基于深度强化学习的无人艇集群类脑决策与控制

51979020
2019
E1102.船舶工程
彭周华
面上项目
教授
大连海事大学
60万元
运动控制;集群协同;无人艇;运动规划;分布式控制
2020-01-01到2023-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 Cooperative diving of multiple under-actuated saucer-type autonomous underwater gliders based on linear extended state observers 会议论文 Haoliang Wang;Yaxing Chai;Yue Jiang;Dan Wang;Caiqin Sun;Lu Liu;Zhouhua Peng
2 Robust distributed guidance and control of multiple autonomous surface vehicles based on extended state observers and finite-set model predictive control 会议论文 Haoliang Wang;Jizhou Jiang;Wentao Wu;Lu Liu;Dan Wang;Zhouhua Peng
3 Event-triggered control for containment maneuvering of second-order MIMO multi-agent systems with unmatched uncertainties and disturbances 期刊论文 YiboZhang;Dan Wang;Zhouhua Peng;Lu Liu;Shimin Wang
4 Model-free anti-disturbance autopilot design for autonomous surface vehicles with hardware-in-loop experiments 期刊论文 Zhouhua Peng;Kai Cui;Huijuan Li;Nan Gu;Lu Liu;Dan Wang
5 Online learning-based active disturbance rejection control of autonomous surface vehicles with HIL simulations 期刊论文 Bo Peng;Nan Gu;Dan Wang;Tieshan Li;Bing Han;Zhouhua Peng
6 Model-free adaptive disturbance rejection control of an RSV with hardware-in-the-loop experiments 期刊论文 Bo Peng;Nan Gu;Dan Wang;Zhouhua Peng
7 Coordinated target tracking by multiple unmanned surface vehicles with communication delays based on a distributed event-triggered extended state observer 期刊论文 Shengnan Gao;Zhouhua Peng;Lu Liu;Haoliang Wang;Dan Wang
8 单路径导引的车式移动机器人协同编队控制 期刊论文 王常顺;王丹;彭周华
9 无人船自主协同智能控制理论及技术 奖励 彭周华;李铁山;郭晨;王丹;刘陆
10 Nonlinear extended state observer based direct voltage sliding mode control of stand-alone DFIG-DC systems 会议论文 Junyan Chen;Dan Wang;Zhouhua Peng;Lu Liu;Jiayu Duan
11 Data-driven path following of unmanned surface vehicles based on model-based reinforcement learning and model predictive path integral control 会议论文 Enrong Liu;Dan Wang;Zhouhua Peng;Lu Liu;Nan Gu
12 多无人船协同控制理论与方法 奖励 彭周华;李铁山;王丹;刘陆
13 Path-Guided containment maneuvering of mobile robots: Theory and experiments 期刊论文 Nan Gu;Zhouhua Peng;Dan Wang;Fumin Zhang
14 Path-guided model-free flocking control of unmanned surface vehicles based on concurrent learning extended state observers 期刊论文 Zhouhua Peng;Yue Jiang;Lu Liu;Yang Shi
15 Event-triggered dynamic surface control of an under-actuated autonomous surface vehicle for target enclosing 期刊论文 Zhouhua Peng;Yue Jiang;Jun Wang
16 Event-triggered cooperative path following of autonomous surface vehicles over wireless network with experiment results 期刊论文 Mingao Lv;Zhouhua Peng;Dan Wang;Qing-Long Han
17 Collision-free cooperative kinematic guidance laws for multiple unmanned surface vehicles subject to static and dynamic obstacles 会议论文 Zipeng Huang;Lu Liu;Dan Wang;Haoliang Wang;Zhouhua Peng
18 Lyapunov-based fast finite-state model predictive control for sensorless three-phase four-arm MMC 期刊论文 Xing Liu;Lin Qiu;Jien Ma;Youtong Fang;Wenjie Wu;Zhouhua Peng;Dan Wang
