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Bearing-based collision-free formation control for spacecrafts under dynamic event-triggered input

IEEE Transactions on Automation Science and Engineering 2025年 22卷 14855-14866页

作者： Li, Jun Kang, Honglong Li, Jianfeng Song, Shenmin Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China

This paper investigates a motion planning problem for multiple spacecrafts under dynamic event-triggered input and bearing constraint. As a safety-critical system, collision avoidance plays a key role in endowing the formation system with fully autonomous operating space under obstacle-cluttered environment. Given this fact, a control barrier function (CBF)-based quadratic programming (QP) is developed based on backstepping framework, such that each spacecraft is able to move to its predefined position without collisions among static/moving obstacles and its neighbors. Considering the limited communication and actuation capability, an input-based event-triggered mechanism (ETM) is then introduced with dynamic parameter to schedule the triggering instants. By doing so, the data transmission from the controller to the actuator can be well-regulated with system input only, which offers a more practical solution to limited communication resources. The stability of the system is proved via Lyapunov analysis and the simulations are conducted to show the effectiveness of the proposed strategy. © 2004-2012 IEEE.

关键词： Quadratic programming

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Distributed Maximum Correntropy Nonlinear Filter With Variance Correction Subject to Deception Attacks

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IEEE Transactions on Network Science and Engineering 2025年第3期12卷 1707-1719页

作者： Liu, Jingang Sun, Shuli Cheng, Guorui Song, Shenmin Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Heilongjiang University School of Electronic Engineering Harbin150080 China North Automatic Control Technology Institute Taiyuan030006 China

This paper deals with the issue of state estimation for nonlinear non-Gaussian networks suffering from deception attacks. A novel distributed maximum correntropy filter with variance correction is proposed, which consists of local estimation and diffusion fusion. Firstly, the estimates from neighbor nodes are fused to obtain a common prediction estimate, as well as the upper bounds of the corresponding covariances are derived to avoid calculating correlated information. The chi-square test is employed to rectify the inaccurate noise variance caused by non-Gaussian noise and deception attacks. Based on minimum error and maximum correntropy criteria, distinct consensus gains and filtering gain for the local filter are derived. Then, local estimates of neighbor nodes are fused based on covariance intersection to enhance the accuracy of the node itself. The designed distributed structure combines the merits of consensus and diffusion filters, which can further enhance the estimation performance of the whole system. The statistical linearization and the cubature rule are applied to deal with nonlinear functions, avoiding Jacobi matrices and additional uncertain parameters. In addition, it is proved that the filtering covariance is bounded under certain conditions. Finally, simulation results verify the effectiveness and accuracy of the presented algorithm. © 2013 IEEE.

关键词： Wiener filtering

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Hyperbolic Sine Function-Based Full-State Feedback Attitude Tracking control for Rigid Spacecraft

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3412-3424页

作者： Dong, Rui-Qi Wu, Ai-Guo Li, Bin Duan, Guang-Ren Department of Automation Shenzhen518055 China Sichuan University School of Aeronautics and Astronautics Chengdu610207 China Southern University of Science and Technology Center for Control Science and Technology Shenzhen518055 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China

The attitude tracking control with unwinding-free performance for rigid spacecraft is studied in this article. A full-state feedback control law based on a hyperbolic sine function is developed such that the resulted closed-loop system can achieve two stable equilibria. By Lyapunov stability theory and Barbalat's Lemma, it is proven that the obtained closed-loop system is almost globally asymptotically stable, and achieves unwinding-free performance. Further, by constructing a strict Lyapunov function, it is demonstrated that the two stable equilibria are exponentially stable. Moreover, subsets of attraction regions corresponding to each stable equilibrium are characterized. The simulation results illustrate that the proposed attitude control scheme can effectively avoid the unwinding problem during attitude tracking. © 2025 IEEE.

