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Distributed formation control of multiple aerial vehicles based on guidance route

Chinese Journal of Aeronautics 2023年第3期36卷 368-381页

作者： Jinyong CHEN Rui ZHOU Guibin SUN Qingwei LI Ning ZHANG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Information Systems Engineering Laboratory Nanjing 210007China AVIC Xi’an Flight Automatic Control Research Institute Xi’an 710076China

Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based strategy has been demonstrated to be applicable to fixed-wing ***,it requires a global coordinator and there exists control lag,due to its own *** this reason,this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned ***,a hop-count scheme is introduced to achieve distributed implementation,in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local ***,the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape *** addition,the stall protection and collision avoidance are also ***,three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.

关键词： Formation shape control Fixed-wing aircraft Guidance route Hop-count estimation Model predictive control

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Aperiodically Intermittent control Approach to Finite-Time Synchronization of Delayed Inertial Memristive Neural Networks

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第4期6卷 1014-1023页

作者： Jiang, Yuxin Zhu, Song Shen, Mouquan Wen, Shiping Mu, Chaoxu School of Mathematics Xuzhou221116 China Nanjing Technology University College of Electrical Engineering and Control Science Nanjing211816 China University of Technology Sydney Centre for Artificial Intelligence UltimoNSW2007 Australia Tianjin University School of Electrical and Automation Engineering Tianjin300072 China

This article investigates the finite-time synchronization (FTS) for inertial memristive neural networks (IMNNs) with time-delays by the aperiodically intermittent control approach. Compared with the reduced-order method utilized in the existing literature, this article considers the FTS of delayed IMNNs directly without order reduction. First, the error IMNNs with time-delays is designed through the theories of set-valued mappings and differential inclusions, and its finite-time stability problem is discussed by applying the finite-time stability theorem. Furthermore, by constructing nonperiodic intermittent state-feedback controller and nonperiodic intermittent adaptive control strategy, the sufficient criteria to ensure the FTS of the master-slave delayed IMNNs are derived, and the settling times are explicitly estimated. Finally, a simulation to confirm the availability of results is provided. © 2020 IEEE.

关键词： Time delay

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Stability and bifurcation analysis of delayed tri-trophic food chain model in poisoned environment with fear effect and additional food

Stability and bifurcation analysis of delayed tri-trophic fo...

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作者： Ramasamy, Sivasamy Banjerdpongchai, David Park, PooGyeon Center of Excellence in Intelligent Control Automation of Process Systems Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Electrical Engineering Pohang University of Science and Technology Pohang Korea Republic of

One of the most important goals of theoretical ecologists is to find a strategy for controlling the chaos in ecological models to maintain healthy ecosystems. We investigate the influence of fear and the supply of additional food to predators in a delayed tri-trophic food chain model, where interference among the species is determined by Holling type-II functional response. The proposed model incorporates the fact that the growth rates of prey and middle predators are decreased due to the fear of middle and special predators, respectively. The additional food is supplied to both predators by either nature or external agencies. Furthermore, the poisoned prey in the predator's environment is taken into account. In the proposed model, we use two time delays: one for the growth term of the middle predator and another for the gestation delay of the special predator. We determine the conditions for the existence of ecologically feasible equilibrium points and their local and global stability. In addition, we establish the conditions for the existence of Hopf bifurcation around interior equilibrium to seek periodic behavior in nondelayed and delayed models. Numerical investigations are performed to justify the proposed theoretical findings through phase portraits, time series of solutions, and bifurcation diagrams. We observe that the chaotic dynamics of a tri-trophic food chain model can be controlled by the proper choice of the fear effect and by supplying additional food parameters. As a result, our findings provide more ecological insights into the dynamics of the delayed tri-trophic food chain model with the fear effect and additional food supply. © 2023 John Wiley & Sons, Ltd.

