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SSRN 2024年

作者： Li, Heng Lv, Xiaokang Yu, Jianglong Zhang, Kun Wang, Yanyan Dong, Xiwang Institute of Artificial Intelligence Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Unmanned System Beihang University Beijing100191 China School of Astronautics Beihang University Beihang University Beijing100191 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China

A trajectory-shaping guidance strategy with constraints on impact time, impact angle, and maximum lateral acceleration is proposed based on a cubic Bézier curve fitting method. Firstly, an optimal guidance model is formulated, in which the Bézier curves are employed to fit the guidance trajectory, ensuring compliance with the required constraints. The manipulation transforms the optimal guidance problem into an optimal Bézier guidance trajectory design problem and a trajectory tracking problem. Then, by parameterizing the Bézier curves and analyzing the trajectory constraints in detail, the optimal Bézier guidance trajectory design is transformed into optimizing the control parameters of the Bézier curves. Moreover, a multi-layer zeroth-order Adam trajectory optimization algorithm based on general and fine tuning is introduced to determine the control parameters without relying on gradient information. Subsequently, a hyperbolic tangent vector field path tracking guidance algorithm is proposed to follow the designed trajectory and fulfill the guidance missions. Finally, numerical simulations and equivalent physical experiments verify the effectiveness of the proposed guidance strategy. © 2024, The Authors. All rights reserved.

关键词： Trajectories

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An ${H_\infty }$ Load Frequency control Scheme for Multi-Area Power system Under Cyber-Attacks and Time-Varying Delays

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IEEE Transactions on Power systems 2022年第2期38卷 1336-1349页

作者： Guangdou Zhang Jian Li Olusola Bamisile Yankai Xing Dongsheng Cai Qi Huang Power System Wide-Area Measurement and Control Sichuan Province Key Laboratory School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu Sichuan China College of Nuclear Technology and Automation Engineering Chengdu University of Technology Sichuan China

In the power system, the application of the signals transmitted from the sensors to the controller can significantly improve the dynamic performance. However, cyber-attacks and time delays exist widely in the communication network, which has a considerable effect on stability, operation, and control. In this paper, an ${{\boldsymbol{H}}_\infty }$ load frequency control (LFC) scheme for multi-area power systems under cyber-attacks and time-varying delays is investigated. First, false data injection attacks (FDIA), as well as denial of service (DoS) attacks, are viewed as two typical cyber-attacks and introduced into the multi-area power system. Then, the state-space equations of the LFC power system under these two attacks and time-varying delays are analyzed and modeled. Furthermore, by using Lyapunov stability theory and linear matrix inequality (LMI) method, an ${{\boldsymbol{H}}_\infty }$ LFC scheme for attacked and delayed power systems is developed. The purpose of the proposed controller is to guarantee the closed-loop system exponentially mean-square stable with prescribed ${{\boldsymbol{H}}_\infty }$ performance. Finally, a three-area LFC system is employed to demonstrate the effectiveness of the proposed mechanism. The simulation results verified that the control performance of an attacked and delayed system can be improved significantly via the designed controller.

关键词： Power system stability Delays Frequency control Delay effects Stability analysis Mathematical models Time-varying systems

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ICP algorithm point cloud registration method based on a new improved Harris Hawk algorithm

ICP algorithm point cloud registration method based on a new...

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2021 China automation Congress, CAC 2021

作者： Wang, Chen Jiao, Shangbin Gao, Rui Li, Yuxing School of Automation and Information Engineering Xi'an University of Technology Xi'an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China School of Electronic and Electrical Engineering Baoji University of Arts and Sciences Baoji China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Baoji China

ISBN: (纸本)9781665426473

To address shortcomings of ICP algorithm, which is sensitive to the initial position and easy to fall into local optimum, we propose a Harris Hawks Optimizer (HHO) point cloud registration method combining PCA preprocessing and parallel population initialization. The PCA method is used to align the point clouds with the main axes and perform the main axes correction. Since the six input variables in the population initialization stage of HHO point cloud registration are different and independent, the initial population of HHO algorithm is initialized by the parallel initialization method. The results show that the improved algorithm is able to successfully overwhelm the fault of ICP algorithm, and its global seek performance and optimization accuracy are more advantageous, and the algorithm operates efficiently, with high registration accuracy and robustness. © 2021 IEEE

关键词： PCA HHO Parallel Computing ICP

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Switching control of morphing aircraft based on Q-learning

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Chinese Journal of Aeronautics 2020年第2期33卷 672-687页

作者： Ligang GONG Qing WANG Changhua HU Chen LIU School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100190China Xi’an Institute of High Technology Xi’an 710025China School of Aeronautic Science and Engineering Beihang UniversityBeijing 100083China Beijing Institute of Electric System Engineering Beijing 100854China

