In covert communications,joint jammer selection and power optimization are important to improve performance.However,existing schemes usually assume a warden with a known location and perfect Channel State Information(...In covert communications,joint jammer selection and power optimization are important to improve performance.However,existing schemes usually assume a warden with a known location and perfect Channel State Information(CSI),which is difficult to achieve in practice.To be more practical,it is important to investigate covert communications against a warden with uncertain locations and imperfect CSI,which makes it difficult for legitimate transceivers to estimate the detection probability of the warden.First,the uncertainty caused by the unknown warden location must be removed,and the Optimal Detection Position(OPTDP)of the warden is derived which can provide the best detection performance(i.e.,the worst case for a covert communication).Then,to further avoid the impractical assumption of perfect CSI,the covert throughput is maximized using only the channel distribution information.Given this OPTDP based worst case for covert communications,the jammer selection,the jamming power,the transmission power,and the transmission rate are jointly optimized to maximize the covert throughput(OPTDP-JP).To solve this coupling problem,a Heuristic algorithm based on Maximum Distance Ratio(H-MAXDR)is proposed to provide a sub-optimal solution.First,according to the analysis of the covert throughput,the node with the maximum distance ratio(i.e.,the ratio of the distances from the jammer to the receiver and that to the warden)is selected as the friendly jammer(MAXDR).Then,the optimal transmission and jamming power can be derived,followed by the optimal transmission rate obtained via the bisection method.In numerical and simulation results,it is shown that although the location of the warden is unknown,by assuming the OPTDP of the warden,the proposed OPTDP-JP can always satisfy the covertness constraint.In addition,with an uncertain warden and imperfect CSI,the covert throughput provided by OPTDP-JP is 80%higher than the existing schemes when the covertness constraint is 0.9,showing the effectiveness of OPTDP-JP.展开更多
2025 has,so far,been a year of surprises.The United States under its reelected president,Donald Trump,has not only ramped up the U.S.trade war with China that he began in his first term,but has also unleashed a verbal...2025 has,so far,been a year of surprises.The United States under its reelected president,Donald Trump,has not only ramped up the U.S.trade war with China that he began in his first term,but has also unleashed a verbal assault and a barrage of tariffs against its neighbors,Canada and Mexico.It appears the age of globalization and rules-based free trade is over,at least as far as the giant U.S.economy is concerned.展开更多
This paper proposes an extension of the Modified-Plant ADRC(MP-ADRC)strategy to broaden its application to minimum phase dynamical systems.The main features of the MP-ADRC method are the inclusion of a constant gain i...This paper proposes an extension of the Modified-Plant ADRC(MP-ADRC)strategy to broaden its application to minimum phase dynamical systems.The main features of the MP-ADRC method are the inclusion of a constant gain in series with the plant output error and a linear filter in parallel with the overall error system.These structural changes do not influence the input/output dynamics of the original plant,but are intentionally introduced to modify the dynamics to be estimated by the extended state observer(ESO)and,thus,promote an increase in the robustness of the method.Some advantages can also be attributed to the proposed methodology,such as(i)the design procedures of both the controller and the ESO only require knowledge of the sign(±)of the plant input channel coefficient(or control gain);(ii)the plant control input is generated directly by a single ESO state variable.Despite the advantages and the characteristics of MP-ADRC mentioned earlier,closed-loop stability cannot be guaranteed when it is applied to dynamical systems that have finite zeros.To overcome this difficulty,this work introduces an extension in the MP-ADRC method.It basically consists of rewriting the minimum phase plant dynamics according to its relative order,and then follows with the design of the ESO by conveniently increasing the number of ESO state variables.The simulation results are also presented to illustrate the application of the proposed method.展开更多