关键词： Lyapunov functions

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Trajectory tracking approach based on mode decomposition under malicious attacks

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Yang, Yuhang Song, Shenmin Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin China

The accuracy of tracking methods that are widely used today is often impressive. These methods are firmly grounded in the assumptions of Markov models and require meticulous prior model information. However, when they are applied to scenarios that involve non-cooperative and highly maneuvering targets, these prerequisites frequently become unattainable. To overcome this constraint, a trajectory fitting model, which incorporates both trend and periodic terms to improve the precision of target trajectory representation, is introduced based on the fundamental principle of mode decomposition. It enhances the adaptability and robustness of the tracking system. The proposed method greatly reduces the dependence on prior information and provides an efficient and interpretable technical approach for tracking maneuvering targets. To enhance data security against eavesdropping attack, a noise-injection encryption method is proposed by integrate scalarization. The information density is lowered through scalarization, while the injected noise obscures the original features and maintains consistent data dimensions. This combination significantly enhances the confidentiality of data transmission. Furthermore, since the Gaussian assumption is overly stringent and often unfulfilled in practical scenarios, a detection scheme is proposed, which integrates the Jensen-Shannon (JS) divergence with the K-Nearest Neighbor (KNN) algorithm. This scheme improves precision and efficiency by computing minimum Euclidean distances with KNN and leveraging JS divergence. Simulation experiments demonstrate the efficacy of the proposed algorithm. © 1965-2011 IEEE.

关键词： Markov processes

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Fully Distributed Output Regulation of Linear Discrete-Time Multi-Agent Systems With Markov Switching Topology

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IEEE Transactions on Circuits and Systems I: Regular Papers 2025年 1-9页

作者： Liu, Jiamin Li, Zhao-Yan Zhou, Bin Jimei University School of Science Xiamen361021 China Harbin Institute of Technology School of Mathematics Harbin150001 China Zhengzhou Research Institute of HIT Zhengzhou450000 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China

This paper studies the stochastic cooperative output regulation problem for linear discrete-time multi-agent systems (MASs) with Markov switching topologies and communication/input delays. First, a moment stability criterion for an interconnected time-homogeneous Markov jump linear systems is builded. Then, based on the moment stability criterion, a fully distributed output regulation protocol is designed to solve the stochastic cooperative output regulation problem successively. Finally, a numerical simulation is provided to validate the efficiency of the designed protocol. © 2004-2012 IEEE.

关键词： Topology

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Practical Prescribed-Time control for High-Order Strict-Feedback Systems Based on Fully Actuated System Approach

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IEEE Transactions on Circuits and Systems I: Regular Papers 2025年

作者： Xiao, Yongqiang Cai, Guangbin Duan, Guangren Rocket Force University of Engineering College of Missile Engineering Xi'an710025 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Southern University of Science and Technology Center for Control Science and Technology Shenzhen518055 China

This paper investigates the practical prescribed-time control problem for uncertain high-order strict-feedback systems (SFSs) using the fully actuated system (FAS) approach, unlike previous research that primarily focuses on asymptotic stability control for such systems. First, the uncertain high-order SFSs are transformed into a high-order FAS. Next, a performance function is introduced to perform a coordinate transformation on the FAS, turning the original control problem into a boundedness issue for the transformed system. Then, neural networks are used to approximate the system's uncertain terms, and a controller is designed for the transformed system based on the FAS approach. Using Lyapunov theory, it is proved that all signals in the closed-loop system are uniformly ultimately bounded, and the system output can converge to a specified region within a prescribed time. Finally, the effectiveness of the proposed control method is demonstrated through simulations of the RLC circuit system, a numerical example and an electromechanical system. © 2025 IEEE.

关键词： Closed loop control systems

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Tuning function based adaptive prescribed-time parameter estimation and tracking control design

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Automatica 2025年 177卷

作者： Shi, Wenrui Keliris, Christodoulos Hou, Mingzhe Polycarpou, Marios M. Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China KIOS Research and Innovation Center of Excellence and the Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus

Most existing prescribed-time (PT) control results focus on the stabilization/regulation problem, with only a few results considering the tracking control problem. In this paper, an adaptive PT tracking control method is proposed for a class of strict feedback nonlinear systems with linearly parametric uncertainties which can be non-vanishing and include both matched and mismatched parts. By using the normalization technique and a novel cutoff function, a two-filter-based parameter estimation error reconstruction mechanism is designed. Furthermore, an improved tuning function based backstepping design solution is provided. Different from the classic tuning function based backstepping results, some additional terms which are designed through the reconstructed parameter estimation errors, are embedded into the virtual control laws, the actual control law and the adaptive laws. Moreover, in order to avoid potential numerical problems in the implementation of the scheme, a modified adaptive PT control scheme is proposed. Finally, two simulation examples are employed to illustrate the effectiveness of the proposed control method. © 2025 Elsevier Ltd

