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High-order Differential Feedback control and Quantitative Analysis for High-spinning Flight Vehicles

IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Hu, Yuhui Liu, Yingxin Shen, Kai Zhang, Xinye Shi, Jingyu Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Control Engineering Beijing100190 China

High-spinning flight vehicles (HFVs) offer significant advantages for modern flight systems, including low cost and high-precision guidance. With the advancement of high-performance angular accelerometers, direct perception and feedback of angular acceleration have become a promising approach. In this paper, a two-loop acceleration autopilot with high-order feedback of angular acceleration (AFAA) is proposed to replace the traditional feedback of angular rate (AFAR). Both autopilots are synthesized via linear quadratic output feedback tracking (LQ OFT) approach with direct feedthrough component, incorporating frequency constraints. A hierarchical quantitative analysis framework including matrix pseudospectra-based robustness indices, degree of output controllability (DOC), null controllable region, and stability region, is developed to evaluate the performance of the proposed AFAA structure. Numerical simulations, accounting for sensor dynamics, are conducted to compare the frequency-domain characteristics and hierarchical quantitative parameters of HFVs with varying static stability properties. The results demonstrate the superiority of AFAA over AFAR and highlight the enhanced control performance achieved by static anti-stable HFVs. © 2025 IEEE.

关键词： controllability

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Power Loss Analysis of Energy Management System with Model Predictive control in Mae Hong Son Microgrid 3

Power Loss Analysis of Energy Management System with Model P...

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3rd IEEE International Conference on Power Electronics, Intelligent control and Energy Systems, ICPEICES 2024

作者： Prapanwattana, Nattakit Dechawatanapaisal, Donlapat Banjerdpongchai, David Rajan, Abhishek Center of Excellence in Intelligent Control Automation for Process Systems Chulalongkorn University Faculty of Engineering Dept. of Electrical Engineering 254 Phayathai Rd Bangkok Pathumwan10310 Thailand National Institute of Technology Sikkim Dept. of Electrical Engineering South Sikkim Ravangla737139 India

ISBN: (纸本)9798350387193

Energy management system (EMS) is an important tool for energy efficiency and reliability of the power system. The optimal power dispatch of energy resources can be obtained using the nonlinear model predictive control (NMPC). It is formulated as an optimization problem subject to linear and nonlinear constraints. Although the existing system works well under the current conditions, power loss has not been considered. Power loss in transmission lines occurs due to their resistance and a high amount of power flow to loads connecting to the system. The power loss leads to decreased efficiency in the electrical system and reduces the lifespan of equipment because of the high temperature from loss. This paper aims to analyze the power loss in the Mae Hong Son (MHS) microgrid. To achieve the research objectives, we employ the EMS of MHS with NMPC and calculate power loss in transmission lines for a period of 7 days. EMS considers three objective functions, namely, total operating cost, total carbon dioxide emission, and combined economic and emission dispatch and take into account of three seasons consisting of rainy, winter, and summer. © 2024 IEEE.

关键词： Predictive control systems

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Design of Image-Based Autonomous Landing Instrumentation and control System for Unmanned Quadrotor Vehicles 10

Design of Image-Based Autonomous Landing Instrumentation and...

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10th IEEE Information Technology International Seminar, ITIS 2024

作者： Fauzan, Ihsan M. Mukhlish, Faqihza Prayoga, Aditya Ahmad, Robby Azhari Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia PT. Sas Aero Sishan Engineering Department Indonesia

ISBN: (纸本)9798331521295

The study designs an instrumentation and control system for autonomous quadrotor landing using a visual marker as the landing target. For landing process, the marker used as a landing target is an embedded ArUco marker, capable for detection for both long range and close-range detection. Position of the quadrotor relative from the ArUco marker is estimated using Perspective-N-Point pose estimation. The estimation errors compared to actual measurements are under 20 cm, which is less than the distance between ArUco border and its center. To keep camera for facing downward during the flight, the 2 axis inertially stabilization platform (ISP). The designed ISP can maintain the camera orientation even when quadrotor angle has changed. The landing control system is made for two different scenarios. First scenario is for landing with Global Positioning System (GPS) support, and the second scenario is without GPS support. The landing control system in GPS support scenario uses velocity setpoint to control the quadrotor while in without GPS support scenario, control system uses angle-thrust setpoint to control quadrotor. Quadrotor landing control system can attempt landing on top of the ArUco marker in both scenarios. The trajectory Mean Average Error (MAE) of x and y coordinates and radius of the landing process is (0.108, 0.326, 0.359) m for GPS support scenario and (0.301, 0.251, 0.436) m for without GPS support scenario. © 2024 IEEE.