19 无人船集群协同控制理论与实践 专著 彭周华;刘陆;王丹;王浩亮
20 Cooperative target enclosing of ring-networked underactuated autonomous surface vehicles based on data-driven fuzzy predictors and extended state observers 期刊论文 Yue Jiang;Zhouhua Peng;Dan Wang;Yong Yin;Qing-Long Han
21 基于ESO的双桨推进无人船抗干扰目标跟踪控制 期刊论文 吴文涛;彭周华;王丹;刘陆;姜继洲;任帅
22 Data-driven finite control set model predictive speed control of an autonomous surface vehicle subject to fully unknown kinetics and propulsion dynamics 期刊论文 Yue Jiang;Zhouhua Peng;Chengcheng Meng;Lu Liu;Dan Wang;Tieshan Li
23 Event-triggered ESO-based robust MPC for power converters 期刊论文 Xing Liu;Lin Qiu;Wenjie Wu;Jien Ma;Youtong Fang;Zhouhua Peng;Dan Wang;Jose Rodriguez
24 COLREGs-compliant collision-free cooperative path following for multiple maritime autonomous surface ships 会议论文 HaoFeng;Lu Liu;Yanping Xu;Dan Wang;Zhouhua Peng
25 Event-triggered ISS-modular neural network control for containment maneuvering of nonlinear strict-feedback multi-agent systems 期刊论文 Yibo Zhang;Dan Wang;Zhouhua Peng;Tieshan Li;Lu Liu
26 面向海上搜救的UAV与USV集群协同路径跟踪控制 期刊论文 王浩亮;尹晨阳;卢丽宇;王丹;彭周华
27 Safety-critical cooperative target enclosing control of autonomous surface vehicles based on finite-time fuzzy predictors and input-to-state safe high order control barrier functions 期刊论文 Yue Jiang;Zhouhua Peng;Lu Liu;Dan Wang;Fumin Zhang
28 Model predictive direct power control for modular multilevel converter under unbalanced conditions with power compensation and circulating current reduction 期刊论文 Wenjie Wu;Dan Wang;Zhouhua Peng;Xing Liu
29 Multi-ASV motion planning for formation reconfiguration based on control barrier functions 期刊论文 Yanping Xu;Lu Liu;Yibo Yin;Dan Wang;Zhouhua Peng
30 一种输入受限的无人船航向共融控制方法、系统及结构 专利 彭周华;阮明昊;王丹;刘陆;李铁山
31 一种动态完全未知系统的数据驱动自适应预估器 专利 彭周华;阮明昊;刘陆;王丹;李铁山;王浩亮
32 Path planning of an saucer-type autonomous underwater glider based on adaptive quantum behaved particle swarm optimization 会议论文 Haoliang Wang;Jizhou Jiang;Wentao Wu;Lu Liu;Dan Wang;Zhouhua Peng
33 Safety-critical path planning of autonomous surface vehicles based on rapidly-exploring random tree algorithm and high order control barrier functions 会议论文 Yihe Li;Zhouhua Peng;Lu Liu;Haoliang Wang;Nan Gu;Anqing Wang;Dan Wang
34 Digital twin motion modeling of an autonomous surface vehicle based on meta-learning predictor 会议论文 Jiaxue Xu;Fengbei Xia;Nan Gu;Dan Wang;Zhouhua Peng
35 Event-triggered distributed coordinated control of networked autonomous surface vehicles subject to fully unknown kinetics via concurrent-learning-based neural predictor 期刊论文 Yibo Zhang;Dan Wang;Yong Yin;Zhouhua Peng
36 Prediction-based event-triggered extended state observers design for unmanned surface vehicles 会议论文 Lu Liu;Haoliang Wang;Dan Wang;Zhouhua Peng
37 Advances in line-of-sight guidance for path following of autonomous marine vehicles: An overview 期刊论文 Nan Gu;Dan Wang;Zhouhua Peng;Jun Wang;Qing-Long Han
