Hongye Su

Ziqi Zhuo, Junghui Chen, Lei Xie et al.

This paper addresses the Self-Optimizing Control (SOC) problem in industrial continuous processes and proposes a Reinforcement-Learning (RL)-based SOC approach to improve dynamic performance under high-frequency disturbances. In the proposed framework, the SOC controlled variable structure is embedded in the Actor network, and reward functions are designed based on economic indicators. Through interaction with the environment, the RL agent optimizes controlled variables while implicitly considering implementability and steady-state uniqueness. Online fine-tuning is further introduced to alleviate model mismatch. Experiments on a continuous stirred-tank reactor with disturbances compare the proposed RL-based SOC method with the Objective-Guided Controlled Variable Learning Approach based on steady-state data. The results show that the RL method achieves improved dynamic performance under real-time disturbances, generates smooth controlled variable outputs without explicit regularization, reduces hyperparameter-tuning complexity, and enhances adaptability through online adjustment. Overall, the proposed RL-based SOC approach provides an effective solution for nonlinear process control and offers a promising reference for future studies involving multiple disturbances, multiple operating conditions, and model-free scenarios.

Wule Mao, Zhouheng Li, Entao Sun et al.

Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical optimization. To overcome these limitations, this paper proposes a Spatio-temporal topology and Reachable set analysis enhanced Overtaking trajectory Planning framework (SROP). Specifically, by introducing topological classes to represent distinct overtaking behaviors, the upper-layer planner performs a spatio-temporal search to extract diverse initial paths, effectively preventing local optima. Subsequently, a lower-layer planner conducts parallel trajectory evaluation using reachable sets, which decouples vehicle kinematic constraints from the optimization process to ensure feasibility and significantly accelerate computation. Numerical experiments demonstrate that SROP improves trajectory smoothness by 66.8% and reduces computation time by 62.9% compared to state-of-the-art methods. Furthermore, by seamlessly integrating the method into the F1TENTH autonomous racing simulation platform, a 100-lap sensitivity analysis demonstrates high overtaking success rates in challenging scenarios, thereby validating its practical utility, real-time efficiency, and robustness.

Runze Lin, Yangyang Luo, Xialai Wu et al.

The Organic Rankine Cycle (ORC) is widely used in industrial waste heat recovery due to its simple structure and easy maintenance. However, in the context of smart manufacturing in the process industry, traditional model-based optimization control methods are unable to adapt to the varying operating conditions of the ORC system or sudden changes in operating modes. Deep reinforcement learning (DRL) has significant advantages in situations with uncertainty as it directly achieves control objectives by interacting with the environment without requiring an explicit model of the controlled plant. Nevertheless, direct application of DRL to physical ORC systems presents unacceptable safety risks, and its generalization performance under model-plant mismatch is insufficient to support ORC control requirements. Therefore, this paper proposes a Sim2Real transfer learning-based DRL control method for ORC superheat control, which aims to provide a new simple, feasible, and user-friendly solution for energy system optimization control. Experimental results show that the proposed method greatly improves the training speed of DRL in ORC control problems and solves the generalization performance issue of the agent under multiple operating conditions through Sim2Real transfer.

Xuemin Chi, Jun Zeng, Jihao Huang et al.

We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a high-level HJ-based reachability analysis and a lower-level bidirectional A* search algorithm. In high-level reachability analysis, a backward reachable tube (BRT) concerning vehicle dynamics is computed by the HJ analysis and it intersects with a safe set to get a safe reachable set. The safe set is defined by constraints of positive signed distances for obstacles in the environment and computed by solving QP optimization problems offline. For states inside the intersection set, i.e., the safe reachable set, the computed backward reachable tube ensures they are reachable subjected to system dynamics and input bounds, and the safe set guarantees they satisfy parking safety with respect to obstacles in different shapes. For online computation, randomized states are sampled from the safe reachable set, and used as heuristic guide points to be considered in the bidirectional A* search. The bidirectional A* search is paralleled for each randomized state from the safe reachable set. We show that the proposed two-level planning algorithm is able to solve different parking scenarios effectively and computationally fast for typical parking requests. We validate our algorithm through simulations in large-scale randomized parking scenarios and demonstrate it to be able to outperform other state-of-the-art parking planning algorithms.

