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2023 China Automation Congress, CAC 2023

作者： Zhu, Yichuan Yao, Na Fan, Hu Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China Beijing Aerospace Automatic Control Institute System Simulation Laboratory Beijing China The Third Representative Office of Air Force Equipment in Beijing Area Beijing China

ISBN: (纸本)9798350303759

This article designs a sliding mode terminal guidance law for high-speed targets by modifying the approach law. Firstly, the relative motion equation of the chaser and escaper is established;Then adjust the aircraft based on the changes in the distance of the chaser and escaper and approach speed, design a self adaptive approach law, and derive the guidance law. At the same time, prove the stability of the guidance system by constructing a Lyapunov function;Finally, simulation verification was conducted. The simulation results showed that the designed guidance law can achieve the encounter between the chaser and the escaper. By comparing it with proportional guidance under different operating conditions, it was verified that the method has higher adaptability to different operating conditions, thus verifying the effectiveness of the guidance law designed in this paper and providing certain reference value for further research. © 2023 IEEE.

关键词： Equations of motion

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Optimized Disturbance Rejection control for Flutter Suppression of a Benchmark Active control Technology Wind-Tunnel Model

Optimized Disturbance Rejection Control for Flutter Suppres...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Piao, Minnan Li, Haifeng Lu, Biao Wang, Yongshuai Huang, Jian College of Computer Science and Technology Civil Aviation University of China Tianjin300300 China Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Beijing Automatic Control & Equipment Institute Beijing100074 China

ISBN: (纸本)9789811966125

Active control of aeroservoelasticity effect is critical for future aircraft. This paper concerns the flutter suppression problem for a benchmark active control technology (BACT) wind-tunnel model, which is subject to unmodelled dynamics, parameter perturbations, turbulence disturbances, and measurement noises. After analyzing the characteristics of the BACT model, the trailing edge velocity, which combines the information of the plunge and the pitch modes, is chosen as the controlled output. Several practical filters are employed to effectively attenuate the sensor noise and drift. Based on the filtered signal, we employ the active disturbance rejection control (ADRC) to compensate the multifarious uncertainties and achieve the flutter suppression. Furthermore, to facilitate parameter tuning, the nonsmooth H∞ synthesis method is employed. Finally, extensive simulation and comparison results validate the superiority of the proposed method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Disturbance rejection

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Experimental research on GM-APD LIDAR point cloud classification algorithm based on deep learning

Experimental research on GM-APD LIDAR point cloud classifica...

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2022 Applied Optics and Photonics China: Advanced Laser Technology and Applications, AOPC 2022

作者： Jiang, Yanze Sun, Jianfeng Ding, Yuanxue Jiang, Peng Zhang, Hailong Li, Sining Zhou, Shuaijun National Key Laboratory of Science and Technology on Tunable Laser Institute of OptoElectronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9781510662223

Geiger mode Avalanche Photo Diode (Gm-APD) array lidar is a lidar that can perform single-photon detection. It offers a wide range of applications due to its low power consumption, small size, and extended detecting distance. There haven't been many research on this detector's target classification because of its late development and small detector array. The classification technique based on the Gm-APD array lidar point cloud is the focus of this paper's research: Firstly, the Gm-APD array lidar is utilized to perform imaging tests on four targets from various angles in order to create a target classification *** that, several data preprocessing methods were chosen and implemented based on the characteristics of the obtained data, such as filling in missing values, performing range image and intensity image interpolation, using the principle of keyhole imaging to convert the range image to point cloud data, realizing the information fusion of distance image and intensity image, and using multiple point cloud data enhancement methods. Finally, the point cloud classification networks PointNet and PointNet++ are trained on point cloud data with varying levels of preprocessing, the results are compared and analyzed, and the impact of different preprocessing methods on the classification accuracy of the two networks is determined. Inferences were made and experiments were carried out to verify the inferences. The data set preprocessing method with the highest classification accuracy of the two networks is discovered, laying the groundwork for future Gm-APD lidar target classification and detection research. © 2023 SPIE.

