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Linear active disturbance rejection control of fighter aircraft based on MADDPG algorithm

International Journal of Systems, control and Communications 2025年第2期16卷 152-172页

作者： Lin, Yetong Ji, Yuehui Song, Yu Liu, Junjie Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China

To address nonlinearity, strong coupling, and disturbances in fighter aircraft attitude control, this paper proposes an intelligent control method based on multi-agent deep deterministic policy gradient (MADDPG) and linear active disturbance rejection control (LADRC). A three-channel LADRC controller estimates and compensates for disturbances, uncertainties, and coupling terms in real time. To overcome the dimensionality curse in multi-parameter optimization, an independent DDPG controller is assigned to each channel, ensuring cooperative control via reward sharing and enhancing dynamic response and disturbance rejection. Additionally, long short-term memory (LSTM) and self-attention mechanisms are integrated into the policy and value networks to improve representation and decision-making. A piecewise combined reward function mitigates sparse rewards. Simulations show that, compared to MADQN-based and traditional LADRC methods, the proposed approach achieves superior control performance and significantly reduces manual parameter tuning efforts. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： Disturbance rejection

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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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A Note on the Local Observability of Uniform Hypergraphs

A Note on the Local Observability of Uniform Hypergraphs

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94th Annual Meeting of the International Association of Applied Mathematics and Mechanics, GAMM 2024

作者： Gerbet, Daniel Röbenack, Klaus Institute of Control Theory Faculty of Electrical and Computer Engineering TUD Dresden University of Technology Dresden Germany

Hypergraphs generalize graphs in such a way that edges may connect any number of nodes. If all edges are adjacent to the same number of nodes, the hypergraph is called uniform. Thus, a graph is a 2-uniform hypergraph. Each uniform hypergraph can be identified with an autonomous dynamical state-space system, whose vector field is composed of homogenous polynomials. We consider the observability of dynamical systems, which possess this special structure. In control theory, the observability of a dynamical system asks for the possibility to reconstruct the systems state from an output trajectory, where the output is a projective measurement of the systems state. In addition, one can ask for the observable subspace of the state. Nonlinear systems, although observable at almost all points in the state space, may possess not-locally observable ones. The existence and location of such states are important for observability analysis and observer design. Recently, the observability of these hypergraph systems has been studied for the general case. We apply an extended deterministic observability test to uniform hypergraphs and also compute the not-observable states for different linear output maps. We are able to confirm the results of the recent study, at least for graphs with a small number of nodes, due to the computational complexity of our method. In addition, the not-locally observable states are computed for different combinations of measured nodes. © 2025 The Author(s).

关键词： Dynamical systems

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Cooperative control Concept for the Handwheel Actuator of a Steer-by-Wire System

Cooperative Control Concept for the Handwheel Actuator of a ...

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14th International Munich Chassis Symposium, IMCS 2023

作者： Gonschorek, Robert Bertram, Torsten ZF Automotive Germany GmbH Düsseldorf Germany Institute of Control Theory and Systems Engineering TU Dortmund Dortmund Germany

ISBN: (纸本)9783662703472

Upcoming vehicle generations will provide fault-tolerant onboard power supply systems and an increasing level of driving automation. These changes contribute to the applicability of Steer-by-Wire (SbW) systems and the development of automated lateral vehicle guidance control functions. For the market acceptance of automated driving the lateral vehicle guidance control function must be cooperative, that implies it must permit driver interventions. This contribution proposes a cooperative control concept for the Handwheel Actuator (HWA) of a SbW system, which enables a true coexistence between steering position and steering torque control. The controller performs precise tracking of the reference steering position provided by a lateral vehicle guidance controller. In the event of a driver intervention, the driver can override the active control and experiences a natural steering feel. In contrast to existing approaches, the transitions hereby are seamless as no gain scheduling, switching or controller output saturation are required. Moreover, a consistent control performance is ensured. After the derivation of a mathematical system model, identification, and model evaluation, the cooperative control concept is systematically designed. Besides a frequency domain analysis of the nominal control performance and stability, real vehicle tests are conducted to verify simulation results and get a representative view of the controller performance. © The Author(s), under exclusive license to Springer-Verlag GmbH, DE, part of Springer Nature 2025.

关键词： Frequency domain analysis

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Infrared image and circular polarization image processing methods for high-concentration scattering environments

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Applied Optics 2025年第12期64卷 3140-3149页

作者： Zhao, Dengke Wei, Yongqing Hong, Lu Xia, Haojie Huang, Liang Zhang, Jin School of Instrument Science and Opto-electronics Engineering Hefei University of Technology Hefei230009 China Anhui Province Key Laboratory of Measuring Theory and Precision Instrument Hefei230009 China Engineering Research Center of Safety Critical Industrial Measurement and Control Technology Ministry of Education Hefei230009 China

In high-concentration scattering media, low contrast often obscures the surface details and textures of target objects. This paper proposes a method to enhance imaging quality under such conditions using polarization imaging theory. The method involves image registration, estimation of environmental transmittance, calculation of the degree of polarization and polarization difference intensity, and application of the CLAHE method to improve detail visibility and obtain de-scattered images. Finally, a weighted adaptive wavelet transform based on edge detection fuses the de-scattered and infrared images. Experimental results show that the proposed method outperforms traditional approaches, particularly in high-concentration scattering environments, offering insights into combining infrared and polarized imaging for challenging scenarios. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Circular polarization

