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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

《机械工程前沿（英文）》 2012年第7卷第1期页码 23-28 doi: 10.1007/s11465-012-0304-9

摘要：

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.

关键词： mobile robot trajectory planning nonlinear dynamic optimal control

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Fuel optimal control of parallel hybrid electric vehicles

PU Jinhuan, YIN Chenliang, ZHANG Jianwu

《机械工程前沿（英文）》 2008年第3卷第3期页码 337-342 doi: 10.1007/s11465-008-0057-7

摘要： A mathematical model for fuel optimal control and its corresponding dynamic programming (DP) recursive equation were established for an existing parallel hybrid electric vehicle (HEV). Two augmented cost functions for gear shifting and engine stop-starting were designed to limit their frequency. To overcome the problem of numerical DP dimensionality, an algorithm to restrict the exploring region was proposed. The algorithm significantly reduced the computational complexity. The system model was converted into real-time simulation code by using MATLAB/RTW to improve computation efficiency. Comparison between the results of a chassis dynamometer test, simulation, and DP proves that the proposed method can compute the performance limitation of the HEV within an acceptable time period and can be used to evaluate and optimize the control strategy.

关键词： mathematical Comparison computational complexity dimensionality corresponding

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Parametric control of structural responses using an optimal passive tuned mass damper under stationary

Min-Ho CHEY, Jae-Ung KIM

《结构与土木工程前沿（英文）》 2012年第6卷第3期页码 267-280 doi: 10.1007/s11709-012-0170-x

摘要： In this study, the structural control strategy utilizing a passive tuned mass damper (TMD) system as a seismic damping device is outlined, highlighting the parametric optimization approach for displacement and acceleration control. The theory of stationary random processes and complex frequency response functions are explained and adopted. For the vibration control of an undamped structure, the optimal parameters of a TMD, such as the optimal tuning frequency and optimal damping ratio, to stationary Gaussian white noise acceleration are investigated by using a parametric optimization procedure. For damped structures, a numerical searching technique is used to obtain the optimal parameters of the TMD, and then the explicit formulae for these optimal parameters are derived through a sequence of curve-fitting schemes. Using these specified optimal parameters, several different controlled responses are examined, and then the displacement and acceleration based control effectiveness indices of the TMD are examined from the view point of RMS values. From the viewpoint of the RMS values of displacement and acceleration, the optimal TMDs adopted in this study shows clear performance improvements for the simplified model examined, and this means that the effective optimization of the TMD has a good potential as a customized target response-based structural strategy.

关键词： tuned mass damper parametric optimization passive control white noise earthquake excitation

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水库调度的最优控制模型与最大值原理求解方法

方强,王先甲,方德斌

《中国工程科学》 2007年第9卷第4期页码 55-59

摘要：

试图用最优控制理论来描述水库调度的连续变化特性，建立了水库调度的最优控制模型，用最大值原理给出了水库调度最优控制的必要条件，分析了不同条件和环境下水库调度最优控制策略和具体表示形式。最后对某具体算例进行了分析，结果表明该方法是有效的。

关键词：水利管理最优控制模型最大值原理水库调度

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Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

《机械工程前沿（英文）》 2015年第10卷第4期页码 344-351 doi: 10.1007/s11465-015-0364-8

摘要：

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large workspace, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.

关键词： accuracy cable-driven parallel robot linear quadratic optimal control

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Design and control optimization of energy systems of smart buildings today and in the near future

Shengwei WANG, Wenjie GANG

《工程管理前沿（英文）》 2017年第4卷第1期页码 58-66 doi: 10.15302/J-FEM-2017005

摘要： Buildings contribute to a major part of energy consumption in urban areas, especially in areas like Hong Kong which is full of high-rise buildings. Smart buildings with high efficiency can reduce the energy consumption largely and help achieve green cities or smart cities. Design and control optimization of building energy systems therefore plays a significant role to obtain the optimal performance. This paper introduces a general methodology for the design and control optimization of building energy systems in the life cycle. When the design scheme of building energy systems is optimized, primary steps and related issues are introduced. To improve the operation performance, the optimal control strategies that can be used by different systems are presented and key issues are discussed. To demonstrate the effect of the methods, the energy system of a high-rise building is introduced. The design on the chilled water pump system and cooling towers is improved. The control strategies for chillers, pumps and fresh air systems are optimized. The energy saving and cost from the design and control optimization methods are analyzed. The presented methodology will provide users and stakeholders an effective approach to improve the energy efficiency of building energy systems and promote the development of smart buildings and smart cities.