38 Data-driven distributed formation control of under-actuated unmanned surface vehicles with collision avoidance via model-based deep reinforcement learning 期刊论文 Chao Pan;Zhouhua Peng;Lu Liu;Dan Wang
39 一种基于加速度信息的无人船状态和扰动观测器 专利 彭周华;岳佳旺;王丹;刘陆;王浩亮;古楠
40 一种多无人船编队安全优化控制系统 专利 彭周华;吕光颢;顾兆伟;王丹;尹勇;刘陆;王浩亮
41 一种模块化集成无人艇控制器硬件系统 专利 彭周华;郎清泉;古楠;王安青;刘陆;王浩亮;王丹
42 Adaptive extended state observer based direct voltage sliding mode control of stand-alone DFIG-DC system 会议论文 Junyan Chen;Dan Wang;Zhouhua Peng;Zhouhua Peng;Jiayu Duan
43 Observer-based finite-time control for distributed path maneuvering of underactuated unmanned surface vehicles with collision avoidance and connectivity preservation 期刊论文 Nan Gu;Dan Wang;Zhouhua Peng;Lu Liu
44 Safety-critical path planning and following of maritime autonomous surface for automatic docking 会议论文 Xiaowen Kong;Zhouhua Peng;Haoliang Wang;Lu Liu;Anqing Wang;Dan Wang;Nan Gu
45 Learning to control of an under-actuated autonomous surface vehicle based on model-based deep reinforcement learning 会议论文 Qiuyue Sun;Zhouhua Peng;Dan Wang;Haoliang Wang;Lu Liu;Anqing Wang
46 Distributed optimization for coordinated dynamic positioning of multiple surface vessels based on asymptotically stable ESOs 期刊论文 Zhouhua Peng;Yue Jiang;Lu Liu;Dan Wang
47 Safety-certificated line-of-sight guidance of unmanned surface vehicles for straight-line following in a constrained water region subject to ocean currents 期刊论文 Zhouhua Peng;Jianzhong Li;Bing Han;Nan Gu
48 Data-driven adaptive disturbance observers for model-free trajectory tracking control of maritime autonomous surface ships 期刊论文 Zhouhua Peng;Dan Wang;Jun Wang
49 Synchronized path following of multiple unmanned surface vehicles with experiments: a cooperative vector field approach 期刊论文 Xiaoxuan Gong;Lu Liu;Zhouhua Peng;Dan Wang;Weidong Zhang
50 Nonlinear observer design for a robotic unmanned surface vehicle with experiment results 期刊论文 Nan Gu;Zhouhua Peng;Dan Wang;Lu Liu;Yue Jiang
51 一种船舶防碰撞控制系统及其设计方法 专利 彭周华;阮明昊;王安青;王冠杰;王丹;刘陆
52 一种基于视觉信息的无人艇多约束局部路径规划方法 专利 彭周华;李龙威;刘陆;何欣桐;古楠;王浩亮;王丹;韩冰;刘伟
53 一种无人水面艇能耗最小轨迹规划方法 专利 彭周华;李龙威;韩冰;刘伟;刘陆;王浩亮;王安青;古楠;王丹
54 Adaptive three-dimensional cross domain coordination of UAVs and USVs for maritime search and rescue 会议论文 Haoliang Wang;Chenyang Yin;Haibo Yang;Dan Wang;Zhouhua Peng
55 Adaptive coordinated path following control of usvs for offshore oil spill surveillance 会议论文 Haoliang Wang;Enshuai Ren;Chenyang Yin;Dezhi Yu;Zhouhua Peng;Dan Wang
56 Adaptive parameter identification of maritime autonomous surface ships with exponential convergence 会议论文 Jiawang Yue;Zhouhua Peng;Dan Wang
57 An overview of recent advances in coordinated control of multiple autonomous surface vehicles 期刊论文 Zhouhua Peng;Jun Wang;Dan Wang;Qing-long Han
58 Network-based line-of-sight path tracking of underactuated unmanned surface vehicles with experiment results 期刊论文 Wentao Wu;Zhouhua Peng;Dan Wang;Lu Liu;Qing-long Han
