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学者姓名：张利国
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Abstract ：
Parallelization is widely employed to improve the exploration ability of controllers. However, it is rare to provide a lightweight scheme for reducing homogeneous policies with theoretical guarantees. This article is concerned with a novel parallel scheme for solving optimal control problems. In brief, we design a novel global indicator that inherits the theoretical guarantees of a class of iterative reinforcement learning algorithms. By generating a tentative function, the global indicator can guide and communicate with parallel controllers to accelerate the learning process. Using two typical exploration policies, the novel parallel scheme can rapidly compress the neighborhood of the optimal cost function. Besides, two parallel algorithms based on value iteration and Q-learning are established to improve the data efficiency through different extensions. Finally, two benchmark problems are presented to demonstrate the learning effectiveness of the novel parallel scheme.
Keyword ：
Adaptive critic Adaptive critic nonlinear control nonlinear control parallel learning parallel learning Q-learning Q-learning reinforcement learning (RL) reinforcement learning (RL) discrete-time systems discrete-time systems value iteration (VI) value iteration (VI)
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| GB/T 7714 | Wang, Ding , Wang, Jiangyu , Hu, Lingzhi et al. Novel Parallel Formulation for Iterative Reinforcement Learning Control [J]. | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2024 , 54 (10) : 6320-6331 . |
| MLA | Wang, Ding et al. "Novel Parallel Formulation for Iterative Reinforcement Learning Control" . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 54 . 10 (2024) : 6320-6331 . |
| APA | Wang, Ding , Wang, Jiangyu , Hu, Lingzhi , Zhang, Liguo . Novel Parallel Formulation for Iterative Reinforcement Learning Control . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2024 , 54 (10) , 6320-6331 . |
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Abstract ：
This article investigates the stabilization problem of stop-and-go waves in vehicle traffic flow with bilateral boundary feedback control. The stop-and-go waves induce the discontinuities of vehicle speed and density, which inturn lead to different traffic states on the front and back sides of the shock front. According to the Rankine-Hugoniot condition, a propagation equation of the shock front is proposed depending on the characteristic velocities of the Aw-Rascle-Zhang traffic flow model. Then, the complete dynamics of the stop-and-go waves is formulated as a coupled hyperbolic partial differential equations (PDE- PDE) system with a common moving boundary. The well posedness of the coupled system with the moving boundary is established via the fixed-domain method. To stabilize the discontinuous traffic state and the location of shock front simultaneously, the bilateral boundary feedback control is formulated for the stop-and-go waves of traffic flow. Some sufficient conditions in terms of matrix inequalities are derived for ensuring the local exponential stability of the closed-loop system in the H-2-norm. Finally, the theoretical results are illustrated with numerical simulations.
Keyword ：
Aw-Rascle-Zhang (ARZ) traffic flow model Aw-Rascle-Zhang (ARZ) traffic flow model Shock waves Shock waves boundary stabilization boundary stabilization Vehicle dynamics Vehicle dynamics Feedback control Feedback control Numerical models Numerical models coupled partial differential equations (PDE-PDE) system coupled partial differential equations (PDE-PDE) system Lyapunov function Lyapunov function Mathematical models Mathematical models stop-and-go waves stop-and-go waves Electric shock Electric shock Roads Roads
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| GB/T 7714 | Zhang, Liguo , Luan, Haoran , Zhan, Jingyuan . Stabilization of Stop-and-Go Waves in Vehicle Traffic Flow [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (7) : 4583-4597 . |
| MLA | Zhang, Liguo et al. "Stabilization of Stop-and-Go Waves in Vehicle Traffic Flow" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 69 . 7 (2024) : 4583-4597 . |
| APA | Zhang, Liguo , Luan, Haoran , Zhan, Jingyuan . Stabilization of Stop-and-Go Waves in Vehicle Traffic Flow . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (7) , 4583-4597 . |
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Abstract ：
This paper studies the cooperative control problem of a mixed vehicle platoon, which is composed of connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs) in an arbitrary order. An alternating direction method of multipliers (ADMM) based distributed model predictive control (DMPC) algorithm is proposed for CAVs to lead the mixed vehicle platoon travelling in a string with anticipated inter-vehicle spacing and a desired velocity. First, the mixed vehicle platoon is divided into multiple interrelated sub-platoons with any two adjacent sub-platoons having a common CAV, and then a generic model is constructed for each sub-platoon based on the intelligent driver model for HDV and the kinematic model for CAV, respectively. Second, a local MPC controller is designed for each sub-platoon to optimize the control inputs of CAVs with the objective of minimizing the position and velocity errors of all vehicles in the sub-platoon, and then the ADMM is utilized to obtain the global optimal solution among local MPC controllers of all sub-platoons. Finally, numerical simulations and experiments are carried out to verify the effectiveness of the proposed DMPC algorithm, the results of which reveal that it can reduce the computation cost significantly and ensure the control performance comparable to the centralized MPC algorithm.