This paper delves into the problem of optimal placement conditions for a group of agents collaboratively localizing a target using range-only or bearing-only measurements.The challenge in this study stems from the unc...This paper delves into the problem of optimal placement conditions for a group of agents collaboratively localizing a target using range-only or bearing-only measurements.The challenge in this study stems from the uncertainty associated with the positions of the agents,which may experience drift or disturbances during the target localization process.Initially,we derive the Cramer-Rao lower bound(CRLB)of the target position as the primary analytical metric.Subsequently,we establish the necessary and sufficient conditions for the optimal placement of agents.Based on these conditions,we analyze the maximal allowable agent position error for an expected mean squared error(MSE),providing valuable guidance for the selection of agent positioning sensors.The analytical findings are further validated through simulation experiments.展开更多
Delay aware routing is now widely used to provide efficient network transmission. However, for newly developing or developed mobile communication networks(MCN), only limited delay data can be obtained. In such a netwo...Delay aware routing is now widely used to provide efficient network transmission. However, for newly developing or developed mobile communication networks(MCN), only limited delay data can be obtained. In such a network, the delay is with epistemic uncertainty, which makes the traditional routing scheme based on deterministic theory or probability theory not applicable. Motivated by this problem, the MCN with epistemic uncertainty is first summarized as a dynamic uncertain network based on uncertainty theory, which is widely applied to model epistemic uncertainties. Then by modeling the uncertain end-toend delay, a new delay bounded routing scheme is proposed to find the path with the maximum belief degree that satisfies the delay threshold for the dynamic uncertain network. Finally, a lowEarth-orbit satellite communication network(LEO-SCN) is used as a case to verify the effectiveness of our routing scheme. It is first modeled as a dynamic uncertain network, and then the delay bounded paths with the maximum belief degree are computed and compared under different delay thresholds.展开更多
In 2013,the World Health Organization defined perivascular epithelioid cell tumor(PEComa)as“a mesenchymal tumor which shows a local association with vessel walls and usually expresses melanocyte and smooth muscle mar...In 2013,the World Health Organization defined perivascular epithelioid cell tumor(PEComa)as“a mesenchymal tumor which shows a local association with vessel walls and usually expresses melanocyte and smooth muscle markers.”This generic definition seems to better fit the PEComa family,which includes angiomyolipoma,clear cell sugar tumor of the lung,lymphangioleiomyomatosis,and a group of histologically and immunophenotypically similar tumors that include primary extrapulmonary sugar tumor and clear cell myomelanocytic tumor.Clear cell tumors with this immunophenotypic pattern have also had their malignant variants described.When localizing to the liver,preoperative radiological diagnosis has proven to be very difficult,and most patients have been diagnosed with hepatocellular carcinoma,focal nodular hyperplasia,hemangioma,or hepatic adenoma based on imaging findings.Examples of a malignant variant of the liver have been described.Finally,reports of malignant variants of these lesions have increased in recent years.Therefore,we support the use of the Folpe criteria,which in 2005 established the criteria for categorizing a PEComa as benign,malignant,or of uncertain malignant potential.Although they are not considered ideal,they currently seem to be the best approach and could be used for the categorization of liver tumors.展开更多
In this paper,an NMOS output-capacitorless low-dropout regulator(OCL-LDO)featuring dual-loop regulation has been proposed,achieving fast transient response with low power consumption.An event-driven charge pump(CP)loo...In this paper,an NMOS output-capacitorless low-dropout regulator(OCL-LDO)featuring dual-loop regulation has been proposed,achieving fast transient response with low power consumption.An event-driven charge pump(CP)loop with the dynamic strength control(DSC),is proposed in this paper,which overcomes trade-offs inherent in conventional structures.The presented design addresses and resolves the large signal stability issue,which has been previously overlooked in the event-driven charge pump structure.This breakthrough allows for the full exploitation of the charge-pump structure's poten-tial,particularly in enhancing transient recovery.Moreover,a dynamic error amplifier is utilized to attain precise regulation of the steady-state output voltage,leading to favorable static characteristics.A prototype chip has been fabricated in 65 nm CMOS technology.The measurement results show that the proposed OCL-LDO achieves a 410 nA low quiescent current(IQ)and can recover within 30 ns under 200 mA/10 ns loading change.展开更多
Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance...Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance related works,the developed control exhibits some features.Firstly,a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader’s signal within a predetermined time,but also the control design for each agent is independent with its neighbors.展开更多