关键词： Hopf bifurcation

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Effects of mechanical interfaces on magnetic levitation systems and analysis of self-excited vibration mechanisms in coupled systems

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Science China(Technological Sciences) 2024年第12期67卷 3925-3939页

作者： TANG JingHu LI ChaoFeng ZHOU Jin WU ZhiWei School of Mechanical Engineering&Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China Northeastern University Shenyang 110819China School of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 20016China

Magnetic levitation is a non-self-stabilizing system that requires high control *** system's stability is affected by the mechanical interface between the levitation object and the loading device,with self-excited vibration generated in the operation *** paper proposes to consider the mechanical behavior of the contact interface in the magnetic levitation *** electromagnetic and control systems are mechanically equivalent,the coupled electric-magnetic-mechanical model is established by adopting the lumped mechanical modeling ***,the effect of the contact clearance on the mechanical behavior of the system is analyzed using the Routh-Hurwitz *** research results show that with the decrease in the contact clearance,the vibration frequency *** the vibration frequency exceeds the critical value,a continuous vibration phenomenon occurs in the system under the joint action of feedback and energy ***,the effect of interface parameters on the vibration characteristics is analyzed using the fourth-order Runge-kutta numerical *** analyses show that the interface contact leads to combination frequency and frequency multiplication components in the coupled system.

关键词： magnetic levitation coupled systems self-excited vibrations mechanical interfaces nonlinear vibrations

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Research and application of composite stochastic resonance in enhancement detection

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Chinese Physics B 2024年第1期33卷 264-273页

作者：高蕊焦尚彬薛琼婕 School of Automation and Information Engineering Xi'an University of TechnologyXi'an 710048China School of Electronic and Electrical Engineering Baoji University of Arts and SciencesBaoji 721016China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an 710048China

Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combining the Woods–Saxon(WS) model and the improved piecewise bistable model. The model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation, all the parameters in the new model have no coupling characteristics. Under α stable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has higher noise utilization and better detection ***, the new model is applied to image denoising, the results showed that under the same conditions, the output peak signal-to-noise ratio(PSNR) and the correlation number of NCSR method is higher than that of other commonly used linear denoising methods and improved piecewise SR methods, the effectiveness of the new model is verified.

关键词： Woods–Saxon improved piecewise model composite stochastic resonance(SR) image denoising

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Memô the Game: Serious Game for Development of Memorization in Children with Autistic Spectrum Disorder 9th

Memô the Game: Serious Game for Development of Memorizat...

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9th Latin American Congress on Biomedical engineering, CLAIB 2022 and 28th Brazilian Congress on Biomedical engineering, CBEB 2022

作者： Freitas, Éberte Panceri, João Schreider, Sheila Caldeira, Eliete Bastos-Filho, Teodiano Postgraduate Program in Electrical Engineering Federal University of Espirito Santo Vitoria Brazil Automation and Control Engineering Department Federal Institute of Espirito Santo Linhares Brazil Electrical Engineering Department Federal University of Espirito Santo Vitoria Brazil Postgraduate Program in Biotechnology Federal University of Espirito Santo Vitoria Brazil

ISBN: (纸本)9783031494062

This work presents the architecture and development of the Serious Game (SG) Memô which is aimed at exercising the Short-Term Memory (STM) of children with Autism Spectrum Disorder (ASD). This serious game proposes an individualized functional approach through Dynamic Difficulty Adjustment (DDA), which considers the performance, the expressed facial emotions, and the level of eye attention during child performance. In addition, it is used to recording the presence of hand and eye stereotypies. The SG is developed in Unity 3D, uses MediaPipe to determine the points of the hands, and is executed by our Socially Assistive Robot (SAR), termed Mobile Autonomous Robot for Interaction with Autistics and Trisomy 21 (MARIA T21). We believe that the creation of SGs to assist in the cognitive development of children with ASD and explore the detection of other stereotyped movements, associating them with a communicative and emotional proposal, is feasible. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Serious games

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Distributed state estimation for heterogeneous mobile sensor networks with stochastic observation loss

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Chinese Journal of Aeronautics 2022年第2期35卷 265-275页

作者： Yingrong YU Jianglong YU Yishi LIU Zhang REN Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang.UniversityBeijing 100191China

The problem of distributed fusion and random observation loss for mobile sensor networks is investigated *** view of the fact that the measured values,sampling frequency and noise of various sensors are different,the observation model of a heterogeneous network is constructed.A binary random variable is introduced to describe the drop of observation component and the topology switching problem caused by complete observation loss is also considered.A cubature information filtering algorithm is adopted to design local filters for each observer to suppress the negative effects of measurement *** derive a consistent and accurate estimation result,a novel weighted average consensus-based filtering approach is put *** the sensor that suffers from observation loss,its local prediction information vector is fused with the information contribution vectors of the neighbors to obtain the local *** the consensus weight matrix is designed for consensus-based distributed collaborative information *** boundness of the estimation errors is proved by employing the stochastic stability *** the end,two numerical examples are offered to assert the validity of the presented method.

