Jian Zhao

Yibo Ding, Zhao Xu, Yuhong Zhao et al.

This letter proposes a learn-to-optimize (LTO) architecture for distributed optimal power flow (D-OPF) as the nexus between data-driven and model-based methods. By unfolding alternating direction method of multipliers (ADMM) into a deep neural network (NN) and embedding differentiable optimization layers, our architecture realizes near-instantaneous interpretable distributed decision-making. For mainstream relaxed formulations of D-OPF, the decisions from our architecture achieve comparable optimality with that of state-of-the-art solvers and excelled feasibility compared with existing data-driven approaches. Comparative case studies underpin the effectiveness of our architecture regarding the optimality and feasibility.

Jian Zhao, Wenbo Zhou, Zhicheng Chen et al.

Unmanned ground vehicles (UGVs) operating in off-road scenarios are confronted with complex terrain disturbances that can substantially degrade path tracking performance. To address this challenge, this paper proposes a deep neural network (DNN) Koopman-based deviation compensation strategy for UGV path tracking control. Firstly, based on the vehicle dynamic function on coupled slope, an adaptive forgetting recursive least squares method with decoupled error terms is designed to estimate tire cornering stiffness. On this basis, a Laguerre model predictive control (LMPC) path tracking control strategy is designed by incorporating Laguerre functions, which can reduce computational resource usage while maintaining reliable tracking performance across different coupled slope scenarios. Then, by integrating Koopman operator theory with DNN, a DNN Koopman (DK) path deviation compensation method is proposed, which significantly improves the path tracking accuracy of UGV under potholed road disturbances. Furthermore, an event-triggered parallel cooperative (EPC) compensation mechanism that couples LMPC with DK is established based on compensation activation criteria and credibility verification. This mechanism improves path tracking accuracy on potholed road while ensuring the feasibility of overall steering command and stability of vehicle after DK compensation. Finally, a hardware-in-the-loop (HiL) experimental platform is constructed for validation. Experimental results demonstrate that the proposed UGV path tracking strategy improves tracking performance by more than 11.5% across multiple operating conditions.