This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a larg...This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.展开更多
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
The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator fa...The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.展开更多
Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is use...Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances.展开更多
The tunnel subjected to strike-slip fault dislocation exhibits severe and catastrophic damage.The existing analysis models frequently assume uniform fault displacement and fixed fault plane position.In contrast,post-e...The tunnel subjected to strike-slip fault dislocation exhibits severe and catastrophic damage.The existing analysis models frequently assume uniform fault displacement and fixed fault plane position.In contrast,post-earthquake observations indicate that the displacement near the fault zone is typically nonuniform,and the fault plane position is uncertain.In this study,we first established a series of improved governing equations to analyze the mechanical response of tunnels under strike-slip fault dislocation.The proposed methodology incorporated key factors such as nonuniform fault displacement and uncertain fault plane position into the governing equations,thereby significantly enhancing the applicability range and accuracy of the model.In contrast to previous analytical models,the maximum computational error has decreased from 57.1%to 1.1%.Subsequently,we conducted a rigorous validation of the proposed methodology by undertaking a comparative analysis with a 3D finite element numerical model,and the results from both approaches exhibited a high degree of qualitative and quantitative agreement with a maximum error of 9.9%.Finally,the proposed methodology was utilized to perform a parametric analysis to explore the effects of various parameters,such as fault displacement,fault zone width,fault zone strength,the ratio of maximum fault displacement of the hanging wall to the footwall,and fault plane position,on the response of tunnels subjected to strike-slip fault dislocation.The findings indicate a progressive increase in the peak internal forces of the tunnel with the rise in fault displacement and fault zone strength.Conversely,an augmentation in fault zone width is found to contribute to a decrease in the peak internal forces.For example,for a fault zone width of 10 m,the peak values of bending moment,shear force,and axial force are approximately 46.9%,102.4%,and 28.7% higher,respectively,compared to those observed for a fault zone width of 50 m.Furthermore,the position of the peak internal forces is influenced by variations in the ratio of maximum fault displacement of the hanging wall to footwall and the fault plane location,while the peak values of shear force and axial force always align with the fault plane.The maximum peak internal forces are observed when the footwall exclusively bears the entirety of the fault displacement,corresponding to a ratio of 0:1.The peak values of bending moment,shear force,and axial force for the ratio of 0:1 amount to approximately 123.8%,148.6%,and 111.1% of those for the ratio of 0.5:0.5,respectively.展开更多
In view of the complexity of emergencies and the subjectivity of decision-makers,a method of determining key emergency indicators based on multi-granularity uncertainty language is proposed.Firstly,decision members us...In view of the complexity of emergencies and the subjectivity of decision-makers,a method of determining key emergency indicators based on multi-granularity uncertainty language is proposed.Firstly,decision members use preferred uncertain language phrases to represent the importance of each key indicator and use transformation functions to carry out the consistent transformation of this multi-granularity uncertain language information.Secondly,the group evaluation vector is obtained by using the extended weighted average operator of uncertainty,and then the weight vector of each key index is obtained by using the decision theory of uncertain language.Finally,an example is given to verify the practicability and effectiveness of the proposed method.展开更多
针对动态不确定战场环境下多无人机对多区域、多目标的协同察打任务规划过程中存在的信息不确定、任务多约束及航迹强耦合的多目标优化与决策问题,结合Dubins航迹规划算法,提出了一种融合多种改进策略的灰狼优化算法(grey wolf optimiza...针对动态不确定战场环境下多无人机对多区域、多目标的协同察打任务规划过程中存在的信息不确定、任务多约束及航迹强耦合的多目标优化与决策问题,结合Dubins航迹规划算法,提出了一种融合多种改进策略的灰狼优化算法(grey wolf optimization algorithm incorporating multiple improvement strategies,IMISGWO).首先,针对动态环境带来的无人机巡航速度及察打任务消失时间的不确定性,基于可信性理论建立了以最大化任务收益为指标的任务规划数学模型;其次,为实现该问题的快速求解,设计了初始解均匀分布、个体通信机制调整、动态权重更新和跳出局部最优等策略,提升算法解搜索能力;最后,构建了多无人机察打一体典型任务仿真场景,通过数字仿真以及虚实结合半实物仿真试验验证了算法的可行性和有效性.仿真结果表明:算法在求解不确定环境下耦合航迹的多无人机察打一体任务规划问题时,能够生成多机高效的任务执行序列和满足无人机飞行性能约束的飞行轨迹,且能够适用于无人机数量增加导致问题复杂度增加情形下此类问题的求解.展开更多
基金supported by the CAS Project for Young Scientists in Basic Research under Grant YSBR-035Jiangsu Provincial Key Research and Development Program under Grant BE2021013-2.