关键词： Consistency theorem Heterogeneous sensor networks Information fusion State estimation Stochastic boundedness

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Research on modeling and self-excited vibration mechanism in magnetic levitation-collision interface coupling system

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Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 873-890页

作者： Jinghu TANG Chaofeng LI Jin ZHOU Zhiwei WU School of Mechanical Engineering&Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems of Ministry of Education of China Northeastern UniversityShenyang 110819China School of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

The modeling and self-excited vibration mechanism in the magnetic levitation-collision interface coupling system are *** effects of the control and interface parameters on the system's stability are *** frequency range of self-excited vibrations is investigated from the energy point of *** phenomenon of self-excited vibrations is elaborated with the phase *** corresponding control strategies are briefly analyzed with respect to the vibration *** results show that when the levitation objects collide with the mechanical interface,the system's vibration frequency becomes larger with the decrease in the collision gap;when the vibration frequency exceeds the critical frequency,the electromagnetic system continues to provide energy to the system,and the collision interface continuously dissipates energy so that the system enters the self-excited vibration state.

关键词： magnetic levitation coupling system self-excited vibration mechanical interface vibration frequency

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Robust Stability and Stabilizability Conditions for Time-Delay Systems Under Stochastic Uncertainties

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IEEE Transactions on Automatic control 2024年第6期70卷 4037-4044页

作者： Chen, Jianqi Mao, Qi Zhao, Di Chen, Chao Nanjing University Center for Advanced Control and Smart Operations Suzhou China Nanjing Normal University School of Electrical and Automation Engineering Nanjing China Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology Shanghai China Leuven3001 Belgium

This study first explores the mean-square robust stability problem of stable continuous-time linear time-invariant systems subject to stochastic multiplicative uncertainties with prescribed variance bounds. The internal structures of uncertainties, however, are not presumed to cope with diverse random noises and errors arising from networked channels. A necessary and sufficient mean-square stability condition is obtained involving a novel small-gain type characterization. Next, we consider the output feedback controller synthesis problem of networked control systems facing stochastic multiplicative uncertainties and intrinsic channel-wise time delays simultaneously. Based on the obtained mean-square stability condition, further, we develop a fundamental necessary and sufficient condition of mean-square stabilizability explicitly. Such a condition equivalently determines that an open-loop unstable system can be stabilized by output feedback in the mean-square sense. Finally, an analysis of delay robustness is elaborated, in which the mean-square stabilizability condition is extended to the case tolerating uncertain but upper-bounded time delays. Overall, this study provides a comprehensive analysis of the robust mean-square stability and mean-square stabilizability of time-delay systems under stochastic uncertainties, which can have practical implications for networked control systems. © 1963-2012 IEEE.

关键词： Continuous time systems

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Event-triggered Adaptive Penalty Model Predictive control for Hybrid Energy Storage System 3

Event-triggered Adaptive Penalty Model Predictive Control fo...

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3rd International Conference on Energy, Power and electrical Technology, ICEPET 2024

作者： Wang, Siqi Li, Zihao Guo, Yuchao Fan, Yuan Anhui University School of Electrical Engineering and Automation Anhui Hefei China Zhejiang University College of Control Science and Engineering Zhejiang Hangzhou China

ISBN: (纸本)9798350352658

This work proposes an optimized voltage stabilization approach for electric vehicles (EVs) integrated with PV systems and a hybrid energy storage system (HESS). Specifically, the combination of Adaptive Penalty Model Predictive control (APMPC) and an Event-triggered (ET) mechanism is utilized to effectively regulate the PV output and storage response when the solar irradiance increases suddenly. This approach dynamically adjusts the operation of system to maintain a stable DC bus voltage. Simulations validate the effectiveness of the proposed method in stabilizing the voltage and improving energy utilization, thereby contributing to the development of sustainable and efficient EVs systems. © 2024 IEEE.

关键词： Predictive control systems

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