Keyword ：
mixed vehicle platoon mixed vehicle platoon distributed model predictive control distributed model predictive control alternating direction method of multipliers alternating direction method of multipliers
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| GB/T 7714 | Zhan, Jingyuan , Hua, Zhen , Zhang, Liguo . Cooperative predictive control for arbitrarily mixed vehicle platoons with guaranteed global optimality [J]. | IET INTELLIGENT TRANSPORT SYSTEMS , 2023 , 17 (8) : 1702-1714 . |
| MLA | Zhan, Jingyuan et al. "Cooperative predictive control for arbitrarily mixed vehicle platoons with guaranteed global optimality" . | IET INTELLIGENT TRANSPORT SYSTEMS 17 . 8 (2023) : 1702-1714 . |
| APA | Zhan, Jingyuan , Hua, Zhen , Zhang, Liguo . Cooperative predictive control for arbitrarily mixed vehicle platoons with guaranteed global optimality . | IET INTELLIGENT TRANSPORT SYSTEMS , 2023 , 17 (8) , 1702-1714 . |
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Abstract ：
This paper studies an optimal tuning of the boundary controller for a heterogeneous traffic flow model with disturbances in order to alleviate congested traffic. The macroscopic first-order N-class Aw-Rascle traffic model consists of 2N hyperbolic partial differential equations. The vehicle size and the driver's behavior characterize the type of vehicle. There are m positive characteristic velocities and 2N - m negative characteristic velocities in the congested traffic after linearizing the model equations around the steady state depending on the spatial variable. By using the backstepping method, a controller implemented by a ramp metering at the inlet boundary is designed for rejecting the disturbances to stabilize the 2N x 2N heterogeneous traffic system. The developed controller in terms of proportional integral control is derived from mapping the original system to a target system with a proportional integral boundary control rejecting the disturbances. The integral input-to-state stability of the target system is proved by using the Lyapunov method. Finally, an optimization problem is established and solved for seeking the optimal tuning of the controller. (c) 2022 Elsevier Ltd. All rights reserved.
Keyword ：
Boundary controller Boundary controller Backstepping Backstepping Traffic congestion Traffic congestion Disturbances Disturbances Optimal tuning Optimal tuning Multi-type AR traffic model Multi-type AR traffic model
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| GB/T 7714 | Guan, Lina , Zhang, Liguo , Prieur, Christophe . Controller design for heterogeneous traffic with bottleneck and disturbances [J]. | AUTOMATICA , 2023 , 148 . |
| MLA | Guan, Lina et al. "Controller design for heterogeneous traffic with bottleneck and disturbances" . | AUTOMATICA 148 (2023) . |
| APA | Guan, Lina , Zhang, Liguo , Prieur, Christophe . Controller design for heterogeneous traffic with bottleneck and disturbances . | AUTOMATICA , 2023 , 148 . |
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Abstract ：
This paper investigates the model-based periodic event-triggered control strategy for Inter-Vehicle Communication (IVC) in the field of cyber-physical transportation system (CPTS). The vehicle needs to periodically broadcast its state information to other vehicles to ensure the traffic safety. Considering the scarcity of communication resources in traffic network, an event-triggered control is introduced to strike a balance between the communication cost and the estimation quality. The state information of the vehicle is calculated by the local estimator through the interacting filtering algorithm, and the scheduling module controls the broadcast behavior of the vehicle. When the channel between the dead reckoning module and the local estimator is activated, the local estimator broadcasts the current estimation results in the vehicular network. Otherwise, the dead reckoning module in neighboring vehicles calculates the computative state based on the available information. In view of the characteristics of event-triggering, a periodic verification is attached to the system to obtain an ideal compromise between conventional periodic sampled-data control and event-triggered control. Furthermore, the probability distribution of estimated states in the dead reckoning module is calculated, which helps to the design of event-triggered strategy and parameter selection. Extensive simulation and real experiments are conducted to illustrate the effectiveness of the proposed communication control strategy.