文摘In covert communications,joint jammer selection and power optimization are important to improve performance.However,existing schemes usually assume a warden with a known location and perfect Channel State Information(CSI),which is difficult to achieve in practice.To be more practical,it is important to investigate covert communications against a warden with uncertain locations and imperfect CSI,which makes it difficult for legitimate transceivers to estimate the detection probability of the warden.First,the uncertainty caused by the unknown warden location must be removed,and the Optimal Detection Position(OPTDP)of the warden is derived which can provide the best detection performance(i.e.,the worst case for a covert communication).Then,to further avoid the impractical assumption of perfect CSI,the covert throughput is maximized using only the channel distribution information.Given this OPTDP based worst case for covert communications,the jammer selection,the jamming power,the transmission power,and the transmission rate are jointly optimized to maximize the covert throughput(OPTDP-JP).To solve this coupling problem,a Heuristic algorithm based on Maximum Distance Ratio(H-MAXDR)is proposed to provide a sub-optimal solution.First,according to the analysis of the covert throughput,the node with the maximum distance ratio(i.e.,the ratio of the distances from the jammer to the receiver and that to the warden)is selected as the friendly jammer(MAXDR).Then,the optimal transmission and jamming power can be derived,followed by the optimal transmission rate obtained via the bisection method.In numerical and simulation results,it is shown that although the location of the warden is unknown,by assuming the OPTDP of the warden,the proposed OPTDP-JP can always satisfy the covertness constraint.In addition,with an uncertain warden and imperfect CSI,the covert throughput provided by OPTDP-JP is 80%higher than the existing schemes when the covertness constraint is 0.9,showing the effectiveness of OPTDP-JP.
文摘2025 has,so far,been a year of surprises.The United States under its reelected president,Donald Trump,has not only ramped up the U.S.trade war with China that he began in his first term,but has also unleashed a verbal assault and a barrage of tariffs against its neighbors,Canada and Mexico.It appears the age of globalization and rules-based free trade is over,at least as far as the giant U.S.economy is concerned.
基金supported in part by the Brazilian research agencies CNPq and CAPESby the Fundação Carlos Chagas Filho de AmparoàPesquisa do Estado do Rio de Janeiro,FAPERJ-Brasil(Project E-26/210.425/2024).
文摘This paper proposes an extension of the Modified-Plant ADRC(MP-ADRC)strategy to broaden its application to minimum phase dynamical systems.The main features of the MP-ADRC method are the inclusion of a constant gain in series with the plant output error and a linear filter in parallel with the overall error system.These structural changes do not influence the input/output dynamics of the original plant,but are intentionally introduced to modify the dynamics to be estimated by the extended state observer(ESO)and,thus,promote an increase in the robustness of the method.Some advantages can also be attributed to the proposed methodology,such as(i)the design procedures of both the controller and the ESO only require knowledge of the sign(±)of the plant input channel coefficient(or control gain);(ii)the plant control input is generated directly by a single ESO state variable.Despite the advantages and the characteristics of MP-ADRC mentioned earlier,closed-loop stability cannot be guaranteed when it is applied to dynamical systems that have finite zeros.To overcome this difficulty,this work introduces an extension in the MP-ADRC method.It basically consists of rewriting the minimum phase plant dynamics according to its relative order,and then follows with the design of the ESO by conveniently increasing the number of ESO state variables.The simulation results are also presented to illustrate the application of the proposed method.
