+1 种基金Environment and Conservation fund(No.ECF 49/2022)PolyU research project 1-YXBL and CDAH.
文摘High penetration of renewable energy sources(RESs)induces sharply-fluctuating feeder power,leading to volt-age deviation in active distribution systems.To prevent voltage violations,multi-terminal soft open points(M-sOPs)have been integrated into the distribution systems to enhance voltage con-trol flexibility.However,the M-SOP voltage control recalculated in real time cannot adapt to the rapid fluctuations of photovol-taic(PV)power,fundamentally limiting the voltage controllabili-ty of M-SOPs.To address this issue,a full-model-free adaptive graph deep deterministic policy gradient(FAG-DDPG)model is proposed for M-SOP voltage control.Specifically,the attention-based adaptive graph convolutional network(AGCN)is lever-aged to extract the complex correlation features of nodal infor-mation to improve the policy learning ability.Then,the AGCN-based surrogate model is trained to replace the power flow cal-culation to achieve model-free control.Furthermore,the deep deterministic policy gradient(DDPG)algorithm allows FAG-DDPG model to learn an optimal control strategy of M-SOP by continuous interactions with the AGCN-based surrogate model.Numerical tests have been performed on modified IEEE 33-node,123-node,and a real 76-node distribution systems,which demonstrate the effectiveness and generalization ability of the proposed FAG-DDPGmodel.
基金co-supported by the National Natural Science Foundation of China(Nos.62003267,61573285)the Aeronautical Science Foundation of China(ASFC)(No.20175553027)Natural Science Basic Research Plan in Shaanxi Province of China(No.2020JQ-220)。
文摘Unmanned Aerial Vehicles(UAVs)play a vital role in military warfare.In a variety of battlefield mission scenarios,UAVs are required to safely fly to designated locations without human intervention.Therefore,finding a suitable method to solve the UAV Autonomous Motion Planning(AMP)problem can improve the success rate of UAV missions to a certain extent.In recent years,many studies have used Deep Reinforcement Learning(DRL)methods to address the AMP problem and have achieved good results.From the perspective of sampling,this paper designs a sampling method with double-screening,combines it with the Deep Deterministic Policy Gradient(DDPG)algorithm,and proposes the Relevant Experience Learning-DDPG(REL-DDPG)algorithm.The REL-DDPG algorithm uses a Prioritized Experience Replay(PER)mechanism to break the correlation of continuous experiences in the experience pool,finds the experiences most similar to the current state to learn according to the theory in human education,and expands the influence of the learning process on action selection at the current state.All experiments are applied in a complex unknown simulation environment constructed based on the parameters of a real UAV.The training experiments show that REL-DDPG improves the convergence speed and the convergence result compared to the state-of-the-art DDPG algorithm,while the testing experiments show the applicability of the algorithm and investigate the performance under different parameter conditions.
基金supported by the Key Laboratory of Defense Science and Technology Foundation of Luoyang Electro-optical Equipment Research Institute(6142504200108)。
文摘The ever-changing battlefield environment requires the use of robust and adaptive technologies integrated into a reliable platform. Unmanned combat aerial vehicles(UCAVs) aim to integrate such advanced technologies while increasing the tactical capabilities of combat aircraft. As a research object, common UCAV uses the neural network fitting strategy to obtain values of attack areas. However, this simple strategy cannot cope with complex environmental changes and autonomously optimize decision-making problems. To solve the problem, this paper proposes a new deep deterministic policy gradient(DDPG) strategy based on deep reinforcement learning for the attack area fitting of UCAVs in the future battlefield. Simulation results show that the autonomy and environmental adaptability of UCAVs in the future battlefield will be improved based on the new DDPG algorithm and the training process converges quickly. We can obtain the optimal values of attack areas in real time during the whole flight with the well-trained deep network.
文摘Eavesdropping attacks have become one of the most common attacks on networks because of their easy implementation. Eavesdropping attacks not only lead to transmission data leakage but also develop into other more harmful attacks. Routing randomization is a relevant research direction for moving target defense, which has been proven to be an effective method to resist eavesdropping attacks. To counter eavesdropping attacks, in this study, we analyzed the existing routing randomization methods and found that their security and usability need to be further improved. According to the characteristics of eavesdropping attacks, which are “latent and transferable”, a routing randomization defense method based on deep reinforcement learning is proposed. The proposed method realizes routing randomization on packet-level granularity using programmable switches. To improve the security and quality of service of legitimate services in networks, we use the deep deterministic policy gradient to generate random routing schemes with support from powerful network state awareness. In-band network telemetry provides real-time, accurate, and comprehensive network state awareness for the proposed method. Various experiments show that compared with other typical routing randomization defense methods, the proposed method has obvious advantages in security and usability against eavesdropping attacks.
