Automatic pipeline layout optimization in complex environment is a highly challenging task. However, the traditional method not enough to deal with changes of and requirements multi-pipeline process. Therefore, this paper transforms problem into an MDP proposes algorithm based on deep reinforcement learning. Specifically, we introduce design layers space reduce computational burden caused by increase number pipelines combine discrete Soft Actor-Critic improve exploration efficiency space,...

Using VSC-MTDC to provide frequency support for interconnected power systems is an attractive solution. Considering the disadvantages of traditional methods in shortage or surplus absorption into from AC requiring active (RAPS system) as well flexible and effective balance providing (PAPS system), this paper proposes a novel control method using VSC-MTDC. The main principle proposed firstly make RAPS system be fully naturally absorbed DC grid with slack bus mode converters; addition, smooth...

In order to reduce the energy consumption of welding robot and ensure cooperative movement joints, a trajectory planning method with optimal based on improved sparrow search algorithm is proposed. Firstly, model established joint torque angular velocity robot. To make velocity, acceleration jerk each be bounded continuous, space constructed seventh degree B-spline curve. The total calculated by combining kinematic dynamic parameters. On basis algorithm, time series corresponding solved using...

Intelligent robots are often used to explore various areas instead of humans. However, when the driving joint is damaged, actuated robot degenerates an underactuated robot, and traditional control method not suitable for robot. In this work, a two-stage approach planar prismatic–rotational (PR) introduced. Firstly, we establish dynamic model describe constraint between rotational active prismatic joint. Secondly, trajectory with multiple parameters planned ensure that two joints reach target...

In this paper, we propose a new optimal trajectory planning method for the manipulator to optimize its operating efficiency and ensure smoothness of motion process. The position sequences in joint space corresponding specified task are obtained by using inverse kinematic algorithm, seventh-degree B-spline curve interpolation is used construct with controllable start–stop parameters, continuous velocity, acceleration jerk. constraints transformed into control point curve, sequential quadratic...

For the planar robot with underactuated constraints, a stable control method is presented on foundation of motion planning and intelligent optimization, which includes two stages. (1) Designing controllers to actuated manipulators given target states. (2) Planning trajectory combined constraints between all links, using algorithm find adaptable parameters, tracking such planned trajectories full states simultaneously. At last, multigroup simulations demonstrate validity proposed method.

In this paper, we consider the controllability and stability control problem for planar underactuated robots with non-one passive joints. The dynamic constraints of robot are mainly caused by nonholonomic constraints. Firstly, establish model system analyze its controllability. Then, based on location number joints, divide into different configurations. Next, propose a stable method bi-directional approach to achieve systems. At last, numerical simulation conclusion illuminate feasibility method.

Aiming at current harmonics, disturbance immunity and energy efficiency of pulse width modulation (PWM) rectifier system, a novel active rejection control (ADRC) strategy based on equivalent input (EID) is proposed. The circuit equations the system are established, then underactuated characteristics model used to design dual closed-loop strategy. Based conventional ADRC voltage loop controller, new nonlinear error state feedback function constructed by using estimation EID improved adopts...

For the space underactuated manipulator(SUM), this paper researches a intelligent optimization algorithm to plan trajectory and design tracking controller. The SUM system is composed of two planar sub-systems, which can realize horizontal vertical movements respectively. control target move end point specified position, means that all joints sub-systems are controlled state. target, we feasible for active links by using particle swarm optimization(PSO) achieve reaching state simultaneously....

The cart–inverted pendulum system (CIPS) is a typical example of underactuated mechanical systems. For the CIPS with friction and disturbances, gain-scheduled model predictive control method proposed to achieve upright stabilization objective single inverted (SIP) while controlling cart reach desired new position. To this end, first, dynamic equation disturbances formulated based on Newton–Euler equation. On basis CIPS, its motion characteristics process are analyzed. Next, given linearized...

The hybrid HVDC transmission system combines the advantages of conventional LCC-HVDC and flexible VSC-HVDC system, is an attractive solution for future long-distance large-capacity applications; in addition, complexity topology also brings new demands coordinated control strategies to improve operational reliability multi-terminal system. This paper focus on a novel MTDC where rectifier converter adopts LCC series-parallel VSC constitute inverter side. Based this potential operation modes...