RESUMEN
This paper addresses the tracking control problem of nonlinear discrete-time multi-agent systems (MASs). First, a local neighborhood error system (LNES) is constructed. Then, a novel tracking algorithm based on asynchronous iterative Q-learning (AIQL) is developed, which can transform the tracking problem into the optimal regulation of LNES. The AIQL-based algorithm has two Q values QiA and QiB for each agent i, where QiA is used for improving the control policy and QiB is used for evaluating the value of the control policy. Moreover, the convergence of LNES is given. It is shown that the LNES converges to 0 and the tracking problem is solved. A neural network-based actor-critic framework is used to implement AIQL. The critic network of AIQL is composed of two neural networks, which are used for approximating QiA and QiB respectively. Finally, simulation results are given to verify the performance of the developed algorithm. It is shown that the AIQL-based tracking algorithm has a lower cost value and faster convergence speed than the IQL-based tracking algorithm.
RESUMEN
Most of the ultrasonic gas flow-meters measure the gas flow rate by calculating the ultrasonic transmission time difference between the downstream and upstream. Ultrasonic energy attenuation occurs in the processes of the ultrasonic generation, conversion, transmission, and reception. Additionally, at the same time, the gas flow will also affect the ultrasonic propagation during the measurement, which results in the ultrasonic energy attenuation and the offset of ultrasonic propagation path. Thus, the ultrasonic energy received by the transducer is weaker. When the gas flow rate increases, this effect becomes more apparent. It leads to the measurement accuracy reduced, and the measurement range narrowed. An energy transfer model, where the ultrasonic gas flow-meter under without/with the gas flow, is established by adopting the statistical analysis and curve fitting based on a large amount of experimental data. The static sub model without the gas flow expresses the energy conversion efficiency of ultrasonic gas transducers, and the dynamic sub model with the gas flow reflects the energy attenuation pattern following the flow rate variations. The mathematical model can be used to determine the minimum energy of the excitation signal for meeting the requirement of specific measurement range, and predict the maximum measurable flow rate in the case of fixed energy of excitation signal. Based on the above studies, a method to enhance the excitation signal energy is proposed under the output power of the transmitting circuit being a finite value so as to extend the measurement rage of ultrasonic gas flow-meter.