关键词： Adaptive control systems

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Distributionally Robust Model Predictive control for Trajectory Tracking of Space Manipulator Based on Fully Actuated System Approach

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Yang, Yi Heng Zhang, Kai Chen, Zhi Hua Yang, Xue Fei Duan, Guang Ren Sichuan University College of Aeronautics and Astronautics Chengdu610065 China Robotic Satellite Laboratory Chengdu610017 China Beijing Institute of Control Engineering Beijing100190 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China

Whether operating autonomously or assisting humans, multi-degree-of-freedom free-flying space manipulator has shown enormous potential in space missions. Leveraging the fully actuated system approach (FASA), this article proposes a distributionally robust model predictive control (MPC) scheme for trajectory tracking issue of space manipulator with stochastic uncertainties and multiple constraints on the angle, angular velocity, and control torque. First, a nominal FASA-based controller is designed to establish a linear second-order fully actuated (SOFA) model with desired eigenstructure assignment. By adopting an exact penalty function, a gradient-based optimization scheme is developed to optimize the FASA-based controller parameters offline, while avoiding violating of multiple constraints on angle, angular velocity, and control torque. Furthermore, a distributionally robust MPC is proposed to enable real-time optimization of auxiliary input, ensuring constraint satisfaction and enhancing performance in the presence of independent stochastic uncertainties. Recursive feasibility and convergence are proven. Monte Carlo numerical simulations are conducted with a planar space robot system to validate the superiority of proposed strategy. © 1965-2011 IEEE.

关键词： Predictive control systems

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Prescribed-Time Three-Dimensional guidance for Maneuvering Targets with Field-of-View and Approach Angle Constraints

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Kang, Honglong Wang, Pengyu Song, Shenmin Fonod, Robert Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Ecole Polytechnique Fédérale de Lausanne School of Architecture Civil and Environmental Engineering LausanneCH-1015 Switzerland

This paper presents a three-dimensional (3D) guidance law for homing missiles to intercept maneuvering targets, while ensuring a desired final approach angle and satisfying field-of-view (FOV) constraints. First, a line-of-sight (LOS) vector shaping method is introduced in the range domain. The desired approach angle and FOV constraint can be satisfied by precisely tracking a specified LOS vector profile. Then, a feedback guidance law is designed using a prescribed-time control technique for nullifying the LOS tracking errors. This guidance law employs an extended state observer to estimate and compensate for unknown target maneuvers, with a rigorous analysis conducted to ensure the stability of the entire system. Unlike existing studies, the proposed guidance law does not require linearization procedures and switching logic, which avoids discontinuous guidance command and facilitates practical implementation. Finally, extensive numerical simulations and comparison studies validate the effectiveness, robustness, and superiority of the proposed method. © 1965-2011 IEEE.

关键词： Guided missiles

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Smooth finite-dimensional time-varying feedback for chained nonholonomic systems with distributed input delays

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Automatica 2025年 177卷

作者： Zhang, Kang-Kang Yang, Xuefei Zhang, Kai Department of Mechanical Engineering University of Hong Kong Hong Kong Department of Computer Science KU Leuven HeverleeB-3001 Belgium Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Department of Biomedical Engineering City University of Hong Kong Hong Kong

This paper investigates the smooth finite-dimensional time-varying control problem for chained nonholonomic systems with distributed input delays. For the scalar distributed delay system, a smooth finite-dimensional nonhomogeneous controller is proposed. By using a smooth time-varying state transformation, a chained nonholonomic system with distributed input delay is transformed into a linear time-varying system with a distributed input delay. With the aid of the inherent structural properties of chained nonholonomic system, smooth finite-dimensional linear time-varying controllers are constructed. Unlike traditional predictor feedback, which involves infinite-dimensional terms, the proposed controllers are finite-dimensional and easier to implement. By utilizing Barbalat's lemma, it is shown that the proposed control laws can drive the states to zero. Both state feedback and observer-based output feedback are considered. The effectiveness of the proposed methods is verified through a numerical example. © 2025 Elsevier Ltd

关键词： Delay control systems

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