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第三十四届中国控制会议

作者： Mashood Anwar Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

In this paper, we propose a time division multiple access(TDMA) based protocol that works on slightly modified IEEE802.15.4 network in star topology for secured and unsecured low latency deterministic networks(LLDN) for industrial control systems. This protocol ensures total superframe time as low as ten milliseconds as compared to minimum possible superframe time of 15.36 milliseconds. In these networks, Each end device transmits its data frame in their allotted timeslot. The timeslot and inter timeslot spacing is optimized for channel bandwidth utilization and reliable data frame exchange. While this TDMA based protocol eliminates the risk of frame collisions to great extent, MAC sub-layer tweaking improves the non-determinism of the network and increases its bandwidth efficiency. We also investigate the security impact on the performance of LLDN. A mathematical model is developed that takes empirical values as input and predicts the worst case arrival times of network devices at coordinator. Experiments were conducted to evaluate the suggested protocol and mathematical model.

关键词： IEEE 802.15.4,Networked control system,Low latency deterministic networks(LLDN),Medium access control(MAC),TDMA,security

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Optimal Distributed Fusion for State Estimation in Multirate Wireless Sensor Networks

Optimal Distributed Fusion for State Estimation in Multirate...

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第三十四届中国控制会议

作者： Lu Jiang Liping Yan Yuanqing Xia Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

This paper is concerned with the distributed fusion estimation problem for linear system observed by multirate sensors in the environment of wireless sensor networks(WSNs). Rates of the sampling, estimation, transmission in the WSNs are different. The distributed fusion estimation is composed of two stages. At the first stage, every sensor in the WSNs collects measurements of its own to generate a local estimation, then the local estimations from the neighboring sensors and the neighbour's neighbor sensors are further collected to form the fusion estimation at the second stage. The main result is that a distributed fusion estimation algorithm is presented which is simple and low energy consumption. The performance, namely, the effectiveness and the stability of the algorithm under multiple sensors, is analyzed. A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： state estimation,distributed fusion,multirate multisensor,Kalman filter,wireless sensor networks

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TDMA based IEEE 802.15.4 for Low Latency Deterministic Networked control systems

TDMA based IEEE 802.15.4 for Low Latency Deterministic Netwo...

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第27届中国控制与决策会议

作者： Mashood Anwar Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781479970186

In this paper,we propose a time division multiple access(TDMA) based protocol that works on slightly modified IEEE 802.15.4 network in star topology for low latency deterministic networked control *** end device in network transmits its data frame after certain time delay in response to periodic request from network *** time delay is optimized for channel bandwidth utilization and reliable data frame *** this TDMA based protocol eliminates the risk of frame collisions to great extent,MAC sub-layer modifications reduces the non-determinism of the network and increases its bandwidth *** were conducted to evaluate the suggested *** upon these experiments results,the proposed protocol is a feasible solution for control systems with real time constraints.

关键词： IEEE 802154 Networked control system Low latency deterministic networks(LLDN) Medium access control(MAC) Real time systems TDMA

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SH–STF: a Novel Adaptive Filter and its Application in SINS/GPS/DVS Integrated Navigation

SH–STF: a Novel Adaptive Filter and its Application in SINS...

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第三十四届中国控制会议

作者： Liping Yan Yuanqing Xia Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

This paper is concerned with adaptive filter and its application in SINS/GPS/DVS integrated navigation. A novel adaptive filter, namely, SH–STF, is presented by combining the Sage–Husa(SH) adaptive filter with the strong tracking filter(STF). For multirate sampling dynamic system and in consideration of observations randomly missing, SH–STF is applied to data fusion and SINS/GPS/DVS integrated navigation. Simulation results show the feasibility and effectiveness of the presented algorithm.