Runze Lin, Ziqi Zhuo, Junghui Chen et al.

A significant limitation of Deep Reinforcement Learning (DRL) is the stochastic uncertainty in actions generated during exploration-exploitation, which poses substantial safety risks during both training and deployment. In industrial process control, the lack of formal stability and convergence guarantees further inhibits adoption of DRL methods by practitioners. Conversely, Iterative Learning Control (ILC) represents a well-established autonomous control methodology for repetitive systems, particularly in batch process optimization. ILC achieves desired control performance through iterative refinement of control laws, either between consecutive batches or within individual batches, to compensate for both repetitive and non-repetitive disturbances. This study introduces an Iterative Learning Control-Informed Reinforcement Learning (IL-CIRL) framework for training DRL controllers in dual-layer batch-to-batch and within-batch control architectures for batch processes. The proposed method incorporates Kalman filter-based state estimation within the iterative learning structure to guide DRL agents toward control policies that satisfy operational constraints and ensure stability guarantees. This approach enables the systematic design of DRL controllers for batch processes operating under multiple disturbance conditions.

Zhiping Wu, Cheng Hu, Yiqin Wang et al.

Operating autonomous vehicles at the absolute limits of handling requires precise, real-time identification of highly non-linear tire dynamics. However, traditional online optimization methods suffer from "cold-start" initialization failures and struggle to model high-frequency transient dynamics. To address these bottlenecks, this paper proposes a novel vision-augmented, iterative system identification framework. First, a lightweight CNN (MobileNetV3) translates visual road textures into a continuous heuristic friction prior, providing a robust "warm-start" for parameter optimization. Next, a S4 model captures complex temporal dynamic residuals, circumventing the memory and latency limitations of traditional MLPs and RNNs. Finally, a derivative-free Nelder-Mead algorithm iteratively extracts physically interpretable Pacejka tire parameters via a hybrid virtual simulation. Co-simulation in CarSim demonstrates that the lightweight vision backbone reduces friction estimation error by 76.1 using 85 fewer FLOPs, accelerating cold-start convergence by 71.4. Furthermore, the S4-augmented framework improves parameter extraction accuracy and decreases lateral force RMSE by over 60 by effectively capturing complex vehicle dynamics, demonstrating superior performance compared to conventional neural architectures.

Mingyi Zhang, Cheng Hu, Yiqin Wang et al.

High-speed multi-agent autonomous racing demands robust spatiotemporal planning and precise control under strict computational limits. Current methods often oversimplify interactions or abandon strict kinematic constraints. We resolve this by proposing a Topological Gap Identification and Accelerated MPC framework. By predicting opponent behaviors via SGPs, our method constructs dynamic occupancy corridors to robustly select optimal overtaking gaps. We ensure strict kinematic feasibility using a Linear Time-Varying MPC powered by a customized Pseudo-Transient Continuation (PTC) solver for high-frequency execution. Experimental results on the F1TENTH platform show that our method significantly outperforms state-of-the-art baselines: it reduces total maneuver time by 51.6% in sequential scenarios, consistently maintains an overtaking success rate exceeding 81% in dense bottlenecks, and lowers average computational latency by 20.3%, pushing the boundaries of safe and high-speed autonomous racing.

Qi Zhang, Lei Xie, Weihua Xu et al.