59 Online adaptive parameter identification of an unmanned surface vehicle without persistency of excitation 期刊论文 Jiawang Yue;Lu Liu;Nan Gu;Zhouhua Peng;Dan Wang;Yi Dong
60 Distributed output-feedback control of unmanned container transporter platooning with uncertainties and disturbances using event-triggered mechanism 期刊论文 Changshun Wang;Dan Wang;Zhouhua Peng
61 Multi-ASV collision avoidance for point-to-point transitions based on heading-constrained control barrier functions with experiment 期刊论文 Yanping Xu;Lu Liu;Nan Gu;Dan Wang;Zhouhua Peng
62 Event-triggered extended state observers design for dynamic positioning vessels subject to unknown sea loads 期刊论文 Lu Liu;Weidong Zhang;Dan Wang;Zhouhua Peng
63 一种无人驾驶船舶非周期通信协同控制系统 专利 彭周华;吕旻高;罗铭焌;韩冰;刘伟;王丹;古楠
64 一种无人船事件触发分层协同控制系统 专利 彭周华;高胜男;孔晓雯;王浩亮;刘陆;王安青;王丹
65 Safety-critical defensive guidance of autonomous surface vehicles for domain protectio 会议论文 Tong Kang;Nan Gu;Dan Wang;Zhouhua Peng
66 Multi-USV formation reconfiguration based on guiding vector fields and control barrier functions 会议论文 Xiaoxuan Gong;Lu Liu;Haoliang Wang;Anqing Wang;Dan Wang;Zhouhua Peng
67 Finite control set model free predictive control of DFIG-DC based on data driven NN predictors 会议论文 Liu Lu;Guangqiang Wang;Nan Gu;Dan Wang;Zhouhua Peng
68 Anti-disturbance leader–follower synchronization control of marine vessels for underway replenishment based on robust exact differentiators 期刊论文 Wentao Wu;Zhouhua Peng;Dan Wang;Lu Liu
69 Adaptive anti-disturbance sampling control of autonomous surface vehicles based on discrete-time concurrent learning extended state observers 期刊论文 Huijuan Li;Kai Cui;Nan Gu;Lu Liu;Dan Wang;Zhouhua Peng
70 Distributed event-triggered formation control of planar vehicles without velocity sensors 期刊论文 Kunting Yu;Yongming Li;Zhouhua Peng;Shaocheng Tong
71 Collision-free output-feedback super-twisting control of robotic surface vehicles for coordinated path following with experiments 期刊论文 Mingao Lv;Dan Wang;Nan Gu;Lu Liu;Zhouhua Peng
72 Wave-filtering finite-time self-learning extended state observers for robotic surface vehicles, 期刊论文 Jiawang Yue;Lu Liu;Zhouhua Peng;Dan Wang
73 基于事件触发机制的多自主水下航行器协同路径跟踪控制 期刊论文 王浩亮;柴亚星;王丹;刘陆;王安青;彭周华
74 Output feedback cooperative formation maneuvering of autonomous surface vehicles with connectivity preservation and collision avoidance 期刊论文 Zhouhua Peng;Dan Wang;Tieshan Li;Min Han
75 Distributed path following of multiple under-actuated autonomous surface vehicles based on data-driven neural predictors via integral concurrent learning 期刊论文 Lu Liu;Dan Wang;Zhouhua Peng;Qinglong Han
76 一种切换通讯拓扑下无人船编队规划与制导方法及系统 专利 彭周华;古楠;徐彦平;刘陆;王浩亮;王丹;尹勇
77 一种无人船事件触发分层协同控制器结构与方法 专利 彭周华;高胜男;孔晓雯;王浩亮;刘陆;王安青;王丹
78 一种基于卫星地图的无人艇遍历路径规划与避碰方法 专利 彭周华;马鸣;段佳雨;古楠;王浩亮;刘陆;王丹;徐彦平
79 一种无人船向量场路径跟踪控制器及设计方法 专利 彭周华;古楠;李建众;王安青;刘陆;王浩亮
80 Safe motion planning for goal reaching of multiple autonomous surface vehicles based on high-order control barrier functions 会议论文 Yanping Xu;Lu Liu;Zhouhua Peng;Dan Wang;Haoliang Wang;Anqing Wang
