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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li Yilong Zhang Ping Li Rob Law Zhengrong Xiang Xin Xu Limin Zhu Edmond Q.Wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake *** method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined *** optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and ***,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control *** compensation is adopted to enhance the compatibility of a robot within ever-changing *** and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

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Intelligent Flight control for Cruise Vehicle Based on Backstepping Design and Reinforcement Learning

Intelligent Flight Control for Cruise Vehicle Based on Backs...

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2023 China automation Congress, CAC 2023

作者： Liu, Xiaodong Jia, Chenhui Yang, Qingjun Wu, Tiancai Zhang, Yu Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China Beijing Aerospace Automatic Control Institute Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350303759

Aiming at velocity/height tracking control and attitude stabilization for the longitudinal flight of cruise vehicle, the research of intelligent flight control method is carried out by combining the backstepping control theory and the deep reinforcement learning method. Firstly, the longitudinal flight control system of the vehicle is decomposed into velocity and height subsystems, and the control law is designed based on backstepping control theory. Then, aiming at the problems that the selection of the multiple control gains will directly affect the control performance of the closed-loop system and the adjustment process of control gains is cumbersome, the twin delayed deep deterministic policy gradient algorithm (TD3) will be adopted to train the cruise vehicle, so that it can determine the control gains online according to the current flight states. The numerical simulation results show that, the proposed intelligent flight control method can guarantee the high-precision tracking with respect to height and velocity commands, and also realize the attitude stability of cruise vehicle. © 2023 IEEE.

关键词： Reinforcement learning

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Adaptive Virtual Synchronous Machine control Strategy for MMC Interconnect Converter Based on Distributed Measurement 9

Adaptive Virtual Synchronous Machine Control Strategy for MM...

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9th Asia Conference on Power and Electrical engineering, ACPEE 2024

作者： Lu, Shaoqun Xiang, Zhengrong Zhong, Kunyan Meng, Jinxue Dang, Yinning Guangxi Science&Technology Normal University School of Mechanical and Electrical Engineering Laibin China Hunan Vocational Institute of Technology Hunan Engineering Laboratory for Photovolatic System Control and Optimization Xiangtan China

ISBN: (纸本)9798350309638

Aiming at the problem of poor stability and response of traditional voltage source control, an adaptive virtual synchronous machine control strategy for Modular Multilevel Converter (MMC) interconnect converter based on distributed measurement is proposed. Through the introduction of virtual synchronous machine control, the interconnect converter can actively participate in grid stabilisation, and its adaptive strategy is adopted to enhance control system suppression capability on frequency oscillation, and the distributed measurement-based MCC control method can solve the insufficient flexibility and scalability of the traditional MMC centralised control strategy. The experimental results show that a large inertia in the DC bus dynamic process helps to enhance the voltage stability of the DC microgrid system. The AC microgrid bus frequency also has a large inertia, which contributes to the AC microgrid frequency stability. The transmitted power has greater inertia during load variations, especially when the load variations are greater. In addition, the distributed measurement-based MMC interconnect converter excels in steady-state control performance, balancing the capacitive voltages of the sub-modules and maintaining stable operation of the system through steady-state distributed control. © 2024 IEEE.

关键词： Balancing

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Flight Parameter Prediction and Fault Propagation based on Machine Learning and Symbolic Directed Graph 6

Flight Parameter Prediction and Fault Propagation based on M...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Wenzhuo Guo, Kun Cheng, Yuehua Hu, Hengsong Xu, Cheng Yu, Ziquan Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Institute of Mechanical and Electrical Engineering Beijing China

ISBN: (纸本)9798350316155

Fault influence and propagation analysis of flight vehicle systems is an important element of flight vehicle health management and also an important problem to be solved. A fault influence model based on data-driven is established, including a prediction model of flight parameters under fault, a dynamic influence path, and an influence degree model. Based on the historical experimental data, a long and short-term memory neural network (LSTM) model is proposed to predict the time-series data of each flight parameter of the flight vehicle under fault;based on the prediction results, a symbolic directed graph (SDG) is used to describe the fault of the flight vehicle system, and then introduce the concept of a compatible path with time-series characteristics to describe the dynamic propagation process of the fault. The case shows that the method proposed in this paper enables qualitative and quantitative analysis of the fault influence, and can reasonably describe the fault propagation path and influence characteristics. © 2023 IEEE.

关键词： Directed graphs

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Globally Exponential Regulation of Hypersonic Vehicle with Strong Nonlinearies 6

Globally Exponential Regulation of Hypersonic Vehicle with S...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Yang, Shaohua Li, Xia Liu, Zhen Zhang, Yanjun Qufu Normal University Institute of Automation College of Engineering Qufu273165 China Qufu Normal University School of Cyber Science and Engineering Qufu273165 China Institute of Automation Chinese Academy of Sciences Integrated Information System Research Center Beijing100190 China Beijing Institute of Technology School of Automation Beijing100081 China

ISBN: (纸本)9798350316155

This paper considers a regulation problem for a longitudinal dynamical model of hypersonic vehicles with strong nonlinearies. The problem is reduced to a stabilization problem by shifting the desired equilibrium position to the origin. By means of a control input domination idea and suitable coordinate transformations, the longitudinal dynamics of hypersonic vehicles with engine throttle setting dynamics are divided into a flight-path angle controlled subsystem and a velocity controlled subsystem. A new nonlinear state-feedback control scheme is proposed using a parameter separation technique for dealing with strong nonlinearies and a backstepping approach for designing virtual and actual controllers. The proposed controller ensures the closed-loop signals global boundedness and achieves exponential regulation throughout the vehicle's operational envelope. Simulation results show the desired control system performance for the hypersonic vehicle models with strong nonlinearies. © 2023 IEEE.