关键词： Design optimization Optimal control Smart building Energy efficiency

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火箭炮交流位置伺服系统的鲁棒最优控制

柴华伟,马大为,李志刚,乐贵高,王锋

《中国工程科学》 2007年第9卷第10期页码 83-87

摘要：

为了实现某火箭炮交流伺服系统的高速、高精度位置控制，针对实际系统中存在的转动惯量和负载力矩变化大、冲击力矩强等各种不确定因素，提出了一种鲁棒最优控制方法。实验结果表明，该控制器鲁棒性强，而且具有较好的动态性能及稳态精度。

关键词：火箭炮交流位置伺服系统鲁棒控制最优控制

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连续非线性最优控制问题的勒让德—伽辽金逼近方法 Article

Xue-song CHEN

《信息与电子工程前沿（英文）》 2017年第18卷第10期页码 1479-1487 doi: 10.1631/FITEE.1601101

摘要：使用逼近方法获得一类连续非线性最优控制问题的近似最优解。该方法基于伽辽金逼近理论（Galerkin approximation）求解广义哈密尔顿—雅可比—贝尔曼（Hamilton-Jacobi-Bellman, GHJB）方程。勒让德—伽辽金逼近方法（GALP）尚未被用于求解连续非线性最优控制问题。由于勒让德多项式（Legendre polynomials）具有正交性，在计算函数内积时，该方法可以明显减少积分计算量。详细证明了此方法的稳定性和收敛性。数值算例表明，按此方法获得的控制律，能够收敛到连续非线性控制系统的最优控制。

关键词：广义哈密尔顿—雅可比—贝尔曼方程；非线性最优控制；伽辽金逼近（Galerkin approximation）；勒让德多项式（Legendre polynomials）

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面向未知连续非线性系统的间接自适应模糊规划最优控制方法

张海运1,2,孟德远2,王进1,陆国栋1

《信息与电子工程前沿（英文）》 2021年第22卷第2期页码 141-286 doi: 10.1631/FITEE.1900610

摘要：针对动力学未知、不匹配和扰动条件下的连续非线性系统，提出一种新的间接自适应模糊规划最优控制方案。首先，建立非线性系统汉密尔顿-雅各比-贝尔曼（HJB）方程及其匹配的性能函数。与现有自适应动态规划（ADP）方法不同，在执行器-评判器架构下，所提方案采用特殊的非二次变量性能函数作为强化媒介。构造一个自适应模糊规划的评判器结构来配置性能函数的权重矩阵，以逼近和平衡非线性HJB方程。同时，设计一种并行的自组织学习技术用于自适应更新该评判器的权重。在此基础上，提出一种自适应最优反馈控制器与一个新形式的增广黎卡提方程作为执行器，实时优化模糊规划后的性能函数。通过设计上述执行器-评判器架构获得一种在线间接自适应最优控制机制，可同时实现最优成本函数和最优控制策略的连续实时自适应调整。该方法的控制收敛性和闭环稳定性得到证明和保证。最后，仿真和比较表明所提方案的有效性和可靠性。

关键词：间接自适应最优控制；汉密尔顿-雅各比-贝尔曼方程；模糊规划评判器；自适应最优控制执行器；执行器-评判器架构；未知非线性系统

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水下滑翔机航向控制 Article

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

《信息与电子工程前沿（英文）》 2017年第18卷第7期页码 898-914 doi: 10.1631/FITEE.1601735

摘要：水下滑翔机动力学特性随有效载荷及外形变化而变化，其航向控制富有挑战性。解决方法是使用在线系统辨识算法捕捉当前动力学特性，更新运动模型。为此，我们设计了一个在线多项式辨识器，不断更新当前动力学模型，同时用一个自适应模型预测控制器计算并输出最优化的控制指令。该控制器根据用户自定义的指标函数，使用二次规划方法得到最优控制指令。该指标函数由两项组成，一项用来表达轨迹跟踪性能，一项用来表达输入指令抑制性能。输入指令抑制性能一定程度上可以代表该控制器的能量消耗性能。设计师可以通过调节这两项的权重，平衡两个控制器的性能。比较二次与五次多项式模型的控制效果，发现：二次多项式模型不足以表达无人机的动力学特性，且控制结果易发生剧烈波动。硬件在环模拟以及湖试结果验证了控制器性能。

关键词：水下滑翔机；在线系统辨识；航向控制；自适应控制；最优控制；节能控制；硬件在环模拟

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Intelligent algorithm for optimal meter placement and bus voltage estimation in ring main distribution

L. RAMESH, N. CHAKRABORTY, S. P. CHOWDHURY

《能源前沿（英文）》 2012年第6卷第1期页码 47-56 doi: 10.1007/s11708-011-0159-5

摘要： The advancement in power distribution system poses a great challenge to power engineering researchers on how to best monitor and estimate the state of the distribution network. This paper is executed in two stage processes. The first stage is to identify the optimal location for installation of monitoring instrument with minimal investment cost. The second stage is to estimate the bus voltage magnitude, where real time measurement is conducted and measured through identified meter location which is more essential for decision making in distribution supervisory control and data acquisition system (DSCADA). The hybrid intelligent technique is applied to execute the above two algorithms. The algorithms are tested with institute of electrical and electronics engineers (IEEE) and Tamil Nadu electricity board (TNEB) benchmark systems. The simulated results proves that the swarm tuned artificial neural network (ANN) estimator is best suited for accurate estimation of voltage with different noise levels.