关键词： Optical radar

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On Convergence in Distribution of Stein's Unbiased Risk Hyper-parameter Estimator for Regularized system Identification 41

On Convergence in Distribution of Stein's Unbiased Risk Hype...

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第41届中国控制会议

作者： Yue Ju Tianshi Chen Biqiang Mu Lennart Ljung School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and System ScienceChinese Academy of Sciences Division of Automatic Control Department of Electrical EngineeringLink?ping University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Asymptotic theory for the regularized system identification has received increasing interests in recent *** this paper,for the finite impulse response(FIR) model and filtered white noise inputs,we show the convergence in distribution of the Stein's unbiased risk estimator(SURE) based hyper-parameter estimator and find factors that influence its convergence *** particular,we consider the ridge regression case to obtain closed-form expressions of the limit of the regression matrix and the variance of the limiting distribution of the SURE based hyper-parameter estimator,and then demonstrate their relation numerically.

关键词： Asymptotic theory Stein's unbiased risk estimator Hyper-parameter estimator Regularized system identification

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Path Planning Algorithm for Multiple UAVs Based on Artificial Potential Field 11

Path Planning Algorithm for Multiple UAVs Based on Artificia...

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11th Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2023

作者： Ren, Chongde Chen, Jinchao Du, Chenglie Yu, Wenquan School of Software Northwestern Polytechnical University Xi'an China Northwestern Polytechnical University Department of Computer Science Xi'an China North Automatic Control Technology Research Institute Department of Land Unmanned System Research and Development Taiyuan China

ISBN: (纸本)9798350333664

Due to the lower cost and higher maneuverability, unmanned aerial vehicles (UAVs) have found extensive use in both the civilian and military worlds. Path planning, as a crucial problem in the process of UAVs flight, aims to determine the optimal routes for multiple UAVs from various starting points to a single destination. However, because of the involvement of complex conditional constraints, path planning becomes a highly challenging problem. The path planning problem involving numerous UAVs is examined in this research, and a SAAPF-MADDPG algorithm based on Artificial Potential Field (APF) is suggested as a solution. First, a SA-greedy algorithm that can change the probability of random exploration by agents based on the number of steps and successful rounds to prevent UAVs from getting trapped in a local optimum. Then, we design complex reward functions based on APF to guide UAVs to destination faster. Finally, SAAPF-MADDPG is evaluated against the MADDPG, DDPG, and MATD3 methods in simulation scenarios to confirm its efficacy. © 2023 IEEE.

关键词： autonomous navigation deep reinforcement learning multi-agent systems path planning

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An Energy Efficient Dynamic Scheduling Algorithm for Reliability Constraints in Distributed Heterogeneous systems 11

An Energy Efficient Dynamic Scheduling Algorithm for Reliabi...

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11th Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2023

作者： Liu, Yifan Du, Chenglie Chen, Jinchao Du, Xiaoyan Yu, Wenquan School of Software Northwestern Polytechnical University Xi'an China School of Computer Science Northwestern Poly Technical University Xi'an China North Automatic Control Technology Research Institute Department of Land Unmanned System Research and Development Taiyuan China

ISBN: (纸本)9798350333664

Scheduling algorithms in distributed heterogeneous systems have been the subject of extensive research. However, with the advancement of technology, addressing real-time, reliability, and energy consumption issues in dynamic environments has become increasingly critical. Existing studies mostly focus on static approaches, which are challenging to achieve scheduling objectives rapidly and adaptively. Therefore, we propose a novel dynamic energy-aware scheduling algorithm for deadlines and reliability constrained applications. Firstly, we introduce a prioritization method for multitasking applications to ensure more applications meet their deadlines. Subsequently, we present specific strategies for task allocation to achieve a better trade-off between energy consumption and reliability. Experimental results on randomly generated applications validate the superiority of our proposed method in terms of performance compared to other algorithms. © 2023 IEEE.