文摘This paper delves into the problem of optimal placement conditions for a group of agents collaboratively localizing a target using range-only or bearing-only measurements.The challenge in this study stems from the uncertainty associated with the positions of the agents,which may experience drift or disturbances during the target localization process.Initially,we derive the Cramer-Rao lower bound(CRLB)of the target position as the primary analytical metric.Subsequently,we establish the necessary and sufficient conditions for the optimal placement of agents.Based on these conditions,we analyze the maximal allowable agent position error for an expected mean squared error(MSE),providing valuable guidance for the selection of agent positioning sensors.The analytical findings are further validated through simulation experiments.
基金National Natural Science Foundation of China (61773044,62073009)National key Laboratory of Science and Technology on Reliability and Environmental Engineering(WDZC2019601A301)。
文摘Delay aware routing is now widely used to provide efficient network transmission. However, for newly developing or developed mobile communication networks(MCN), only limited delay data can be obtained. In such a network, the delay is with epistemic uncertainty, which makes the traditional routing scheme based on deterministic theory or probability theory not applicable. Motivated by this problem, the MCN with epistemic uncertainty is first summarized as a dynamic uncertain network based on uncertainty theory, which is widely applied to model epistemic uncertainties. Then by modeling the uncertain end-toend delay, a new delay bounded routing scheme is proposed to find the path with the maximum belief degree that satisfies the delay threshold for the dynamic uncertain network. Finally, a lowEarth-orbit satellite communication network(LEO-SCN) is used as a case to verify the effectiveness of our routing scheme. It is first modeled as a dynamic uncertain network, and then the delay bounded paths with the maximum belief degree are computed and compared under different delay thresholds.
文摘In 2013,the World Health Organization defined perivascular epithelioid cell tumor(PEComa)as“a mesenchymal tumor which shows a local association with vessel walls and usually expresses melanocyte and smooth muscle markers.”This generic definition seems to better fit the PEComa family,which includes angiomyolipoma,clear cell sugar tumor of the lung,lymphangioleiomyomatosis,and a group of histologically and immunophenotypically similar tumors that include primary extrapulmonary sugar tumor and clear cell myomelanocytic tumor.Clear cell tumors with this immunophenotypic pattern have also had their malignant variants described.When localizing to the liver,preoperative radiological diagnosis has proven to be very difficult,and most patients have been diagnosed with hepatocellular carcinoma,focal nodular hyperplasia,hemangioma,or hepatic adenoma based on imaging findings.Examples of a malignant variant of the liver have been described.Finally,reports of malignant variants of these lesions have increased in recent years.Therefore,we support the use of the Folpe criteria,which in 2005 established the criteria for categorizing a PEComa as benign,malignant,or of uncertain malignant potential.Although they are not considered ideal,they currently seem to be the best approach and could be used for the categorization of liver tumors.
基金supported by the National Natural Science Foundation of China under Grant 62274189the Natural Science Foundation of Guangdong Province,China,under Grant 2022A1515011054the Key Area R&D Program of Guangdong Province under Grant 2022B0701180001.
文摘In this paper,an NMOS output-capacitorless low-dropout regulator(OCL-LDO)featuring dual-loop regulation has been proposed,achieving fast transient response with low power consumption.An event-driven charge pump(CP)loop with the dynamic strength control(DSC),is proposed in this paper,which overcomes trade-offs inherent in conventional structures.The presented design addresses and resolves the large signal stability issue,which has been previously overlooked in the event-driven charge pump structure.This breakthrough allows for the full exploitation of the charge-pump structure's poten-tial,particularly in enhancing transient recovery.Moreover,a dynamic error amplifier is utilized to attain precise regulation of the steady-state output voltage,leading to favorable static characteristics.A prototype chip has been fabricated in 65 nm CMOS technology.The measurement results show that the proposed OCL-LDO achieves a 410 nA low quiescent current(IQ)and can recover within 30 ns under 200 mA/10 ns loading change.