关键词： Hypersonic vehicles

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Method for Evaluating the Performance of Aircraft Collaborative Decision-Making Based on Dynamic Bayesian Network

Method for Evaluating the Performance of Aircraft Collaborat...

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2024 International Conference on Electronics and Devices, Computational science, ICEDCS 2024

作者： Zhang, Wenbo Yu, Boxiao Tong, Jiahui Li, Jing Beijing Electro-Mechanical Engineering Institute National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China Beijing Institute of Technology School of Computer Science and Technology Beijing China

ISBN: (纸本)9798331527624

This research addresses the challenge of assessing equipment decision-making effectiveness in environments characterized by uncertainty and multiple influencing factors. We propose a novel approach involving the creation and optimization of a dynamic Bayesian network-based model tailored for equipment decision-making processes. The model facilitates a systematic evaluation of decision-making effectiveness by incorporating various factors, including equipment performance, environmental conditions, and enemy defensive capabilities. A comprehensive assessment system has been developed to simulate the penetration capabilities of different equipment through enemy defenses. Moreover, this study identifies potential errors in the effectiveness evaluation model by analyzing its performance in typical scenarios, pinpointing areas for enhancement. © 2024 IEEE.

关键词： Decision-making Dynamic Bayesian networks Equipment Simulation Uncertainty Management

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Adaptive fuzzy asymptotic control design for MIMO nonlinear systems with state constraints

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Journal of control and Decision 2023年第4期10卷 610-623页

作者： Yongchao Liu Bowen Zeng Qidan Zhu Lipeng Wang Institute of Complexity Science School of AutomationQingdao UniversityQingdaoPeople’s Republic of China Shandong Key Laboratory of Industrial Control Technology QingdaoPeople’s Republic of China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbinPeople’s Republic of China

This paper addresses the asymptotic control problem of uncertain multi-input and multi-output(MIMO)nonlinear *** considered MIMO systems contain unknown virtual control coefficients(UVCCs)and state *** Lyapunov function by associating with the lower bounds of UVCCs is presented to counteract the adverse effect deriving from *** state constraints are ensured by utilising the barrier Lyapunov ***,the asymptotic tracking controller is recursively constructed by combining the backstepping technique with fuzzy logic *** remarkable character of the designed controller is that the asymptotic tracking performance can be achieved by introducing some smooth functions into adaptive backstepping *** contrast to the existing results,the conditions on the UVCCs are ***,the new control design is illustrated by a practical example.

关键词： Asymptotic tracking control state constraints bound estimation method nonlinear systems

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Prescribed Performance Event-Triggered Trajectory Tracking control for Stratospheric Airship

Prescribed Performance Event-Triggered Trajectory Tracking C...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Sun, Peihao Zhu, Ming Zhang, Yifei Chen, Tian Zheng, Zewei School of Aeronautic Science and Engineering Beihang University Beijing China Institute of Unmanned System Beihang University Beijing China School of Electronic and Information Engineering Beihang University Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350316308

This study presents a novel trajectory tracking controller for a stratospheric airship, focusing on event-triggered control and prescribed performance. The proposed controller, based on the framework of prescribed performance backstepping method, combines a second-order derivative filter and a radial basis function neural network. The controller design incorporates an event-triggered strategy to achieve prescribed performance objectives. The derivative filter addresses the computational complexity associated with the virtual control law, while the radial basis function neural network estimates unknown terms. Through Lyapunov analysis, the stability and non-Zeno behavior of the system are established. Simulation results confirm the effectiveness of the designed controller in achieving the desired trajectory tracking objectives. © 2023 IEEE.

关键词： controllers

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Fixed-Time Predefined Performance Platoon Formation control of Automated Vehicles with Uncertain Disturbances 8

Fixed-Time Predefined Performance Platoon Formation Control ...

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8th IEEE International Conference on Intelligent Transportation engineering, ICITE 2023

作者： Zhang, Yifei Sun, Yang Chen, Tian Zheng, Zewei Zhu, Ming School of Electronic and Information Engineering Beihang University Beijing China School of Aeronautic Science and Engineering Beihang University Beijing China Institute of Unmanned System Beihang University Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350314212

This paper addresses the fixed-time predefined performance platoon formation control problem of automated vehicles with the consideration of uncertain disturbances. First, a general platoon formation control framework is developed. Then, the transformed errors are designed to make sure the predefined performance requirement is satisfied. Furthermore, the radial basis function neural network is introduced to deal with uncertain disturbances, which accommodates unmodelled dynamics and unknown external disturbances. To this end, the fixed-time stability of the whole closed-loop system is proved theoretically, and simulation results are given to illustrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Radial basis function networks

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Multi-agent Weapon Target Assignment and Cooperative Path Planning Based on QS-RRT Algorithm 41

Multi-agent Weapon Target Assignment and Cooperative Path Pl...

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第41届中国控制会议

作者： Qingze Li Yongzhao Hua Haoran Zhai Qingdong Li Xiwang Dong School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,based on the typical combat scenario where multiple UAVs strike multiple targets,the model of weapon firepower allocation is firstly modeled to obtain the corresponding objective function,and then the improved distributed auction algorithm is used to solve the objective function to obtain the multi-target allocation *** layer first analyze the traditional RRT algorithm,and gets the quick and smooth convergence RRT(QS-RRT) on the basis of improved algorithm,the algorithm on the basis of adding the synergy of constraints,and makes the collaborative planning path compared with non-cooperative path planning,the planning path length in the keep basically remain unchanged,on the basis of our UAV for the same target can arriving together,The difference of arrival time is greatly reduced,and the subsequent coordinated strike mission can be completed more efficiently in the combat scenario.

关键词： Weapon target assignment Auction algorithm Cooperative path planning QS-RRT algorithm

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