关键词： integrated navigation,Sage–Husa adaptive filter,strong tracking filter,data fusion

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Modeling of hysteresis in piezoelectric actuator using linear play operator adaptive filter

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key Engineering Materials 2015年 645卷 957-962页

作者： Xiong, Rui Liu, Xiangdong Shan, Fengmin Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Automation College Beijing Institute of Technology Beijing China

Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear play operators (LPO) adaptive hysteresis model is introduced in this paper. LPO operators are used to replace delay operators of adaptive transversal filter to compose a new serial structure of adaptive transversal filter model, and LMS (Least Mean Square) algorithm is used to adjust the weight values. As hysteresis loop of piezoelectric actuator is asymmetric and LPO operator is symmetric, a modified LPO (MLPO) adaptive filter is proposed for asymmetric hysteresis effect. At last, the two LPO filters are applied to model hysteresis characteristic of Piezoelectric actuator, and the modeling effect is verified via a micro-positioning system experiment platform based on Piezoelectric actuator. Experimental results show that the modified LPO filters can achieve better accurate hysteresis modeling. © (2015) Trans Tech Publications, Switzerland.

关键词： Hysteresis

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On Convergence of Extended State Observers for Discrete-Time Nonlinear systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm Unmanned aerial vehicles

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Near Minimum-Time Feedback Attitude control with Multiple Saturation Constraints for Satellites

Near Minimum-Time Feedback Attitude Control with Multiple Sa...

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第三十四届中国控制会议

作者： Xing Xin Zhen Li Xiangdong Liu Zhen Chen School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

A near minimum time feedback control law is proposed for the agile satellite attitude control system. The real time controller is formed by specially designed cascaded subunits. Based on this, the rapid attitude maneuvering can be applied in tasks including the move to move case. The near optimal property of that is guaranteed by the rapid dynamic response with a modified bang-bang control logic while simultaneously ensuring non-saturation properties on 3-Axis. The near optimal method is utilized for an online attitude planning, and the generated attitude maneuver path in real time is tracked by a nonlinear back-stepping controller with its improved dynamic performance and by which the united closed loop control is *** simulations are conducted to verify the effectiveness of the proposed control strategy.

关键词： Attitude control,agile satellites,saturation control,back-stepping

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Parameter-Dependent H2 State Estimation for Nonlinear systems

Parameter-Dependent H2 State Estimation for Nonlinear System...

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第三十四届中国控制会议

作者： Yin Yu Zhen Li Xiangdong Liu Bing Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

The state estimation of general nonlinear systems is investigated through a parameter-dependent approach. This paper adopts the polytopic approximation for the nonlinear systems, which facilitates the application of analytical approaches for resultant convex-bounded linear systems into the given nonlinear systems. The design of a high performance H2 state estimator is firstly determined by solving a convex optimization problem constrained by relaxed linear matrix inequalities(LMIs). The tensor product(TP) model transformation is then adopted to obtain the polytopic linearization. Specifically, A new process is presented to correct the result of the TP model transformation such that a necessary condition to solve the state estimation problem is assured. Finally, a numerical simulation is performed to illustrate the design process and verify the performance.

关键词： Nonlinear state estimation,parameter-dependent H2 filter,linear matrix inequalities(LMIs),tensor product(TP) model transformation

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High-order sliding mode attitude controller design for reentry flight

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Journal of systems Engineering and Electronics 2014年第5期25卷 848-858页

作者： Liang Wang Yongzhi Sheng Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and accurate tracking of the aerodynamic angle commands with the finite time convergence. The proposed control strategy is developed on the basis of integral sliding mode philosophy, which combines conventional sliding mode control and a linear quadratic regulator over a finite time interval with a free-final-state and allows the finite-time establishment of a high-order sliding mode. Firstly, a second-order sliding mode attitude controller is designed in the proposed high-order siding mode control framework. Then, to address the control chattering problem, a virtual control is introduced in the control design and hence a third-order sliding mode attitude controller is developed, leading to the chattering reduction as well as the control accuracy improvement. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results.

关键词： reentry vehicle attitude control high-order sliding mode control integral sliding mode.

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