This paper investigates a switching control strategy for the altitude motion of a morphing aircraft with variable sweep wings based on *** morphing process is regarded as a function of the system states and a related altitude motion model is ***,the designed controller is divided into the outer part and inner part,where the outer part is devised by a combination of the back-stepping method and command filter technique so that the’explosion of complexity’problem is ***,the integrator structure of the altitude motion model is exploited to simplify the back-stepping design,and disturbance observers inspired from the idea of extended state observer are devised to obtain estimations of the system *** control input switches from the outer part to the inner part when the altitude tracking error converges to a small value and linear approximation of the altitude motion model is *** inner part is generated by the Q-learning algorithm which learns the optimal command in the presence of unknown system matrices and *** is proved rigorously that all signals of the closed-loop system stay bounded by the developed control method and controller switching occurs only ***,comparative simulations are conducted to validate improved control performance of the proposed scheme.

关键词： Back-stepping Command filter Disturbance observer Morphing aircraft Q-learning Switching control

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Improved Auction Algorithm for Weapon Target Assignment with Firepower-Health Model

Improved Auction Algorithm for Weapon Target Assignment with...

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Chinese control Conference (CCC)

作者： Shuobo Wang Yong Heng Yongzhao Hua Xiwang Dong Zhang Ren Institute of Artificial Intelligence Beihang University Beijing P.R. China Beijing Institute of Electronic System Engineering Beijing PR China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing P.R. China

This paper proposes an improved auction algorithm to optimize the efficiency of dynamic weapon target assignment (WTA) problem. Firstly, the dynamic battlefield environment of firepower-health model is analyzed and the constraints of weapon assignment problem are established. The firepower-health model is about the idea of adding constraints of weapon firepower and target health to promote the result of assignment more effectively. Secondly, in order to improve the computing speed of WTA algorithm, the penalty mechanism is introduced in the compensation auction algorithm. The main idea of improved algorithm is to reduce the extra consuming of the weapon during the assignment, from which penalty mechanism can optimize the assignment results and reduce the number of algorithm iterations by punishing the overkilled target under certain rules. Finally, the simulation results based on the dynamic firepower-health model show that the proposed algorithm can meet the requirements of firepower allocation, and can promote the effectiveness of assignment with high real-time response.

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Cooperative Task Reconstruction Allocation for Unmanned Swarm systems Based on MGGA and SAA

Cooperative Task Reconstruction Allocation for Unmanned Swar...

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International Conference on control and automation (ICCA)

作者： Jintong Yu Yongzhao Hua Xiwang Dong Qingdong Li Zhang Ren Institute of Artificial Intelligence Beihang University Beijing P.R. China Institute of Unmanned System Beihang University Beijing P.R. China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing P.R. China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

Multi-unmanned agent collaboration technology is a key aspect of operations. How to reasonably assign tasks to unmanned agents before operations to maximize the overall benefits is a long-standing problem for researchers. This study systematically addresses the above issues and establishes a multi-agent task reconstruction model based on the reconnaissance, strike and assessment task background. This model includes two types of task allocation algorithms. One is task pre-allocation, which is a static task allocation before task execution. A Multi-Gene Genetic Algorithm (MGGA)is proposed for this purpose. The other is Sequential Auction Algorithm(SAA), which deals with the reallocation of tasks in response to unexpected situations during task execution. Experimental results show that, compared with other algorithms, MGGA can get the lowest fitness value under various experimental conditions. Meanwhile, SAA can handle task reallocation problems caused by various dynamic events.

关键词： Heuristic algorithms Sociology system recovery Reconstruction algorithms Reconnaissance Resource management Time factors

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Spirometer and sEMG respiratory patterns for clinical decision support system

Spirometer and sEMG respiratory patterns for clinical decisi...

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IEEE Instrumentation and Measurement Technology Conference

作者： Amit Krishan Kumar Mansour H. Assaf Voicu Z. Groza Emil M. Petriu Faculty of Electrical-Electronic Engineering Duy Tan University Da Nang Vietnam Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China School of Information Technology Engineering Mathematics and Physics The University of the South Pacific Suva Republic of Fiji School of Electrical Engineering and Computer Science University of Ottawa Ottawa Canada

To improve support system for subjects with respiratory ailments, this work analyses the respiratory patterns from spirometer and surface electromyography (sEMG). The patterns are integrated with risk and biochemical systems model to optimise the clinical decision support system (CDSS). The work considers terminal events for the spirometer and sEMG. The events and their associated patterns are correlated and projected on a hyperspace prior implementing it in decision support system. The proposed method shows that the different characteristics of breathing indicate some essential hidden information which when used as 4D scattered projection, optimises the decision making in CDSS. The analysis shows the effectiveness of bimodal respiratory patterns for different breathing capacities, which is promising for the modelled conditions.

