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Smooth Time-Varying Feedback control of Nonholonomic Systems with Applications to the Attitude control of Underactuated Spacecraft

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Guidance, Navigation and control 2024年第1期4卷 86-101页

作者： Bin Zhou Kang-Kang Zhang Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 P.R.China Department of Mechanical Engineering University of Hong Kong Hong KongP.R.China

This paper studies the control of chained nonholonomic systems by using smooth time-varying ***,by using a time-varying state transformation,the chained nonholonomic system is transformed into a linear time-varying ***,with the aid of some properties of a class of parametric Lyapunov equations and time-varying systems theory,smooth time-varying state feedback controller is developed to ensure the exponential convergence of both the system states and *** from existing results,the design parameters in the proposed control strategy are independent of the initial conditions of the ***,as an application of the proposed smooth time-varying feedback,the attitude control problem for underactuated axisymmetric spacecraft is ***,a numerical simulation is presented to validate the effectiveness of the proposed method.

关键词： Nonholonomic systems underactuated spacecraft attitude control smooth time-varying feedback parametric Lyapunov equations

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Next-Best-Trajectory Planning of Robot Manipulators for Effective Observation and Exploration

arXiv

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arXiv 2025年

作者： Renz, Heiko Krämer, Maximilian Hoffmann, Frank Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but require vast data sets, which are costly and time-intensive to collect. Automated strategies for observation and exploration are crucial to enhance the efficiency of data gathering. Therefore, a novel strategy utilizing the Next-Best-Trajectory principle is developed for a robot manipulator operating in dynamic environments. Local trajectories are generated to maximize the information gained from observations along the path while avoiding collisions. We employ a voxel map for environment modeling and utilize raycasting from perspectives around a point of interest to estimate the information gain. A global ergodic trajectory planner provides an optional reference trajectory to the local planner, improving exploration and helping to avoid local minima. To enhance computational efficiency, raycasting for estimating the information gain in the environment is executed in parallel on the graphics processing unit. Benchmark results confirm the efficiency of the parallelization, while real-world experiments demonstrate the strategy’s effectiveness. Copyright © 2025, The Authors. All rights reserved.

关键词： Robot applications

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A Seamless Pedestrian Localization System Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年第11期12卷 16653-16667页

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation System (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： Location awareness Global navigation satellite system Accuracy Pedestrians Filtering Sensors Prediction algorithms Predictive models Smart phones Kalman filters

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Fixed-time position coordinated tracking control for spacecraft formation flying with collision avoidance

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Chinese Journal of Aeronautics 2021年第11期34卷 182-199页

作者： Minglei ZHUANG Liguo TAN Kehang LI Shenmin SONG Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China Research Center of Basic Space Science Harbin Institute of TechnologyHarbin 150001China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100190China

In this paper,the fixed-time stability of spacecraft formation reconfiguration(position tracking)is ***,a novel nonsingular terminal sliding mode surface is designed and based on which a fixed-time coordinated controller is designed to keep the closed-loop system states have a finite settling time bounded by some predefined ***,another nonsingular terminal sliding mode surface is designed by combining the artificial potential function and the aforementioned sliding surface,which meets the mutual distance constraint during transition process among spacecraft when it is *** another coordinated controller with fixed-time observer considering mutual distance constraint is presented,which guarantees the closed-loop system states stable also in bounded settling ***,simulation results are shown to validate the correctness of the proposed *** is worth mentioning that the control schemes also work even though there is a properly limit on the control input.

关键词： Collision avoidance Disturbance rejection Fixed-time stability Sliding mode control Spacecraft formation flying

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Optimal control of Fully-Actuated Systems for Spacecraft Rendezvous 41

Optimal Control of Fully-Actuated Systems for Spacecraft Ren...

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第41届中国控制会议

作者： Guang-Quan Duan Guo-Ping Liu Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Electronic and Electrical Engineering Southern University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,the rigid spacecraft rendezvous problem is studied in the sense of fully-actuated *** to the attitude and orbit dynamics,the fully-actuated system model is *** the linear quadratic optimal controller of the fully-actuated system is designed for spacecraft rendezvous ***,numerical simulation and physical experiment are *** simulation and experiment results indicate the effectiveness and practicability of the optimal controller.

关键词： Fully-Actuated System Optimal controller Spacecraft Rendezvous Attitude Stabilization Orbit control

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Constrained control of Networked High-Order Fully Actuated Systems via Predictive control 41

Constrained Control of Networked High-Order Fully Actuated S...

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第41届中国控制会议

作者： Da-Wei Zhang Guo-Ping Liu Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Electronic and Electrical Engineering Southern University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This study is concerned with the output tracking of networked high-order fully actuated(NHOFA) systems subject to input saturation and prescribed performance.A predictive control based constrained control approach is presented to cope with this *** this approach,an incremental HOFA prediction model is constructed via a Diophantine Equation,and then a cost function,considering input saturation and prescribed performance,is optimized by multi-step output prediction,so that an optimal constrained tracking controller is established to satisfy the tracking requirement and given *** analysis presents a simple condition of bounded stability and tracking performance of closed-loop NHOFA systems,which offers a reliable foundation for constrained coordinated control of NHOFA multiagent systems.A numerical simulation of flying-around for air-bearing simulator is shown to prove the feasibility of the proposed approach.