关键词： artificial intelligence power distribution control state estimation

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先进控制方法在航天器上的应用：进展、挑战和未来发展 Review

Yong-chun XIE,Huang HUANG,Yong HU,Guo-qi ZHANG

《信息与电子工程前沿（英文）》 2016年第17卷第9期页码 841-861 doi: 10.1631/FITEE.1601063

摘要：概要：本文从工程师角度出发，对当前先进控制方法在航天器上的应用情况进行综述。本文没有从先进控制方法的理论研究入手，而是从工程实际出发，重点关注包括在轨试验、地面物理仿真实验以及基于在轨数据的仿真实验三类工程应用情况。本文的目的是向工程师们展示已获得实际应用的先进控制方法，而不是仅仅停留在理论研究阶段的方法。我们通过大量的文献调研发现，尽管当前先进控制理论和方法发展得非常迅速，但是绝大部分先进控制方法距离在航天器上实际应用还有较远的距离。目前，国内外发射的大量航天器中，只有屈指可数的极少数航天器采用了先进控制方法，其中H2/Hinfinity鲁棒控制主要用在弹性模态较为明显的航天器上，MARC等自适应控制方法主要用于处理模型不确定的情况，LQR主要用于对航天器性能进行优化。望从事航天器控制的工程师们通过本文的研究，可以对具有较强工程应用价值的先进控制方法有一个全面的认识；同时，也向理论研究者们提出了航天器实际的工程需求。

关键词：航天器控制；鲁棒控制自适应控制；最优控制

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Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

《机械工程前沿（英文）》 2011年第6卷第2期页码 219-228 doi: 10.1007/s11465-011-0218-y

摘要：

The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and joints. The main contribution of the paper is the comparative assessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic systems. Numerical simulations comprising both methods are carried out and results are discussed. Hence, advantages and disadvantages of each method are illustrated. Then, adding the joint flexibility to the system is dealt with and the obtained model is demonstrated. Finally, a brief description of the optimal motion generation is presented and the simulation is carried out to investigate the role of robot dynamic modeling in the control of robots.

关键词： robotic arms elastic link elastic joint nonlinear dynamics optimal control

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Impacts of climate change on optimal mixture design of blended concrete considering carbonation and chloride

Xiao-Yong WANG

《结构与土木工程前沿（英文）》 2020年第14卷第2期页码 473-486 doi: 10.1007/s11709-020-0608-5

摘要： Many studies on the mixture design of fly ash and slag ternary blended concrete have been conducted. However, these previous studies did not consider the effects of climate change, such as acceleration in the deterioration of durability, on mixture design. This study presents a procedure for the optimal mixture design of ternary blended concrete considering climate change and durability. First, the costs of CO emissions and material are calculated based on the concrete mixture and unit prices. Total cost is equal to the sum of material cost and CO emissions cost, and is set as the objective function of the optimization. Second, strength, slump, carbonation, and chloride ingress models are used to evaluate concrete properties. The effect of different climate change scenarios on carbonation and chloride ingress is considered. A genetic algorithm is used to find the optimal mixture considering various constraints. Third, illustrative examples are shown for mixture design of ternary blended concrete. The analysis results show that for ternary blended concrete exposed to an atmospheric environment, a rich mix is necessary to meet the challenge of climate change, and for ternary blended concrete exposed to a marine environment, the impact of climate change on mixture design is marginal.

关键词： ternary blended concrete climate change optimal mixture design carbonation chloride ingress

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输入饱和下多智能体系统最优一致性控制：一类非零和博弈方法 Research Article

李洪阳1,2,魏庆来1,2,3

《信息与电子工程前沿（英文）》 2022年第23卷第7期页码 1010-1019 doi: 10.1631/FITEE.2200010

摘要：本文针对输入饱和下的多智能体系统，提出一种最优一致性控制方法。引入多智能体博弈理论，将最优一致性控制问题转化为多智能体非零和博弈。之后，通过求解具有非二次输入能量项的耦合Hamilton–Jacobi–Bellman（HJB）方程，实现Nash平衡。提出脱策强化学习方法，在系统模型未知情况下获得Nash平衡解；引入评判神经网络和执行神经网络实现所提方法。理论分析显示迭代控制律收敛到Nash平衡。仿真实验验证了所提方法的有效性。

关键词：最优一致性控制；多智能体系统；非零和博弈；自适应动态规划；输入饱和；脱策强化学习；策略迭代

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标题作者时间类型操作

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

期刊论文

Fuel optimal control of parallel hybrid electric vehicles

PU Jinhuan, YIN Chenliang, ZHANG Jianwu

期刊论文

Parametric control of structural responses using an optimal passive tuned mass damper under stationary

Min-Ho CHEY, Jae-Ung KIM

期刊论文