基金supported by The National Key R&D Program of China(2020YFB0905900):Research on artificial intelligence application of power internet of things.
文摘The coordinated optimization problem of the electricity-gas-heat integrated energy system(IES)has the characteristics of strong coupling,non-convexity,and nonlinearity.The centralized optimization method has a high cost of communication and complex modeling.Meanwhile,the traditional numerical iterative solution cannot deal with uncertainty and solution efficiency,which is difficult to apply online.For the coordinated optimization problem of the electricity-gas-heat IES in this study,we constructed a model for the distributed IES with a dynamic distribution factor and transformed the centralized optimization problem into a distributed optimization problem in the multi-agent reinforcement learning environment using multi-agent deep deterministic policy gradient.Introducing the dynamic distribution factor allows the system to consider the impact of changes in real-time supply and demand on system optimization,dynamically coordinating different energy sources for complementary utilization and effectively improving the system economy.Compared with centralized optimization,the distributed model with multiple decision centers can achieve similar results while easing the pressure on system communication.The proposed method considers the dual uncertainty of renewable energy and load in the training.Compared with the traditional iterative solution method,it can better cope with uncertainty and realize real-time decision making of the system,which is conducive to the online application.Finally,we verify the effectiveness of the proposed method using an example of an IES coupled with three energy hub agents.
基金supported by the Key Research and Development Program of Shaanxi(2022GY-089)the Natural Science Basic Research Program of Shaanxi(2022JQ-593).
文摘The deep deterministic policy gradient(DDPG)algo-rithm is an off-policy method that combines two mainstream reinforcement learning methods based on value iteration and policy iteration.Using the DDPG algorithm,agents can explore and summarize the environment to achieve autonomous deci-sions in the continuous state space and action space.In this paper,a cooperative defense with DDPG via swarms of unmanned aerial vehicle(UAV)is developed and validated,which has shown promising practical value in the effect of defending.We solve the sparse rewards problem of reinforcement learning pair in a long-term task by building the reward function of UAV swarms and optimizing the learning process of artificial neural network based on the DDPG algorithm to reduce the vibration in the learning process.The experimental results show that the DDPG algorithm can guide the UAVs swarm to perform the defense task efficiently,meeting the requirements of a UAV swarm for non-centralization,autonomy,and promoting the intelligent development of UAVs swarm as well as the decision-making process.
基金supported by the National Natural Science Foundation of China(62003021,62373304)Industry-University-Research Innovation Fund for Chinese Universities(2021ZYA02009)+2 种基金Shaanxi Qinchuangyuan High-level Innovation and Entrepreneurship Talent Project(OCYRCXM-2022-136)Shaanxi Association for Science and Technology Youth Talent Support Program(XXJS202218)the Fundamental Research Funds for the Central Universities(D5000210830).
文摘In consideration of the field-of-view(FOV)angle con-straint,this study focuses on the guidance problem with impact time control.A deep reinforcement learning guidance method is given for the missile to obtain the desired impact time and meet the demand of FOV angle constraint.On basis of the framework of the proportional navigation guidance,an auxiliary control term is supplemented by the distributed deep deterministic policy gradient algorithm,in which the reward functions are developed to decrease the time-to-go error and improve the terminal guid-ance accuracy.The numerical simulation demonstrates that the missile governed by the presented deep reinforcement learning guidance law can hit the target successfully at appointed arrival time.
基金supported by Princess Nourah Bint Abdulrahman University Researchers Supporting Project number(PNURSP2024R135)Princess Nourah Bint Abdulrahman University,Riyadh,Saudi Arabia.