关键词： NHOFA Systems Constrained control Predictive control Bounded Stability and Tracking Performance

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Two-Stage Hierarchical Motion Planning with Basis-Splines in Highway Environments

Two-Stage Hierarchical Motion Planning with Basis-Splines in...

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International Workshop on Advanced Motion control (AMC)

作者： Philip Dorpmüller Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Road environments can include several local optimal solutions to be explored by a motion planning algorithm, which can be computationally complex. This work proposes a two-stage approach, where each stage solves the same basis-spline parameterized optimal control problem. In the first step, a solution is selected from a discrete set of trajectory candidates. In the second one, the trajectory is refined by a nonlinear optimization algorithm in the continuous solution space. The non-uniform basis-spline parameterization guarantees the trajectory's time-continuous feasibility. Final costs are introduced to ensure convergence towards a final manifold. The approach is evaluated in a highway scenario where other vehicles must be circumnavigated to reach a specified velocity and lane center.

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Combined Spacecraft Attitude Tracking control with Prescribed Performance via A Fully Actuated System Approach 42

Combined Spacecraft Attitude Tracking Control with Prescribe...

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42nd Chinese control Conference, CCC 2023

作者： Duan, Guang-Quan Liu, Guo-Ping Fu, Yan-Ming Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Southern University of Science and Technology Department of Electronic Engineering Shenzhen518055 China

ISBN: (纸本)9789887581543

In this paper, a fully-actuated system prescribed performance controller is proposed to achieve attitude tracking control of the combined spacecraft. In order to make the combined spacecraft satisfy the required steady-state and transient performance in the attitude tracking control process, a fully actuated system controller with prescribed performance is proposed. The attitude dynamics model of the combined spacecraft is transformed into a tracking error function. Furthermore, the controller of the fully actuated system is designed according to the error function to realize the attitude tracking control of the combined spacecraft. Lyapunov function is introduced to prove the stability of the system. With the presented way of designing fully actuated system prescribed performance controller, the numerical simulation results verify the effectiveness of the proposed method. © 2023 Technical Committee on control theory, Chinese Association of Automation.

关键词： controllers

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An Intelligent Ovarian Ultrasound Image Generation Algorithm based on Generative Adversarial Networks

An Intelligent Ovarian Ultrasound Image Generation Algorithm...

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2023 IEEE International Ultrasonics Symposium, IUS 2023

作者： Xiang, Hongbei Zhao, Yue Huang, Hao Miao, Kuo Dong, Xiaoqiu Harbin Institute of Technology Control Theory and Engineering School of Astronautics Harbin China Fourth Affiliated Hospital of Harbin Medical University Department of Ultrasound Heilongjiang Harbin China

ISBN: (纸本)9798350346459

A deep learning framework based on generative adversarial networks (GAN) for ovarian ultrasound (US) images synthesis is investigated. This method offers an effective solution for addressing the issue of insufficient and unbalanced data in ovarian disease research. The proposed network, built on the Triple-GAN model, can synthesize a large number of medical ovarian US images which are difficult to distinguish from the real ones. This approach effectively increases the available volume of the ultrasound images of ovarian diseases and facilitates deep learning applications in ovarian ultrasound images. It provides reliable training data replacements. The generated data were validated through professional appraisal, classification method and image metrics. The results demonstrated high credibility and quality. The feasibility of using the generated data in the intelligent classification algorithm of ovarian diseases is verified, which has important practical significance for the research and development of artificial intelligence diagnosis algorithms for various diseases in the future. © 2023 IEEE.

关键词： Generative adversarial networks

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Improving Computer Vision by Virtual Optimization of Matrix Headlights Using Surface Properties

Improving Computer Vision by Virtual Optimization of Matrix ...

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Artificial Intelligence, Computer, Data Sciences and Applications (ACDSA), International Conference on

作者： Nathalie Müller Mirko Waldner Torsten Bertram Institute of Control Theory and Systems Engineering (RST) TU Dortmund University Dortmund Germany

The contribution at hand presents a novel method for optimizing the illumination of matrix headlights in simulation to improve the environment perception of camera-based computer vision and the object detection quality for automated driving. With high-definition (HD) matrix headlights in combination with the developed novel algorithm, different surfaces and materials in the environment can be illuminated with different intensities, resulting in material-based and -optimized illumination that is individually adapted to each material. This environment-optimal illumination improves the detection quality of computer vision, which is better than conventional homogenous headlamp illumination. Additionally, it is possible to achieve a similar detection quality using the novel proposed optimization approach with potential energy savings of up to 88%.

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