To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target ...To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.展开更多
Minimizing the impact of the mixed uncertainties(i.e.,the aleatory uncertainty and the epistemic uncertainty) for a complex product of compliant mechanism(CPCM) quality improvement signifies a fascinating research top...Minimizing the impact of the mixed uncertainties(i.e.,the aleatory uncertainty and the epistemic uncertainty) for a complex product of compliant mechanism(CPCM) quality improvement signifies a fascinating research topic to enhance the robustness.However, most of the existing works in the CPCM robust design optimization neglect the mixed uncertainties, which might result in an unstable design or even an infeasible design. To solve this issue, a response surface methodology-based hybrid robust design optimization(RSM-based HRDO) approach is proposed to improve the robustness of the quality characteristic for the CPCM via considering the mixed uncertainties in the robust design optimization. A bridge-type amplification mechanism is used to manifest the effectiveness of the proposed approach. The comparison results prove that the proposed approach can not only keep its superiority in the robustness, but also provide a robust scheme for optimizing the design parameters.展开更多
An economic dispatch problem for power system with wind power is discussed.Using discrete scenario to describe uncertain wind powers,a threshold is given to identify bad scenario set.The bad-scenario-set robust econom...An economic dispatch problem for power system with wind power is discussed.Using discrete scenario to describe uncertain wind powers,a threshold is given to identify bad scenario set.The bad-scenario-set robust economic dispatch model is established to minimize the total penalties on bad scenarios.A specialized hybrid particle swarm optimization(PSO)algorithm is developed through hybridizing simulated annealing(SA)operators.The SA operators are performed according to a scenario-oriented adaptive search rule in a neighborhood which is constructed based on the unit commitment constraints.Finally,an experiment is conducted.The computational results show that the developed algorithm outperforms the existing algorithms.展开更多
To increase the robustness of the optimization solutions of the mixed-flow pump,the impeller was firstly indirectly parameterized based on the 2D blade design theory.Secondly,the robustness of the optimization solutio...To increase the robustness of the optimization solutions of the mixed-flow pump,the impeller was firstly indirectly parameterized based on the 2D blade design theory.Secondly,the robustness of the optimization solution was mathematically defined,and then calculated by Monte Carlo sampling method.Thirdly,the optimization on the mixed-flow pump′s impeller was decomposed into the optimal and robust sub-optimization problems,to maximize the pump head and efficiency and minimize the fluctuation degree of them under varying working conditions at the same time.Fourthly,using response surface model,a surrogate model was established between the optimization objectives and control variables of the shape of the impeller.Finally,based on a multi-objective genetic optimization algorithm,a two-loop iterative optimization process was designed to find the optimal solution with good robustness.Comparing the original and optimized pump,it is found that the internal flow field of the optimized pump has been improved under various operating conditions,the hydraulic performance has been improved consequently,and the range of high efficient zone has also been widened.Besides,with the changing of working conditions,the change trend of the hydraulic performance of the optimized pump becomes gentler,the flow field distribution is more uniform,and the influence degree of the varia-tion of working conditions decreases,and the operating stability of the pump is improved.It is concluded that the robust optimization method proposed in this paper is a reasonable way to optimize the mixed-flow pump,and provides references for optimization problems of other fluid machinery.展开更多
A new strategy is presented to solve robust multi-physics multi-objective optimization problem known as improved multi-objective collaborative optimization （IMOCO） and its extension improved multi-objective robust c...A new strategy is presented to solve robust multi-physics multi-objective optimization problem known as improved multi-objective collaborative optimization （IMOCO） and its extension improved multi-objective robust collaborative （IMORCO）. In this work, the proposed IMORCO approach combined the IMOCO method, the worst possible point （WPP） constraint cuts and the Genetic algorithm NSGA-II type as an optimizer in order to solve the robust optimization problem of multi-physics of microstructures with uncertainties. The optimization problem is hierarchically decomposed into two levels： a microstructure level, and a disciplines levels, For validation purposes, two examples were selected： a numerical example, and an engineering example of capacitive micro machined ultrasonic transducers （CMUT） type. The obtained results are compared with those obtained from robust non-distributed and distributed optimization approach, non-distributed multi-objective robust optimization （NDMORO） and multi-objective collaborative robust optimization （McRO）, respectively. Results obtained from the application of the IMOCO approach to an optimization problem of a CMUT cell have reduced the CPU time by 44% ensuring a Pareto front close to the reference non-distributed multi-objective optimization （NDMO） approach （mahalanobis distance, D2M =0.9503 and overall spread, So=0.2309）. In addition, the consideration of robustness in IMORCO approach applied to a CMUT cell of optimization problem under interval uncertainty has reduced the CPU time by 23% keeping a robust Pareto front overlaps with that obtained by the robust NDMORO approach （D2M =10.3869 and So=0.0537）.展开更多
The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear sy...The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control （GROSMC） is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.展开更多
The largest robust stability radius r(P0) of a system P0 is defined as the radius of the largest ball Bmax in the gap metric centered at P0 which can be stabilized by one single controller. Any controller which stabil...The largest robust stability radius r(P0) of a system P0 is defined as the radius of the largest ball Bmax in the gap metric centered at P0 which can be stabilized by one single controller. Any controller which stabilizes Bmax is called an optimally robust controller of P0. Any controller, regarded as a system, should have its own largest robust stability radius also. In this paper it is shown that the largest robust stability radius of any optimally robust controller of P0 is larger than or equal to r(Po). Moreover, the variation of the closed-loop transfer matrix caused by the perturbation of the system is estimated.展开更多
An agile missile with tail fins and pulse thrusters has continuous and discontinuous control inputs.This brings certain difficulty to the autopilot design and stability analysis.Indirect robust control via Theta-D tec...An agile missile with tail fins and pulse thrusters has continuous and discontinuous control inputs.This brings certain difficulty to the autopilot design and stability analysis.Indirect robust control via Theta-D technique is employed to handle this problem.An acceleration tracking system is formulated based on the nonlinear dynamics of agile missile.Considering the dynamics of actuators,there is an error between actual input and computed input.A robust control problem is formed by treating the error as input uncertainty.The robust control is equivalent to a nonlinear quadratic optimal control of the nominal system with a modified performance index including uncertainty bound.Theta-D technique is applied to solve the nonlinear optimal control problem to obtain the final control law.Numerical results show the effectiveness and robustness of the proposed strategy.展开更多
The single machine scheduling problem which involves uncertain job due dates is one of the most important issues in the real make-to-order environment. To deal with the uncertainty, this paper establishes a robust opt...The single machine scheduling problem which involves uncertain job due dates is one of the most important issues in the real make-to-order environment. To deal with the uncertainty, this paper establishes a robust optimization model by minimizing the maximum tardiness in the worst case scenario over all jobs. Unlike the traditional stochastic programming model which requires exact distributions, our model only needs the information of due date intervals. The worst case scenario for a given sequence that belongs to a set containing only n scenarios is proved, where n is the number of jobs. Then, the model is simplified and reformulated as an equivalent mixed 0-1 integer linear programming(MILP) problem. To solve the MILP problems efficiently, a heuristic approach is proposed based on a robust dominance rule. The experimental results show that the proposed method has the advantages of robustness and high calculating efficiency, and it is feasible for large-scale problems.展开更多
In this work,a variable structure control(VSC)technique is proposed to achieve satisfactory robustness for unstable processes.Optimal values of unknown parameters of VSC are obtained using Whale optimization algorithm...In this work,a variable structure control(VSC)technique is proposed to achieve satisfactory robustness for unstable processes.Optimal values of unknown parameters of VSC are obtained using Whale optimization algorithm which was recently reported in literature.Stability analysis has been done to verify the suitability of the proposed structure for industrial processes.The proposed control strategy is applied to three different types of unstable processes including non-minimum phase and nonlinear systems.A comparative study ensures that the proposed scheme gives superior performance over the recently reported VSC system.Furthermore,the proposed method gives satisfactory results for a cart inverted pendulum system in the presence of external disturbance and noise.展开更多
