arXiv subjects

Dezhao Zhang

Publications and source records attributed to Dezhao Zhang.

3 recordsLinked to original sources

arXiv2023

Relaxed Actor-Critic with Convergence Guarantees for Continuous-Time Optimal Control of Nonlinear Systems

This paper presents the Relaxed Continuous-Time Actor-critic (RCTAC) algorithm, a method for finding the nearly optimal policy for nonlinear continuous-time (CT) systems with known dynamics and infinite horizon, such as the path-tracking control of vehicles. RCTAC has several advantages over existing adaptive dynamic programming algorithms for CT systems. It does not require the ``admissibility" of the initialized policy or the input-affine nature of controlled systems for convergence. Instead, given any initial policy, RCTAC can converge to an admissible, and subsequently nearly optimal policy for a general nonlinear system with a saturated controller. RCTAC consists of two phases: a warm-up phase and a generalized policy iteration phase. The warm-up phase minimizes the square of the Hamiltonian to achieve admissibility, while the generalized policy iteration phase relaxes the update termination conditions for faster convergence. The convergence and optimality of the algorithm are proven through Lyapunov analysis, and its effectiveness is demonstrated through simulations and real-world path-tracking tasks.

eess.SY↗

arXiv2022

Experimental study and modeling of the lower-level controller of automated vehicle

Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two vehicles that are equipped with developable autonomous driving system, where one can customize the upper-level control algorithm. Based on the field experimental data, a new lower-level control model is developed and compared with two widely used ones. The comparison results show that the proposed model outperforms the two previous models in capturing the observed actual acceleration, especially the troughs of the acceleration time series. Furthermore, theoretical analysis indicates that comparing with the proposed model, the two previous models significantly overestimate the stability region of the traffic flow of the AVs and the capacity of stable traffic flow. Our study is expected to further shed light on the importance of accurate lower-level control modeling.

physics.soc-ph↗

arXiv2019

Some Ideas on Categories and Sheaves

We firstly introduce some key concepts in category theory, such as quotient category, completion of limits, $\mathrm{Mor}$ category, and so on; then give the concept of topology algebras and sheaves, and discuss how to restore the structue of sheaves from their stalks; lastly, we introduce the sheaf-theoretical expression for topological spaces, and rediscribe some essential items in topology and geometry by defining a kind of generally existing category sheaves.

math.CT↗