基金supported in part by the National Key Research and Development Program of China(2022YFB4701400/4701401)the National Natural Science Foundation of China(61991400,61991403,62250710167,61860206008,61933012,62273064)+1 种基金the Chongqing Outstanding Young Talents Support Program(cstc2024ycjh-bgzxm0085)CAAI-Huawei MindSpore Open Fund。
文摘Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance related works,the developed control exhibits some features.Firstly,a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader’s signal within a predetermined time,but also the control design for each agent is independent with its neighbors.
基金supported in part by the National Key R&D Program of China under Grant 2021YFB2011300the National Natural Science Foundation of China under Grant 52075262。
文摘This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.
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partially supported by the National Natural Science Foundation of China(62322307)Sichuan Science and Technology Program,China(2023NSFSC1968).
文摘The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.
基金supported in part by the National Natural Science Foundation of China(621732556218,8101)the Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001)。
文摘Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances.
基金Projects(52378411,52208404)supported by the National Natural Science Foundation of China。
文摘The tunnel subjected to strike-slip fault dislocation exhibits severe and catastrophic damage.The existing analysis models frequently assume uniform fault displacement and fixed fault plane position.In contrast,post-earthquake observations indicate that the displacement near the fault zone is typically nonuniform,and the fault plane position is uncertain.In this study,we first established a series of improved governing equations to analyze the mechanical response of tunnels under strike-slip fault dislocation.The proposed methodology incorporated key factors such as nonuniform fault displacement and uncertain fault plane position into the governing equations,thereby significantly enhancing the applicability range and accuracy of the model.In contrast to previous analytical models,the maximum computational error has decreased from 57.1%to 1.1%.Subsequently,we conducted a rigorous validation of the proposed methodology by undertaking a comparative analysis with a 3D finite element numerical model,and the results from both approaches exhibited a high degree of qualitative and quantitative agreement with a maximum error of 9.9%.Finally,the proposed methodology was utilized to perform a parametric analysis to explore the effects of various parameters,such as fault displacement,fault zone width,fault zone strength,the ratio of maximum fault displacement of the hanging wall to the footwall,and fault plane position,on the response of tunnels subjected to strike-slip fault dislocation.The findings indicate a progressive increase in the peak internal forces of the tunnel with the rise in fault displacement and fault zone strength.Conversely,an augmentation in fault zone width is found to contribute to a decrease in the peak internal forces.For example,for a fault zone width of 10 m,the peak values of bending moment,shear force,and axial force are approximately 46.9%,102.4%,and 28.7% higher,respectively,compared to those observed for a fault zone width of 50 m.Furthermore,the position of the peak internal forces is influenced by variations in the ratio of maximum fault displacement of the hanging wall to footwall and the fault plane location,while the peak values of shear force and axial force always align with the fault plane.The maximum peak internal forces are observed when the footwall exclusively bears the entirety of the fault displacement,corresponding to a ratio of 0:1.The peak values of bending moment,shear force,and axial force for the ratio of 0:1 amount to approximately 123.8%,148.6%,and 111.1% of those for the ratio of 0.5:0.5,respectively.
文摘In view of the complexity of emergencies and the subjectivity of decision-makers,a method of determining key emergency indicators based on multi-granularity uncertainty language is proposed.Firstly,decision members use preferred uncertain language phrases to represent the importance of each key indicator and use transformation functions to carry out the consistent transformation of this multi-granularity uncertain language information.Secondly,the group evaluation vector is obtained by using the extended weighted average operator of uncertainty,and then the weight vector of each key index is obtained by using the decision theory of uncertain language.Finally,an example is given to verify the practicability and effectiveness of the proposed method.