The application of data envelopment analysis （DEA） as a multiple criteria decision making （MCDM） technique has been gaining more and more attention in recent research. In the practice of applying DEA approach, the...The application of data envelopment analysis （DEA） as a multiple criteria decision making （MCDM） technique has been gaining more and more attention in recent research. In the practice of applying DEA approach, the appearance of uncertainties on input and output data of decision making unit （DMU） might make the nominal solution infeasible and lead to the efficiency scores meaningless from practical view. This paper analyzes the impact of data uncertainty on the evaluation results of DEA, and proposes several robust DEA models based on the adaptation of recently developed robust optimization approaches, which would be immune against input and output data uncertainties. The robust DEA models developed are based on input-oriented and outputoriented CCR model, respectively, when the uncertainties appear in output data and input data separately. Furthermore, the robust DEA models could deal with random symmetric uncertainty and unknown-but-bounded uncertainty, in both of which the distributions of the random data entries are permitted to be unknown. The robust DEA models are implemented in a numerical example and the efficiency scores and rankings of these models are compared. The results indicate that the robust DEA approach could be a more reliable method for efficiency evaluation and ranking in MCDM problems.展开更多
A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi...A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.展开更多
A multi-objective optimization based robust beamforming(BF)scheme is proposed to realize secure transmission in a cognitive satellite and unmanned aerial vehicle(UAV)network.Since the satellite network coexists with t...A multi-objective optimization based robust beamforming(BF)scheme is proposed to realize secure transmission in a cognitive satellite and unmanned aerial vehicle(UAV)network.Since the satellite network coexists with the UAV network,we first consider both achievable secrecy rate maximization and total transmit power minimization,and formulate a multi-objective optimization problem(MOOP)using the weighted Tchebycheff approach.Then,by supposing that only imperfect channel state information based on the angular information is available,we propose a method combining angular discretization with Taylor approximation to transform the non-convex objective function and constraints to the convex ones.Next,we adopt semi-definite programming together with randomization technology to solve the original MOOP and obtain the BF weight vector.Finally,simulation results illustrate that the Pareto optimal trade-off can be achieved,and the superiority of our proposed scheme is confirmed by comparing with the existing BF schemes.展开更多
基金supported by the National Natural Science Foundation of China(62373187)Forward-looking Layout Special Projects(ILA220591A22).
文摘To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.
基金supported by the National Natural Science Foundation of China(71702072 71811540414+2 种基金 71573115)the Natural Science Foundation for Jiangsu Institutions(BK20170810)the Ministry of Education of Humanities and Social Science Planning Fund(18YJA630008)
文摘Minimizing the impact of the mixed uncertainties(i.e.,the aleatory uncertainty and the epistemic uncertainty) for a complex product of compliant mechanism(CPCM) quality improvement signifies a fascinating research topic to enhance the robustness.However, most of the existing works in the CPCM robust design optimization neglect the mixed uncertainties, which might result in an unstable design or even an infeasible design. To solve this issue, a response surface methodology-based hybrid robust design optimization(RSM-based HRDO) approach is proposed to improve the robustness of the quality characteristic for the CPCM via considering the mixed uncertainties in the robust design optimization. A bridge-type amplification mechanism is used to manifest the effectiveness of the proposed approach. The comparison results prove that the proposed approach can not only keep its superiority in the robustness, but also provide a robust scheme for optimizing the design parameters.
基金supported by the National Natural Science Foundation of China(62173219,62073210).
文摘An economic dispatch problem for power system with wind power is discussed.Using discrete scenario to describe uncertain wind powers,a threshold is given to identify bad scenario set.The bad-scenario-set robust economic dispatch model is established to minimize the total penalties on bad scenarios.A specialized hybrid particle swarm optimization(PSO)algorithm is developed through hybridizing simulated annealing(SA)operators.The SA operators are performed according to a scenario-oriented adaptive search rule in a neighborhood which is constructed based on the unit commitment constraints.Finally,an experiment is conducted.The computational results show that the developed algorithm outperforms the existing algorithms.