关键词： Global positioning system

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Distributed Tracking control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication 6

Distributed Tracking Control and Obstacle Avoidance of Mobil...

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6th International Conference on Robotics, control and automation engineering, RCAE 2023

作者： Liu, Guoyong Qian, Moshu Bo, Cuimei Gao, Zhifeng College of Electrical Engineering and Control Science Nanjing Tech University NanJing China College of Automation and College of Artificial Intelligence NanJing University of Posts and Telecommunications NanJing China

ISBN: (纸本)9798350315301

This article studies the cooperative tracking control and obstacle avoidance problem for wheeled mobile robots (WMRs) under event-Triggered communication. The dynamics of WMRs are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. Then, an event-Triggered based tracking control and obstacle avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field (APF). The stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation of three robots is implemented to illustrate the superiority of the presented scheme. © 2023 IEEE.

关键词： Mobile robots

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Non-convex Optimization Based On Deep Koopman Operator 38

Non-convex Optimization Based On Deep Koopman Operator

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38th Youth Academic Annual Conference of Chinese Association of automation, YAC 2023

作者： Guo, Jun Jia, Yubin Yong, Panxiao Zhou, Jun Liu, Zhimin Southeast University School of Automation Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9798350303636

Non-convex optimization problems are prevalent in various fields, and finding the global optimal solution for such problems remains challenging. This paper proposes an optimization method based on deep Koopman operator, which leverages the power of deep neural networks to provide a data-driven architecture for the Koopman function. The Koopman operator is used to linearly represent non-convex problems, and the proposed method utilizes model predictive control to optimize the resulting linear systems. Simulation results show that this method can solve the non-convex optimization problem effectively, quickly and accurately, while obtaining the global optimal solution. © 2023 IEEE.

关键词： Koopman operator model predictive control Non-convex

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Multi-agent Weapon Target Assignment and Cooperative Path Planning Based on QS-RRT Algorithm 41

Multi-agent Weapon Target Assignment and Cooperative Path Pl...

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第41届中国控制会议

作者： Qingze Li Yongzhao Hua Haoran Zhai Qingdong Li Xiwang Dong School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,based on the typical combat scenario where multiple UAVs strike multiple targets,the model of weapon firepower allocation is firstly modeled to obtain the corresponding objective function,and then the improved distributed auction algorithm is used to solve the objective function to obtain the multi-target allocation *** layer first analyze the traditional RRT algorithm,and gets the quick and smooth convergence RRT(QS-RRT) on the basis of improved algorithm,the algorithm on the basis of adding the synergy of constraints,and makes the collaborative planning path compared with non-cooperative path planning,the planning path length in the keep basically remain unchanged,on the basis of our UAV for the same target can arriving together,The difference of arrival time is greatly reduced,and the subsequent coordinated strike mission can be completed more efficiently in the combat scenario.

关键词： Weapon target assignment Auction algorithm Cooperative path planning QS-RRT algorithm

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Design and Analysis of a Resonant Current Regulator for Permanent Magnet Synchronous Motors 19th

Design and Analysis of a Resonant Current Regulator for Perm...

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： XiaoFeng, Chai Yang, Lei Qiang, Hao HaiTao, Yang Shuo, Ma China North Vehicle Research Institute Beijing100072 China School of Automation Beijing Institute of Technology Beijing100081 China School of Electrical and Control Engineering North China University of Technology Beijing100144 China

ISBN: (纸本)9789819613786

In a permanent magnet synchronous motor (PMSM) vector control system, a proportional-integral (PI) regulator is generally used for implementing closed-loop current control in the synchronous rotating coordinate system. In this algorithm, a rotating coordinate transformation is necessary for both stator current and reference voltage commands, resulting in relatively high computational complexity. With reference to the design principle of traditional PI current regulators, a reduced-order resonant current controller was developed in this study. This controller only involves a single-time rotating coordinate transformation of the reference current command, thus significantly reducing the computational workload. In addition, to facilitate the practical application, a gain-parameter analytical calculation formula applied in the design of the resonant current regulator is presented in this paper. Given accurate model parameters, the proposed resonant current regulator exhibits a dynamic performance similar to that of a traditional PI current regulator. In addition, with the presence of parameter errors, this resonant current regulator exhibits superior decoupling control performance. The effectiveness and feasibility of the proposed regulator have been verified with the simulation and experimental test results. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Permanent magnets

