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Smooth quadrotor trajectory generation for tracking a moving target in cluttered environments

Science China(Information Sciences) 2021年第7期64卷 132-147页

作者： Lele XI Zhihong PENG Lei JIAO Ben M.CHEN School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Peng Cheng Laboratory Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments. Compared to existing methods, safe flying zone,vehicle physical limits, and smoothness are fully considered to guarantee flight safety, kinodynamic feasibility, and tracking performance. To tackle the cluttered environments, a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible, with consideration of the target's future state as well as obstacles to trade off the tracking performance and flight safety. Then, a sequential motion planning method, considering the above constraints, is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach. The feasibility and effectiveness of the proposed method are verified by numerical simulations.

关键词： quadrotor target tracking trajectory generation B-spline convex optimization

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An attention-based RGBD dual-branch gesture recognition network

An attention-based RGBD dual-branch gesture recognition netw...

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第40届中国控制会议

作者： Bo Chen Pengwei Xie Nan Hao Beijing Institute of Technology School of Automation Key Laboratory of Complex System Intelligent Control and Decision

In this work,we use a hierarchical architecture based on detector-classifier for gesture recognition *** the operation of the architecture,the detector,which is essentially the switch of the classifier,is always *** the output of the detector is true,then the classifier is activated and returns a classification label for the input video *** work focuses on the improvement of detectors and *** the detector,we introduce an attention mechanism to guide the network to focus on the space and channel where the gesture is *** the classifier,based on the RGB information stream,we use an independent branch to extract the features of the depth stream,and finally merge the two *** gestures move in a three-dimensional space,depth information can make up for the lack of RGB *** show that on the Egogesture test set,our detector achieves 98.86% accuracy on RGB input,while the classifier achieves 93.85% *** the same time,our gesture recognition architecture can fully meet the real-time requirements.

关键词： Gesture Recognition RGBD feature fusion attention mechanism real-time

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Tracking control for High-order Fully Actuated system with Input Constraints by Explicit Reference Governor

Tracking Control for High-order Fully Actuated System with I...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Lin Yang Yuanlong Li Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai P. R. China

This paper studies the tracking control problem of high-order fully actuated system subject to input constraints. Since there exist input constraints, an inappropriate reference signal being tracked may cause actuator saturation and further cause system instability. For solving the problem, we firstly design a generalized proportional differential controller to ensure the stability of the closed-loop system without input constraints. Then, an explicit reference governor is constructed to modify the reference signal such that the applied reference signal never exceeds the saturation limits, and the equilibrium of the resulting closed-loop system is globally asymptotically stable. Furthermore, we prove that the applied reference will converge to the original reference as much as possible. Therefore, the system output finally converges to the original reference by tracking the applied reference. A numerical example demonstrates the validity of the proposed method in this paper.

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Improved Adaptive Variable Impedance control for Contact Force Tracking

Improved Adaptive Variable Impedance Control for Contact For...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Feili Wei Chaochen Gu Kaijie Wu Hao Cheng Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot’s adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot.

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Integrated Guidance and control Design Subject to Actuator Saturation Based on Fully Actuated system Approach

Integrated Guidance and Control Design Subject to Actuator S...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Lin Yang Yuanlong Li Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Based on fully actuated system approach, this paper proposes a design scheme for integrated guidance and control systems subject to actuator saturation. By elimination elevation-order way, the integrated guidance and control model in the pitch channel is transformed into a high-order fully actuated system with uncertain disturbances and actuator saturation. Firstly, a disturbance observer is constructed to estimate the disturbances generated by model nonlinearities, unknown target maneuvers, variations of aerodynamic parameters, etc. Then, an observer-based fully actuated controller is designed to stabilize the integrated guidance and control system and perform disturbance attenuation. Since the missile’s deflection angle for pitch control is constrained by actuator saturation, an anti-windup compensator is introduced into the designed fully actuated controller to reduce the negative impact of saturation. Moreover, the stability conditions of the closed-loop system are established by the Lyapunov stability theory and the invariant set principle. Finally, a numerical simulation is provided to verify the effectiveness of the proposed design scheme.

关键词： Actuators Missiles control design Estimation Numerical simulation Disturbance observers Stability analysis

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BEARING-BASED TARGET ENTRAPPING control OF MULTIPLE UNCERTAIN AGENTS WITH ARBITRARY MANEUVERS

arXiv

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arXiv 2023年

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Yu, Wenbin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the persistently exciting conditions of the inter-agent relative bearings can be satisfied since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation error and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method in both 2D and 3D cases. Copyright © 2023, The Authors. All rights reserved.

关键词： Acceleration

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control for Tractor-Trailer Trajectory Tracking with Unknown Parameters

arXiv

引用

arXiv 2023年

作者： Wang, Zehao Zhang, Han Wang, Jingchuan Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC. © 2023, CC BY-NC-SA.