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Microstructural evolution and hydraulic response of shale self-propped fracture using X-ray computed tomography and digital volume correlation

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International Journal of Mining Science and Technology 2025年第3期35卷 345-362页

作者： Ting Huang Cheng Zhai Ting Liu Yong Sun Hexiang Xu Yu Wang Jing Huang State Key Laboratory of Coal Mine Disaster Prevention and Control Ministry of EducationChina University of Mining and TechnologyXuzhou 221116China Key Laboratory of Theory and Technology on Coal and Rock Dynamic Disaster Prevention and Control National Mine Safety AdministrationChina University of Mining and TechnologyXuzhou 221116China School of Safety Engineering China University of Mining and TechnologyXuzhou 221116China School of Low-Carbon Energy and Power Engineering China University of Mining and TechnologyXuzhou 221116China

Methane in-situ explosive fracturing technology produces shale debris particles within fracture channels,enabling a self-propping effect that enhances the fracture network conductivity and long-term *** study employs X-ray computed tomography(CT)and digital volume correlation(DVC)to investigate the microstructural evolution and hydromechanical responses of shale self-propped fracture under varying confining pressures,highlighting the critical role of shale particles in maintaining fracture *** indicate that the fracture aperture in the self-propped sample is significantly larger than in the unpropped sample throughout the loading process,with shale particles tending to crush rather than embedded into the matrix,thus maintaining flow *** confining pressure increases,contact areas between fracture surfaces and particles expand,enhancing the system's stability and compressive *** analyses show flow paths becoming increasingly concentrated and branched under high *** resulted in a significant reduction in connectivity,restricting fracture permeability and amplifying the nonlinear gas flow *** study introduces a permeability-strain recovery zone and a novel sensitivity parameter m,delineating stress sensitivity boundaries for permeability and normal strain,with m-value increasing with stress,revealing four characteristic *** findings offer theoretical support for optimizing fracturing techniques to enhance resource extraction efficiency.

关键词： Digital volume correlation X-ray CT scanning Fracture aperture Deformation characteristics Stress sensitivity Permeability

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Next-Best-Trajectory Planning of Robot Manipulators for Effective Observation and Exploration

arXiv

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arXiv 2025年

作者： Renz, Heiko Krämer, Maximilian Hoffmann, Frank Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but require vast data sets, which are costly and time-intensive to collect. Automated strategies for observation and exploration are crucial to enhance the efficiency of data gathering. Therefore, a novel strategy utilizing the Next-Best-Trajectory principle is developed for a robot manipulator operating in dynamic environments. Local trajectories are generated to maximize the information gained from observations along the path while avoiding collisions. We employ a voxel map for environment modeling and utilize raycasting from perspectives around a point of interest to estimate the information gain. A global ergodic trajectory planner provides an optional reference trajectory to the local planner, improving exploration and helping to avoid local minima. To enhance computational efficiency, raycasting for estimating the information gain in the environment is executed in parallel on the graphics processing unit. Benchmark results confirm the efficiency of the parallelization, while real-world experiments demonstrate the strategy’s effectiveness. Copyright © 2025, The Authors. All rights reserved.

关键词： Robot applications

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A Seamless Pedestrian Localization System Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年第11期12卷 16653-16667页

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation System (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： Location awareness Global navigation satellite system Accuracy Pedestrians Filtering Sensors Prediction algorithms Predictive models Smart phones Kalman filters

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Composite-mask GAN based on refined optical flow and disparity map for SLAM visual odometry

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Optoelectronics Letters 2025年

作者： JI Yuehui JIANG Jingwei LIU Junjie SONG Yu GAO Qiang School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory of Control Theory and Application for Complex Systems

Although deep learning methods have been widely applied in slam visual odometry over the past decade with impressive improvements， the accuracy remains limited in complex dynamic environments. In this paper， a composite mask-based generative adversarial network is introduced to predict camera motion and binocular depth maps. Specifically， a perceptual generator is constructed to obtain the corresponding parallax map and optical flow from between two neighboring frames. Then， an iterative pose improvement strategy is proposed to improve the accuracy of pose estimation. Finally， a composite mask is embedded in the discriminator to sense structural deformation in the synthesized virtual image， thereby increasing the overall structural constraints of the network model， improving the accuracy of camera pose estimation， and reducing drift issues in the Visual Odometer. Detailed quantitative and qualitative evaluations on the KITTI dataset show that the proposed framework outperforms existing conventional， supervised learning and unsupervised depth VO methods， providing better results in both pose estimation and depth estimation.

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Weak feedback self-mixing interference fringe slope discrimination method based on deep learning

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Optoelectronics Letters 2025年

作者： ZHAO Yan LIN Maohua DU Shengzhi TONG Jigang LIU Bin HAN Fangfang School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Department of Electrical Engineering， Tshwane University of Technology

In order to identify the tilt direction of the self-mixing interference (SMI) signals under weak feedback regime interfered by noise， a deep learning method is proposed. The one-dimensional U-Net (1D U-Net) neural network can discriminate the direction of self-mixing fringes accurately and quickly. For experimental SMI signals， the 1D U-Net can be used for discriminant direction after a one-step normalization. Simulation and experimental results show that the proposed method is suitable for SMI signals with noise within the whole weak feedback regime， and can maintain a high discrimination accuracy for signals interfered by 5dB noise. Combined with fringe counting method， accurate and rapid SMI signal displacement reconstruction can be realized.

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