关键词： Deadline constrained Dynamic systems Energy consumption Online scheduling Reliability

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Some remarks on practical stabilization via CLF-based control under measurement noise

arXiv

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arXiv 2025年

作者： Schmidt, Patrick Osinenko, Pavel Streif, Stefan Technische Universität Chemnitz Automatic Control and System Dynamics Lab Chemnitz09126 Germany Skolkovo Institute of Science and Technology Moscow143026 Russia

Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state space is computed. This is done via the Lyapunov function-based decay condition, which describes along with the input constraints a set of admissible controls. Afterwards, the measurement time points are computed based on the system dynamics. It is shown that between these self-triggered measurement time points, the system evolves and converges into the so-called target ball, i.e. a vicinity of the origin, where it remains. Furthermore, it is shown that the approach ensures the existence of a control law, which is admissible for all possible states and it introduces a connection between measurement time points, measurement accuracy, target ball, and decay. The results of the approach are shown in three examples. © 2025, CC BY-NC-ND.

关键词： Lyapunov functions

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Estimation of smoke echo signal using single-photon lidar 13

Estimation of smoke echo signal using single-photon lidar

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13th International Conference on Information Optics and Photonics, CIOP 2022

作者： Zhang, Yinbo Li, Sining Sun, Jianfeng Jiang, Peng Zhou, Shuaijun Zhang, Xin Hou, Yue Zhang, Hailong National Key Laboratory of Science and Technology on Tunable Laser Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9781510660632

The non-uniform distribution of smoke and laser spot seriously limits the imaging ability of single-photon lidar through smoke. To this end, based on the collision theory between photons and smoke particles, this paper establishes the time-domain distribution model of scattered photons (Gamma), which considers the lidar system parameters and the characteristics of smoke particles. The shape parameter and inverse scale parameter are defined as the maximum scattering number K and the average scattering number β, respectively. The indoor test effectively illustrates the estimation ability of the model for smoke. The parameter estimation results show that the average scattering number β and the maximum scattering number K increase linearly with the increase of attenuation coefficient. This study is of great significance for the suppression of smoke backscattering and is expected to improve the weather adaptability of single-photon lidar. © 2022 SPIE.

关键词： Backscattering

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Some remarks on robustness of sample-and-hold stabilization

arXiv

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arXiv 2025年

作者： Schmidt, Patrick Osinenko, Pavel Streif, Stefan Technische Uni-versität Chemnitz Automatic Control and System Dynamics Lab Chemnitz09126 Germany patrick.schmidt Skolkovo Institute of Science and Technology Moscow143026 Russia

This work studies robustness to system disturbance and measurement noise of some popular general practical stabilization techniques, namely, Dini aiming, optimization-based stabilization and inf-convolution stabilization. Common to all these techniques is the explicit usage of a (general nonsmooth) control Lyapunov function, thus allowing to see them as a kind of generalization to the celebrated Sontag’s formula. It turns out that certain details of the above described robustness properties have not yet received the attention in literature they deserved. We provide new remarks, formalized in mathematical propositions, on robustness of selected popular stabilization techniques along with an extensive statistical case study on a robot parking problem. © 2025, CC BY-NC-ND.

关键词： Lyapunov functions

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Experimental verification of an online traction parameter identification method

arXiv

引用

arXiv 2023年

作者： Kobelski, Alexander Osinenko, Pavel Streif, Stefan Technische Universität Chemnitz Automatic Control and System Dynamics Laboratory Germany Skolkovo Institute of Science and Technology Computational and Data Science and Engineering Center Moscow Russia

Traction parameters, that characterize the ground-wheel contact dynamics, are the central factor in the energy efficiency of vehicles. To optimize fuel consumption, reduce wear of tires, increase productivity etc., knowledge of current traction parameters is unavoidable. Unfortunately, these parameters are difficult to measure and require expensive force and torque sensors. An alternative way is to use system identification to determine them. In this work, we validate such a method in field experiments with a mobile robot. The method is based on an adaptive Kalman filter. We show how it estimates the traction parameters online, during the motion on the field, and compare them to their values determined via a 6-directional force-torque sensor installed for verification. Data of adhesion slip ratio curves is recorded and compared to curves from literature for additional validation of the method. The results can establish a foundation for a number of optimal traction methods. © 2023, CC BY-NC-ND.

关键词： Parameter estimation

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