81 Constrained control of autonomous surface vehicles for multi-target encirclement via fuzzy modeling and neurodynamic optimization 期刊论文 Yue Jiang;Zhouhua Peng;Jun Wang
82 Output-feedback flocking control of multiple autonomous surface vehicles based on data-driven adaptive extended state observers 期刊论文 Zhouhua Peng;Lu Liu;Jun Wang
83 PWM driven model predictive speed control for an unmanned surface vehicle with unknown propeller dynamics based on parameter identification and neural prediction 期刊论文 Zhouhua Peng;Chengcheng Meng;Lu Liu;Dan Wang;Tieshan Li
84 无人船集群的抗干扰最优覆盖控制 期刊论文 刘洋;贾宏春;刘陆;王丹;彭周华
85 Safety-critical model-free control for multi-target tracking of USVs with collision avoidance 期刊论文 Shengnan Gao;Zhouhua Peng;Haoliang Wang;Lu Liu;Dan Wang
86 Flocking of under-actuated unmanned surface vehicles via deep reinforcement learning and model predictive path integral control 期刊论文 Chao Pan;Zhouhua Peng;Yongming Li;Bing Han;Dan Wang
87 Self-triggered synchronized path maneuvering of constrained uncertain MIMO nonlinear systems based on command optimization 期刊论文 Siming Cong;Dan Wang;Lu Liu;Tieshan Li;Zhouhua Peng
88 Self-triggered Three-dimensional Coordinated Path Following of Disk-type Autonomous Underwater Gliders Based on Low-frequency Learning Fuzzy Predictors 期刊论文 Haoliang Wang;Dan Wang;Fumin Zhang;Lu Liu;Tianlin Wang;Zhouhua Peng
89 Fixed-time resilient edge-triggered estimation and control of surface vehicles for cooperative target tracking under attacks 期刊论文 Shengnan Gao;Zhouhua Peng;Lu Liu;Dan Wang;Qing-Long Han
90 Model predictive direct power control for PWM rectifiers based on online parameter identification 会议论文 Yongzhi Wang;Dan Wang;Zhouhua Peng
91 Event-triggered LOS guidance for path following of an unmanned surface vehicle over wireless network 会议论文 Wentao Wu;Dan Wang;Mingao Lv;Jizhou Jiang;Lu Liu;Zhouhua Peng
92 Safety-critical guidance of maritime autonomous surface ship for automatic docking based on control barrier functions 会议论文 Chen Wang;Zhouhua Peng;Haoliang Wang;Lu Liu;Anqing Wang;Dan Wang
93 Safety-critical line-of-sight path following guidance of an under-actuated maritime autonomous surface ship based on robust optimization 会议论文 Jianzhong Li;Zhouhua Peng;Lu Liu;Dan Wang;Anqing Wang;Nan Gu
94 Data-driven adaptive extended state observer design for autonomous surface vehicles with unknown input gains based on concurrent learning 期刊论文 Jiawang Yue;Lu Liu;Zhouhua Peng;Dan Wang;Tieshan Li
95 A general safety-certified cooperative control architecture for interconnected intelligent surface vehicles with applications to vessel train 期刊论文 Wentao Wu;Zhouhua Peng;Lu Liu;Dan Wang
96 Data-driven learning extended state observers for nonlinear systems: Design, analysis and hardware-in-loop simulations 期刊论文 Zhouhua Peng;Mingao Lv;Lu Liu;Dan Wang