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Pathological axonal enlargement in connection with amyloidosis,lysosome destabilization,and bleeding is a major defect in Alzheimer’s disease

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Neural Regeneration Research 2026年第2期21卷 790-799页

作者： Hualin Fu Jilong Li Chunlei Zhang Guo Gao Qiqi Ge Xinping Guan Daxiang Cui Institute of Nano Biomedicine and Engineering School of Sensing Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghaiChina Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghaiChina National Center for Translational Medicine Shanghai Jiao Tong UniversityShanghaiChina Department of Automation Shanghai Jiao Tong UniversityShanghaiChina The Key Laboratory of System Control and Information Processing Ministry of EducationShanghaiChina

Alzheimer’s disease is a multi-amyloidosis disease characterized by amyloid-βdeposits in brain blood vessels,microaneurysms,and senile *** amyloid-βdeposition affects axon pathology has not been examined *** used immunohistochemistry and immunofluorescence staining to analyze the forebrain tissue slices of Alzheimer’s disease *** axonal amyloidosis with distinctive axonal enlargement was observed in patients with Alzheimer’s *** average,amyloid-β-positive axon diameters in Alzheimer’s disease brains were 1.72 times those of control brain ***,axonal amyloidosis was associated with microtubule-associated protein 2 reduction,tau phosphorylation,lysosome destabilization,and several blood-related markers,such as apolipoprotein E,alpha-hemoglobin,glycosylated hemoglobin type A1C,and *** destabilization in Alzheimer’s disease was also clearly identified in the neuronal soma,where it was associated with the co-expression of amyloid-β,Cathepsin D,alpha-hemoglobin,actin alpha 2,and collagen type *** suggests that exogenous hemorrhagic protein intake influences neural lysosome ***,the data showed that amyloid-β-containing lysosomes were 2.23 times larger than control ***,under rare conditions,axonal breakages were observed,which likely resulted in Wallerian *** summary,axonal enlargement associated with amyloidosis,micro-bleeding,and lysosome destabilization is a major defect in patients with Alzheimer’s *** finding suggests that,in addition to the well-documented neural soma and synaptic damage,axonal damage is a key component of neuronal defects in Alzheimer’s disease.

关键词： Alzheimer’s disease amyloid-β amyloidosis axonal enlargement hemoglobin hemorrhage lysosome destabilization neuropil thread tau Wallerian degeneration

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MA-RRT* Algorithm for Path Planning with Maximum Rotation Angle Constraint and Adaptive Crossing Threat Zone

MA-RRT* Algorithm for Path Planning with Maximum Rotation An...

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Chinese control Conference (CCC)

作者： Jiong Luo Yong Heng Qi Li Yongzhao Hua Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing P.R. China Beijing Institute of Electronic System Engineering Beijing PR China Institute of Artificial Intelligence Beihang University Beijing P.R. China

With the gradual diversification of modern application scenes, the demand for UAV path planning is becoming more and more abundant. This paper first introduces a possible battle scenario, and the problems that must be considered in path planning in this scene are analyzed: the maximum rotation angle constraint and the demand that the UAV can cross the threat zone flexibly. Maximum rotation angle and Adaptive crossing threat zone RRT * (MA-RRT*) algorithm is proposed to solve the above problems. The algorithm improves the reconnection process of neighbor set in RRT*, and adds the maximum rotation angle constraint to the RRT * framework, so that the generated path strictly meets this constraint. In addition, the above process also reduces the time consumption of RRT*, and the speed advantage of MA-RRT* becomes more and more obvious with the increase of iteration times. Then, the obstacle information is regarded as one of the components of the node cost of the path, and the original obstacle is regarded as a soft constraint. This enables the path to adaptively cross the threat zone, which is more in line with the actual situation. We compare our algorithm with RRT * in numerical simulation, which verifies the effectiveness and time consumption advantages of the algorithm.

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An Improved Method for Approximating the Infinite-horizon Value Function of the Discrete-time Switched LQR Problem

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IFAC-PapersOnLine 2023年第2期56卷 4138-4143页

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 U.S.A.

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR problem. In particular, we propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value function. This method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration, and thus, our method is capable of achieving a better approximation for a given computation time compared with the existing methods. Two numerical examples are presented in this paper to illustrate the effectiveness of our method.

关键词： Switched linear systems optimal control switched LQR problem

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