关键词： Model predictive control

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Voltage control for Black-Start Based on Energy Storage Station and Wind Farm

Voltage Control for Black-Start Based on Energy Storage Stat...

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intelligent Power and systems (ICIPS), International Conference on

作者： Yuanzhen Zhu Xinyu Wei Tianshu Li Yiheng Chen Ning Zhou Qiao Fang Kang Zhao Runjia Sun Shandong Smart Grid Technology Innovation Center State Grid Shandong Electric Power Company Electric Power Science Research Institute Jinan China Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan China

ISBN: (数字)9798331532765

ISBN: (纸本)9798331532772

Energy storage station (ESS) and wind farm (WF) have the potential to serve as a black-start sources to accelerate the power system restoration after blackout. However, the voltage security problem when start the auxiliary machines of power plants limit their reliability as black-start sources. A voltage control method is proposed for ESS and WF combined black-start sources to improve the voltage security during black-start. Firstly, the black-start process based on grid-forming ESS and WF is presented, and the voltage control framework is established. Then, a predictive control method considering the impact of active power on voltage variations is proposed, in which different optimization modes are established to obtain the active and reactive control sequences for WF and ESS. Finally, black-start simulation with Matlab/Simulink demonstrate the proposed method can improve the voltage security level when starting auxiliary machines of power plants.

关键词： Simulation Wind farms Regulation Security Reliability Voltage control Power generation Predictive control Grid forming Energy storage

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High-frequency oscillation analysis of wind farm-side MMC station under no-load charging condition

High-frequency oscillation analysis of wind farm-side MMC st...

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20th International Conference on AC and DC Power Transmission 2024 (ACDC 2024)

作者： Yongqing Yang Hua Ye Guanqun Li Jialun Yang Yujing Zhao Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University 17923 Jingshi Road Jinan People's Republic of China State Grid Jinan Power Supply Company Jinan People's Republic of China

ISBN: (数字)9781837241552

Existing research on high-frequency oscillation indicates that the high-frequency oscillation during no-load charging of modular multilevel converter (MMC) station is primarily linked to time delay and the ground capacitance of AC lines. Nevertheless, a high-frequency oscillation around 2000 Hz has been observed in Rudong high voltage direct current project even when the AC lines are not connected. Except time delay, there still exists another key factor of the high-frequency oscillation, i.e., the transformer stray capacitance. This paper delves into the interaction among the dynamics of MMC station and the transformer. And the mechanism of high-frequency oscillation under no-load charging condition is determined. Firstly, the harmonic state space (HSS) model of MMC station considering the effect of stray capacitance is established. By plotting the eigenvalue trajectory, the essentiality of taking into account stray capacitance is elucidated. Subsequently, a simplified model is obtained by neglecting the dynamics of elements with low participation in the oscillation modes. Next, the mechanism of high-frequency oscillation is clarified according to impedance characteristics. Finally, the impact of proportional gain and shear frequency on small signal stability is revealed. The correctness and accuracy are identified by electromagnetic transient simulations.

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Chaos synchronization of semiconductor lasers over 1040-km fiber relay transmission with hybrid amplification

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Photonics Research 2023年第6期11卷 953-960页

作者： LONGSHENG WANG JUNLI WANG YUSHAN WU YUEHUI SUN SONGSUI LI LIANSHAN YAN YUNCAI WANG ANBANG WANG Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan 030024China College of Physics and Optoelectronics Taiyuan University of TechnologyTaiyuan 030024China School of Information Engineering Guangdong University of TechnologyGuangzhou 510006China Guangdong Provincial Key Laboratory of Photonics Information Technology Guangzhou 510006China Center for Information Photonics&Communications School of Information Science and TechnologySouthwest Jiaotong UniversityChengdu 610031China

Optical chaos communication and key distribution have been extensively demonstrated with high-speed advantage but only within the metropolitan-area network range of which the transmission distance is restricted to around 300 *** secure-transmission requirement of the backbone fiber link,the critical threshold is to realize long-reach chaos ***,we propose and demonstrate a scheme of long-reach chaos synchronization using fiber relay transmission with hybrid amplification of an erbium-doped fiber amplifier(EDFA)and a distributed fiber Raman amplifier(DFRA).Experiments and simulations show that the hybrid amplification extends the chaos-fidelity transmission distance thanks to that the low-noise DFRA suppresses the amplified spontaneous emission noise and self-phase *** of the hybrid-relay conditions are studied,including launching power,gain ratio of DFRA to EDFA,single-span fiber length,and number of fiber span.A 1040-km chaos synchronization with a synchronization coefficient beyond 0.90 is experimentally achieved,which underlies the backbone network-oriented optical chaos communication and key distribution.

关键词： synchronization fiber amplifier

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