Keyword ：
cyber-physical transportation system (CPTS) cyber-physical transportation system (CPTS) interacting filtering algorithm interacting filtering algorithm periodic event-triggered control periodic event-triggered control inter-vehicle communications (IVC) inter-vehicle communications (IVC) Communication control strategy Communication control strategy
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| GB/T 7714 | Jiang, Fengyao , Deng, Heng , Zhang, Liguo . Periodic Event-triggered Control for Inter-vehicle Communications [J]. | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS , 2023 , 21 (4) : 1285-1295 . |
| MLA | Jiang, Fengyao et al. "Periodic Event-triggered Control for Inter-vehicle Communications" . | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 21 . 4 (2023) : 1285-1295 . |
| APA | Jiang, Fengyao , Deng, Heng , Zhang, Liguo . Periodic Event-triggered Control for Inter-vehicle Communications . | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS , 2023 , 21 (4) , 1285-1295 . |
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Abstract ：
The saturated boundary stabilization problem for quasi-linear hyperbolic systems of balance laws is considered under H2-norm in this paper, where the boundary conditions of the system are subject to actuator saturations. The resulting closed-loop system is proven to be locally exponentially stable with respect to the steady states in the presence of saturations. To this end, the sector nonlinearity model is introduced to deal with the saturation term, and then sufficient conditions for ensuring the locally exponential stability are established in terms of a set of matrix inequalities by employing the Lyapunov function method along with a sector condition. Furthermore, these results are applied to the stabilization of the two-lane traffic flow dynamic represented by Lighthill-Whitham-Richards (LWR) model. By utilizing variable speed limit (VSL) devices, a saturated boundary feedback controller is designed to stabilize the two-lane traffic flow, and the exponential convergence of the quasi-linear traffic flow system in H2 sense is validated by numerical simulations.
Keyword ：
saturated boundary feedback control saturated boundary feedback control Quasi-linear hyperbolic systems Quasi-linear hyperbolic systems Lyapunov function Lyapunov function sector condition sector condition LWR traffic flow model LWR traffic flow model
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| GB/T 7714 | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback control of quasi-linear hyperbolic balance laws with application to LWR traffic flow stabilization [J]. | ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS , 2023 , 29 . |
| MLA | Zhao, Hanxu et al. "Saturated boundary feedback control of quasi-linear hyperbolic balance laws with application to LWR traffic flow stabilization" . | ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS 29 (2023) . |
| APA | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback control of quasi-linear hyperbolic balance laws with application to LWR traffic flow stabilization . | ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS , 2023 , 29 . |
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Abstract ：
In contrast to the fruitful results in saturated control of ordinary differential equation (ODE) systems, there are few related studies for hyperbolic partial differential equation (PDE) systems. This paper focuses on the saturated boundary feedback stabilization problem for the Lighthill-Whitham-Richards (LWR) traffic flow model, in which a variable speed limit (VSL) device is applied at the downstream boundary in the presence of actuator saturation and a saturated boundary feedback controller is proposed to drive the traffic density to the steady state. By employing the Lyapunov function method along with a modified local sector condition, sufficient conditions for ensuring the local exponential stability of the LWR traffic flow system are developed in C1-norm. Remarkably, the proposed sufficient conditions establish a relationship between the control gain and the region of exponential stability (RES), and thus the maximal RES can be determined by introducing an optimization criterion. Lastly, numerical simulations are performed to verify the effectiveness of the theoretical results.(c) 2023 Elsevier B.V. All rights reserved.
Keyword ：
Actuator saturation Actuator saturation Lyapunov function Lyapunov function LWR traffic flow model LWR traffic flow model Sector condition Sector condition Boundary control Boundary control
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| GB/T 7714 | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback stabilization for LWR traffic flow model [J]. | SYSTEMS & CONTROL LETTERS , 2023 , 173 . |
| MLA | Zhao, Hanxu et al. "Saturated boundary feedback stabilization for LWR traffic flow model" . | SYSTEMS & CONTROL LETTERS 173 (2023) . |
| APA | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback stabilization for LWR traffic flow model . | SYSTEMS & CONTROL LETTERS , 2023 , 173 . |
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Abstract ：
This paper studies state observation for a heterogeneous quasilinear traffic flow system with disturbances at the inlet of a considered road section. Based on the backstepping method, an observer is designed for the quasilinear traffic flow system with only the boundary measurements at the inlet of the considered road section. The observer is constructed by duplicating the quasilinear system and adding the output injection terms to the partial differential equations and boundary conditions. Making use of the backstepping transformation, the injection gains of the observer system are derived by the computation of kernel equations, which are obtained by mapping the error system into an integral input-to-state stable target system. The applicability of the observer for the design of an output feedback controller stabilizing the quasilinear system is discussed. Finally the assumptions of the design of the observer are numerically checked on a realistic congested traffic scenario.