文摘The popularity of quadrotor Unmanned Aerial Vehicles(UAVs)stems from their simple propulsion systems and structural design.However,their complex and nonlinear dynamic behavior presents a significant challenge for control,necessitating sophisticated algorithms to ensure stability and accuracy in flight.Various strategies have been explored by researchers and control engineers,with learning-based methods like reinforcement learning,deep learning,and neural networks showing promise in enhancing the robustness and adaptability of quadrotor control systems.This paper investigates a Reinforcement Learning(RL)approach for both high and low-level quadrotor control systems,focusing on attitude stabilization and position tracking tasks.A novel reward function and actor-critic network structures are designed to stimulate high-order observable states,improving the agent’s understanding of the quadrotor’s dynamics and environmental constraints.To address the challenge of RL hyper-parameter tuning,a new framework is introduced that combines Simulated Annealing(SA)with a reinforcement learning algorithm,specifically Simulated Annealing-Twin Delayed Deep Deterministic Policy Gradient(SA-TD3).This approach is evaluated for path-following and stabilization tasks through comparative assessments with two commonly used control methods:Backstepping and Sliding Mode Control(SMC).While the implementation of the well-trained agents exhibited unexpected behavior during real-world testing,a reduced neural network used for altitude control was successfully implemented on a Parrot Mambo mini drone.The results showcase the potential of the proposed SA-TD3 framework for real-world applications,demonstrating improved stability and precision across various test scenarios and highlighting its feasibility for practical deployment.
文摘Plug-in Hybrid Electric Vehicles(PHEVs)represent an innovative breed of transportation,harnessing diverse power sources for enhanced performance.Energy management strategies(EMSs)that coordinate and control different energy sources is a critical component of PHEV control technology,directly impacting overall vehicle performance.This study proposes an improved deep reinforcement learning(DRL)-based EMSthat optimizes realtime energy allocation and coordinates the operation of multiple power sources.Conventional DRL algorithms struggle to effectively explore all possible state-action combinations within high-dimensional state and action spaces.They often fail to strike an optimal balance between exploration and exploitation,and their assumption of a static environment limits their ability to adapt to changing conditions.Moreover,these algorithms suffer from low sample efficiency.Collectively,these factors contribute to convergence difficulties,low learning efficiency,and instability.To address these challenges,the Deep Deterministic Policy Gradient(DDPG)algorithm is enhanced using entropy regularization and a summation tree-based Prioritized Experience Replay(PER)method,aiming to improve exploration performance and learning efficiency from experience samples.Additionally,the correspondingMarkovDecision Process(MDP)is established.Finally,an EMSbased on the improvedDRLmodel is presented.Comparative simulation experiments are conducted against rule-based,optimization-based,andDRL-based EMSs.The proposed strategy exhibitsminimal deviation fromthe optimal solution obtained by the dynamic programming(DP)strategy that requires global information.In the typical driving scenarios based onWorld Light Vehicle Test Cycle(WLTC)and New European Driving Cycle(NEDC),the proposed method achieved a fuel consumption of 2698.65 g and an Equivalent Fuel Consumption(EFC)of 2696.77 g.Compared to the DP strategy baseline,the proposed method improved the fuel efficiency variances(FEV)by 18.13%,15.1%,and 8.37%over the Deep QNetwork(DQN),Double DRL(DDRL),and original DDPG methods,respectively.The observational outcomes demonstrate that the proposed EMS based on improved DRL framework possesses good real-time performance,stability,and reliability,effectively optimizing vehicle economy and fuel consumption.
基金supported by the National Natural Science Foundation of China under Grant Nos.62201462 and 62271412.
文摘Device-to-device(D2D)communications underlying cellular networks enabled by unmanned aerial vehicles(UAV)have been regarded as promising techniques for next-generation communications.To mitigate the strong interference caused by the line-of-sight(LoS)airto-ground channels,we deploy a reconfigurable intelligent surface(RIS)to rebuild the wireless channels.A joint optimization problem of the transmit power of UAV,the transmit power of D2D users and the RIS phase configuration are investigated to maximize the achievable rate of D2D users while satisfying the quality of service(QoS)requirement of cellular users.Due to the high channel dynamics and the coupling among cellular users,the RIS,and the D2D users,it is challenging to find a proper solution.Thus,a RIS softmax deep double deterministic(RIS-SD3)policy gradient method is proposed,which can smooth the optimization space as well as reduce the number of local optimizations.Specifically,the SD3 algorithm maximizes the reward of the agent by training the agent to maximize the value function after the softmax operator is introduced.Simulation results show that the proposed RIS-SD3 algorithm can significantly improve the rate of the D2D users while controlling the interference to the cellular user.Moreover,the proposed RIS-SD3 algorithm has better robustness than the twin delayed deep deterministic(TD3)policy gradient algorithm in a dynamic environment.