基金National Natural Science Foundation of China(51609107)Open Subject of Provincial and Ministerial Discipline Platform of Xihua University(szjj2018-123)。
文摘To increase the robustness of the optimization solutions of the mixed-flow pump,the impeller was firstly indirectly parameterized based on the 2D blade design theory.Secondly,the robustness of the optimization solution was mathematically defined,and then calculated by Monte Carlo sampling method.Thirdly,the optimization on the mixed-flow pump′s impeller was decomposed into the optimal and robust sub-optimization problems,to maximize the pump head and efficiency and minimize the fluctuation degree of them under varying working conditions at the same time.Fourthly,using response surface model,a surrogate model was established between the optimization objectives and control variables of the shape of the impeller.Finally,based on a multi-objective genetic optimization algorithm,a two-loop iterative optimization process was designed to find the optimal solution with good robustness.Comparing the original and optimized pump,it is found that the internal flow field of the optimized pump has been improved under various operating conditions,the hydraulic performance has been improved consequently,and the range of high efficient zone has also been widened.Besides,with the changing of working conditions,the change trend of the hydraulic performance of the optimized pump becomes gentler,the flow field distribution is more uniform,and the influence degree of the varia-tion of working conditions decreases,and the operating stability of the pump is improved.It is concluded that the robust optimization method proposed in this paper is a reasonable way to optimize the mixed-flow pump,and provides references for optimization problems of other fluid machinery.
文摘A new strategy is presented to solve robust multi-physics multi-objective optimization problem known as improved multi-objective collaborative optimization （IMOCO） and its extension improved multi-objective robust collaborative （IMORCO）. In this work, the proposed IMORCO approach combined the IMOCO method, the worst possible point （WPP） constraint cuts and the Genetic algorithm NSGA-II type as an optimizer in order to solve the robust optimization problem of multi-physics of microstructures with uncertainties. The optimization problem is hierarchically decomposed into two levels： a microstructure level, and a disciplines levels, For validation purposes, two examples were selected： a numerical example, and an engineering example of capacitive micro machined ultrasonic transducers （CMUT） type. The obtained results are compared with those obtained from robust non-distributed and distributed optimization approach, non-distributed multi-objective robust optimization （NDMORO） and multi-objective collaborative robust optimization （McRO）, respectively. Results obtained from the application of the IMOCO approach to an optimization problem of a CMUT cell have reduced the CPU time by 44% ensuring a Pareto front close to the reference non-distributed multi-objective optimization （NDMO） approach （mahalanobis distance, D2M =0.9503 and overall spread, So=0.2309）. In addition, the consideration of robustness in IMORCO approach applied to a CMUT cell of optimization problem under interval uncertainty has reduced the CPU time by 23% keeping a robust Pareto front overlaps with that obtained by the robust NDMORO approach （D2M =10.3869 and So=0.0537）.
基金supported by the Doctoral Foundation of Qingdao University of Science and Technology(0022330).
文摘The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control （GROSMC） is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.
文摘The largest robust stability radius r(P0) of a system P0 is defined as the radius of the largest ball Bmax in the gap metric centered at P0 which can be stabilized by one single controller. Any controller which stabilizes Bmax is called an optimally robust controller of P0. Any controller, regarded as a system, should have its own largest robust stability radius also. In this paper it is shown that the largest robust stability radius of any optimally robust controller of P0 is larger than or equal to r(Po). Moreover, the variation of the closed-loop transfer matrix caused by the perturbation of the system is estimated.
基金supported by the National Natural Science Foundation of China(61174203)Aeronautical Science Foundation of China(20110177002)
文摘An agile missile with tail fins and pulse thrusters has continuous and discontinuous control inputs.This brings certain difficulty to the autopilot design and stability analysis.Indirect robust control via Theta-D technique is employed to handle this problem.An acceleration tracking system is formulated based on the nonlinear dynamics of agile missile.Considering the dynamics of actuators,there is an error between actual input and computed input.A robust control problem is formed by treating the error as input uncertainty.The robust control is equivalent to a nonlinear quadratic optimal control of the nominal system with a modified performance index including uncertainty bound.Theta-D technique is applied to solve the nonlinear optimal control problem to obtain the final control law.Numerical results show the effectiveness and robustness of the proposed strategy.