Keyword ：
Integral input-to-state stable Integral input-to-state stable Backstepping Backstepping Observer Observer Heterogeneous quasilinear traffic flow system Heterogeneous quasilinear traffic flow system Disturbances Disturbances
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| GB/T 7714 | Guan, Lina , Prieur, Christophe , Zhang, Liguo et al. State observation for heterogeneous quasilinear traffic flow system with disturbances [J]. | MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS , 2023 , 36 (3) : 601-628 . |
| MLA | Guan, Lina et al. "State observation for heterogeneous quasilinear traffic flow system with disturbances" . | MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS 36 . 3 (2023) : 601-628 . |
| APA | Guan, Lina , Prieur, Christophe , Zhang, Liguo , Vazquez, Rafael . State observation for heterogeneous quasilinear traffic flow system with disturbances . | MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS , 2023 , 36 (3) , 601-628 . |
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Abstract ：
The edge computing of internet of vehicles is confronted with some challenges, such as the unbalanced arrangement, the service inflexible and the time delay for the real-time computing of roadside nodes. In this paper, a new queuing model and scheduling algorithm of mobile edge computing (MEC) is proposed based on intelligent vehicles integrating the sensing, computing and control together. The GI/GI/1 task queuing model is firstly set up for the distributed services of vehicular networks, in which intelligent vehicles are virtualized into virtual vehicles. Moreover, according to the Voronoi allocation algorithm, the tasks generated by virtual vehicles are allocated and bound to intelligent vehicles. The optimal scheduling and distributed elastic service of intelligent vehicles are presented to solve the problem of unbalanced distribution of tasks in edge computing. The simulation experiment of the vehicle pollutant emission illustrates the effectiveness of the proposed method. © 2022 Science Press. All rights reserved.
Keyword ：
allocation algorithm; Internet of vehicles; mobile edge computing (MEC); queue model; scheduling allocation algorithm; Internet of vehicles; mobile edge computing (MEC); queue model; scheduling
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| GB/T 7714 | Zhang, K. , Zhang, L.-G. . GI/GI/1 Queuing Model and Task Scheduling for Mobile Edge Computing [基于移动边缘计算的 GI/GI/1 排队建模与调度算法] [J]. | Acta Automatica Sinica , 2022 , 48 (7) : 1737-1746 . |
| MLA | Zhang, K. et al. "GI/GI/1 Queuing Model and Task Scheduling for Mobile Edge Computing [基于移动边缘计算的 GI/GI/1 排队建模与调度算法]" . | Acta Automatica Sinica 48 . 7 (2022) : 1737-1746 . |
| APA | Zhang, K. , Zhang, L.-G. . GI/GI/1 Queuing Model and Task Scheduling for Mobile Edge Computing [基于移动边缘计算的 GI/GI/1 排队建模与调度算法] . | Acta Automatica Sinica , 2022 , 48 (7) , 1737-1746 . |
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Abstract ：
In the control problem of a mixed vehicle platoon including connected autonomous vehicles (CAVs) and humandriven vehicles (HDVs) in an arbitrary sequence, the behaviors of HDVs can not be described and predicted by accurate models because of disturbances and modeling errors. Considering the uncertainties of HDVs, a decentralized tube model predictive control (MPC) algorithm based on the feedback control and feedforward control is proposed for CAVs in the mixed vehicle platoon. Firstly, we construct a generic nominal system model and an actual system model for each sub-platoon based on the linearized kinematics of HDVs and CAVs. Secondly, the tube invariant set sequence centered on the nominal system trajectories is constructed with the feedforward control, and then the actual trajectories of all vehicles in each sub-platoon are restricted in the tube with the feedback control. Finally, numerical simulations are given to verify that the proposed tube MPC algorithm can overcome the uncertainties of HDVs to achieve formation control of the mixed vehicle platoon.
Keyword ：
tube model predictive control tube model predictive control Mixed vehicle platoon Mixed vehicle platoon
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| GB/T 7714 | Hua, Zhen , Zhan, Jingyuan , Zhang, Liguo . Decentralized Tube Model Predictive Control for Arbitrarily Mixed Vehicle Platoons with HDV Uncertainties [J]. | 2022 41ST CHINESE CONTROL CONFERENCE (CCC) , 2022 : 5429-5434 . |
| MLA | Hua, Zhen et al. "Decentralized Tube Model Predictive Control for Arbitrarily Mixed Vehicle Platoons with HDV Uncertainties" . | 2022 41ST CHINESE CONTROL CONFERENCE (CCC) (2022) : 5429-5434 . |
| APA | Hua, Zhen , Zhan, Jingyuan , Zhang, Liguo . Decentralized Tube Model Predictive Control for Arbitrarily Mixed Vehicle Platoons with HDV Uncertainties . | 2022 41ST CHINESE CONTROL CONFERENCE (CCC) , 2022 , 5429-5434 . |
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