97 Model-free containment control of underactuated surface vessels under switching topologies based on guiding vector fields and data-driven neural predictors 期刊论文 Nan Gu;Dan Wang;Zhouhua Peng;Tieshan Li;Shaocheng Tong
98 Barrier-certified distributed model predictive control of under-actuated autonomous surface vehicles via neurodynamic optimization 期刊论文 Guanghao Lv;Zhouhua Peng;Lu Liu;Jun Wang
99 一种基于采样优化的无人船轨迹规划方法 专利 彭周华;李龙威;刘陆;何欣桐;尹勇;王浩亮;王安青;古楠;王丹
100 多无人船分布式集群控制与智能优化 奖励 彭周华;刘陆;王巍;李铁山
101 Dead-beat predictive control of DFIG-DC based on data-driven neural network predictor 会议论文 Lu Liu;Guangqiang Wang;Nan Gu;Dan Wang;Zhouhua Peng
102 Cooperative trajectory tracking of multiple unmanned surface vehicles via distributed time-varying optimization 会议论文 Shengnan Gao;Lu Liu;Zhouhua Peng;Dan Wang;Haoliang Wang;Anqing Wang
103 Resource-aware synchronized path following of multiple unmanned surface vehicles with experiments: A cooperative vector field approach 期刊论文 Xiaoxuan Gong;Lu Liu;Zhouhua Peng;Dan Wang;Weidong Zhang
104 Safe-critical formation reconfiguration of multiple unmanned surface vehicles subject to static and dynamic obstacles based on guiding vector fields and fixed-time control barrier functions 期刊论文 Xiaoxuan Gong;Lu Liu;Zhouhua Peng
105 Barrier-certified model predictive cooperative path following control of connected autonomous surface vehicles 期刊论文 Guanghao Lv;Zhouhua Peng;Yongming Li;Lu Liu;Dan Wang
106 Online deep learning control of an autonomous surface vehicle using learned dynamics 期刊论文 Zhouhua Peng;Fengbei Xia;Lu Liu;Dan Wang;Tieshan Li
107 Reliability-based fixed-time nonsingular terminal sliding mode control for dynamic positioning of turret-moored vessels with uncertainties and unknown disturbances 期刊论文 Yulong Tuo;Shasha Wang;Zhouhua Peng;Chen Guo
108 Model-based deep reinforcement learning for data-driven motion control of an under-actuated unmanned surface vehicle: path following and trajectory tracking 期刊论文 Zhouhua Peng;Enrong Liu;Chao Pan;Haoliang Wang;Dan Wang;Lu Liu
109 Safety-critical containment maneuvering of underactuated autonomous surface vehicles based on neurodynamic optimization with control barrier functions 期刊论文 Nan Gu;Dan Wang;Zhouhua Peng;Jun Wang
110 Disturbance observers and extended state observers for marine vehicles: a survey 期刊论文 Nan Gu;Dan Wang;Zhouhua Peng;Jun Wang;Qing-Long Han
111 Neural Predictor-based dynamic surface predictive control for power converters 期刊论文 Xing Liu;Lin Qiu;Jose Rodriguez;Wenjie Wu;Jien Ma;Zhouhua Peng;Dan Wang;Youtong Fang
112 Event-triggered neural network control of autonomous surface vehicles over wireless network 期刊论文 Mingao Lv;Dan Wang;Zhouhua Peng;Lu Liu;Haoliang Wang
113 GVF-based guidance and super-twisting control of autonomous surface vehicle for target tracking in obstacle environments with experiments 期刊论文 Mingao Lv;Nan Gu;Dan Wang;Zhouhua Peng
114 多无人艇集群协同控制研究进展与未来趋势 期刊论文 彭周华;吴文涛;王丹;刘陆
115 一种多无人船编队防碰撞抗干扰控制系统 专利 彭周华;吕光颢;王丹;尹勇;刘陆;王浩亮
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