基金supported by the National Natural Science Foundation of China(61503211,U1660202)。
文摘The single machine scheduling problem which involves uncertain job due dates is one of the most important issues in the real make-to-order environment. To deal with the uncertainty, this paper establishes a robust optimization model by minimizing the maximum tardiness in the worst case scenario over all jobs. Unlike the traditional stochastic programming model which requires exact distributions, our model only needs the information of due date intervals. The worst case scenario for a given sequence that belongs to a set containing only n scenarios is proved, where n is the number of jobs. Then, the model is simplified and reformulated as an equivalent mixed 0-1 integer linear programming(MILP) problem. To solve the MILP problems efficiently, a heuristic approach is proposed based on a robust dominance rule. The experimental results show that the proposed method has the advantages of robustness and high calculating efficiency, and it is feasible for large-scale problems.
文摘In this work,a variable structure control(VSC)technique is proposed to achieve satisfactory robustness for unstable processes.Optimal values of unknown parameters of VSC are obtained using Whale optimization algorithm which was recently reported in literature.Stability analysis has been done to verify the suitability of the proposed structure for industrial processes.The proposed control strategy is applied to three different types of unstable processes including non-minimum phase and nonlinear systems.A comparative study ensures that the proposed scheme gives superior performance over the recently reported VSC system.Furthermore,the proposed method gives satisfactory results for a cart inverted pendulum system in the presence of external disturbance and noise.
文摘The application of data envelopment analysis （DEA） as a multiple criteria decision making （MCDM） technique has been gaining more and more attention in recent research. In the practice of applying DEA approach, the appearance of uncertainties on input and output data of decision making unit （DMU） might make the nominal solution infeasible and lead to the efficiency scores meaningless from practical view. This paper analyzes the impact of data uncertainty on the evaluation results of DEA, and proposes several robust DEA models based on the adaptation of recently developed robust optimization approaches, which would be immune against input and output data uncertainties. The robust DEA models developed are based on input-oriented and outputoriented CCR model, respectively, when the uncertainties appear in output data and input data separately. Furthermore, the robust DEA models could deal with random symmetric uncertainty and unknown-but-bounded uncertainty, in both of which the distributions of the random data entries are permitted to be unknown. The robust DEA models are implemented in a numerical example and the efficiency scores and rankings of these models are compared. The results indicate that the robust DEA approach could be a more reliable method for efficiency evaluation and ranking in MCDM problems.
基金Project(61473304)supported by the National Natural Science Foundation of ChinaProject(2015AA042202)supported by Hi-tech Research and Development Program of China
文摘A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
基金supported by the Key International Cooperation Research Project(61720106003)the National Natural Science Foundation of China(62001517)+2 种基金the Shanghai Aerospace Science and Technology Innovation Foundation(SAST2019-095)the NUPTSF(NY220111)the Foundational Research Project of Complex Electronic System Simulation Laboratory(DXZT-JC-ZZ-2019-009,DXZTJC-ZZ-2019-005).
文摘A multi-objective optimization based robust beamforming(BF)scheme is proposed to realize secure transmission in a cognitive satellite and unmanned aerial vehicle(UAV)network.Since the satellite network coexists with the UAV network,we first consider both achievable secrecy rate maximization and total transmit power minimization,and formulate a multi-objective optimization problem(MOOP)using the weighted Tchebycheff approach.Then,by supposing that only imperfect channel state information based on the angular information is available,we propose a method combining angular discretization with Taylor approximation to transform the non-convex objective function and constraints to the convex ones.Next,we adopt semi-definite programming together with randomization technology to solve the original MOOP and obtain the BF weight vector.Finally,simulation results illustrate that the Pareto optimal trade-off can be achieved,and the superiority of our proposed scheme is confirmed by comparing with the existing BF schemes.