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Bit Bounce Detection for Drilling Process Based on Multi-Feature Graph and Graph Convolutional Network 49

Bit Bounce Detection for Drilling Process Based on Multi-Fea...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Zhang, Peng Hu, Wenkai Cao, Weihua Wu, Min Wang, Jiandong School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China College of Electrical Engineering and Automation Shandong University of Science and Technology Shandong Province Qingdao China

ISBN: (纸本)9798350331820

Prompt detection of bit bounce can prevent serious incidents and is of great importance for safe and efficient deep geological drilling. In the early stage of bit bounce, signal changes are relatively weak. In addition, there are differences in the topological relationships of samples at different time instances in normal state and bit bounce. These factors present a challenge to timely and accurate bit bounce detection. Therefore, this paper proposes a bit bounce detection method based on multi-feature graph and graph convolution networks. A multi-feature graph construction method using process variables, mean value, Mahalanobis distance, and Euclidean distance is proposed, and a two-layer graph convolutional network is designed to realize deep feature extraction and incident detection. The effectiveness and superiority of the proposed method are demonstrated by a real drilling industrial case. © 2023 IEEE.

关键词： Infill drilling

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LiDAR Point Cloud Map Coding Framework Based on Quadric Surface Fitting and Scene Construction 5

LiDAR Point Cloud Map Coding Framework Based on Quadric Surf...

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5th IEEE International Conference on Pattern Recognition and Machine Learning, PRML 2024

作者： Sun, Xuebin Wang, Jinxi Yang, Xiaofei School of Electrical Automation and Information Engineering Tianjin University Tianjin China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Shanghai Institute of Optics and Fine Mechanics Department of Aerospace Laser Technology and System Shanghai China

ISBN: (纸本)9798350355925

Due to rapid 3D acquisition advancements, LiDAR point clouds are prevalent in emerging applications like heritage preservation, mobile robotics, and remote sensing. Yet, the sheer data volume poses challenges for transmission and storage, especially in autonomous driving. This paper introduces an efficient coding framework for compressing large dense LiDAR point cloud maps. By recording timestamps and quaternion matrices during map construction, we reduce map compression to sequence compression. The scans are segregated into intra-frames and inter-frames. For intra-frames, a quadric surface fitting intra-prediction technique eliminates spatial redundancy. For inter-frames, by constructing the 3D scene using encoded intra-frames, the inter-frame can be simulated according to its posture and LiDAR intrinsic parameters. Coding focuses on the difference between actual and predicted point cloud data. Decoding reverses this process, reconstructing the point cloud map from the decoded sequence and quaternion matrices. KITTI dataset experiments show the point cloud map can be averagely compressed to 3.43% of its original size while maintaining centimeter-level precision. This outperforms both octree and Google Draco methods. © 2024 IEEE.

关键词： Mobile robots

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Distributed Asymptotic Consensus in Directed Networks of Nonaffine Systems With Nonvanishing Disturbance

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1133-1140页

作者： Qingling Wang Changyin Sun School of Automation Southeast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China

In this paper the distributed asymptotic consensus problem is addressed for a group of high-order nonaffine agents with uncertain dynamics,nonvanishing disturbances and unknown control directions under directed networks.A class of auxiliary variables are first introduced which forms second-order filters and induces all measurable signals of agents’*** view of this property,a distributed robust integral of the sign of the error(DRISE)design combined with the Nussbaum-type function is presented that guarantees not only the desired asymptotic consensus,but also the uniform boundedness of all closed-loop *** with the traditional sliding mode control(SMC)technique,the main feature of our approach is that the integral operation in the proposed control algorithm is designed to be adopted in a continuous manner and ensures less chattering *** results for a group of Duffing-Holmes chaotic systems are employed to verify our theoretical analysis.

关键词： Asymptotic consensus nonaffine systems nonvanishing disturbance Nussbaum-type functions unknown control directions

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