Alkaline Water Electrolysis (AWE) is one of the simplest green hydrogen production method using renewable energy. AWE system typically yields process variables that are serially correlated and contaminated by measurement uncertainty. A novel robust dynamic variational Bayesian dictionary learning (RDVDL) monitoring approach is proposed to improve the reliability and safety of AWE operation. RDVDL employs a sparse Bayesian dictionary learning to preserve the dynamic mechanism information of AWE process which allows the easy interpretation of fault detection results. To improve the robustness to measurement uncertainty, a low-rank vector autoregressive (VAR) method is derived to reliably extract the serial correlation from process variables. The effectiveness of the proposed approach is demonstrated with an industrial hydrogen production process, and RDVDL can efficiently detect and diagnose critical AWE faults.

Qi Zhang, Lei Wang, Weihua Xu et al.

The accuracy of the underlying model predictions is crucial for the success of model predictive control (MPC) applications. If the model is unable to accurately analyze the dynamics of the controlled system, the performance and stability guarantees provided by MPC may not be achieved. Learning-based MPC can learn models from data, improving the applicability and reliability of MPC. This study develops a nonlinear sparse variational Bayesian learning based MPC (NSVB-MPC) for nonlinear systems, where the model is learned by the developed NSVB method. Variational inference is used by NSVB-MPC to assess the predictive accuracy and make the necessary corrections to quantify system uncertainty. The suggested approach ensures input-to-state (ISS) and the feasibility of recursive constraints in accordance with the concept of an invariant terminal region. Finally, a PEMFC temperature control model experiment confirms the effectiveness of the NSVB-MPC method.

Runze Lin, Junghui Chen, Biao Huang et al.

In the era of Industry 4.0 and smart manufacturing, process systems engineering must adapt to digital transformation. While reinforcement learning offers a model-free approach to process control, its applications are limited by the dependence on accurate digital twins and well-designed reward functions. To address these limitations, this paper introduces a novel framework that integrates inverse reinforcement learning (IRL) with multi-task learning for data-driven, multi-mode control design. Using historical closed-loop data as expert demonstrations, IRL extracts optimal reward functions and control policies. A latent-context variable is incorporated to distinguish modes, enabling the training of mode-specific controllers. Case studies on a continuous stirred tank reactor and a fed-batch bioreactor validate the effectiveness of this framework in handling multi-mode data and training adaptable controllers.

Runze Lin, Junghui Chen, Lei Xie et al.

In the context of Industry 4.0 and smart manufacturing, the field of process industry optimization and control is also undergoing a digital transformation. With the rise of Deep Reinforcement Learning (DRL), its application in process control has attracted widespread attention. However, the extremely low sample efficiency and the safety concerns caused by exploration in DRL hinder its practical implementation in industrial settings. Transfer learning offers an effective solution for DRL, enhancing its generalization and adaptability in multi-mode control scenarios. This paper provides insights into the use of DRL for process control from the perspective of transfer learning. We analyze the challenges of applying DRL in the process industry and the necessity of introducing transfer learning. Furthermore, recommendations and prospects are provided for future research directions on how transfer learning can be integrated with DRL to enhance process control. This paper aims to offer a set of promising, user-friendly, easy-to-implement, and scalable approaches to artificial intelligence-facilitated industrial control for scholars and engineers in the process industry.

Yiwei Chen, Gongxin Yao, Yong Liu et al.

Photon-efficient imaging with the single-photon light detection and ranging (LiDAR) captures the three-dimensional (3D) structure of a scene by only a few detected signal photons per pixel. However, the existing computational methods for photon-efficient imaging are pre-tuned on a restricted scenario or trained on simulated datasets. When applied to realistic scenarios whose signal-to-background ratios (SBR) and other hardware-specific properties differ from those of the original task, the model performance often significantly deteriorates. In this paper, we present a domain adversarial adaptation design to alleviate this domain shift problem by exploiting unlabeled real-world data, with significant resource savings. This method demonstrates superior performance on simulated and real-world experiments using our home-built up-conversion single-photon imaging system, which provides an efficient approach to bypass the lack of ground-truth depth information in implementing computational imaging algorithms for realistic applications.