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第三十八届中国控制会议

作者： Lei Ji Chunxia Fan Yan Qiao Hao Xiang College of Automation & College Of Artificial Intelligence Nanjing University of Posts and Telecommunications Jiangsu Engineering Lab for IOT Intelligent Robots Nanjing University of Posts and Telecommunications

The problem of formation control for multi-UAV systems is studied when the communication bandwidth is limited. By using combination position and velocity error, the formation control protocol with event-triggered mechanism is co-designed to reduce the amount of transmitted information over cyber network. Then the asymptotic stability criterion of the multi-UAV formation system is achieved by using the Lyapunov method. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed formation control scheme for multi-UAV systems.

关键词： Multi-unmanned aerial vehicles system(Multi-UAV system) Formation control Event-trigger Combination error

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Distributed Global Leader-Following Coordination of MASs with Heterogeneous Input Saturation: Scheduling Low-Gain Revisited

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Journal of the Franklin Institute 2025年第11期362卷

作者： Xiaoling Wang Shengnan Zhu Juan Qian Housheng Su College of Automation & AI Nanjing University of Posts and Telecommunications and Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) Nanjing 210023 China Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai 200237 China Université Claude Bernard Lyon 1 CNRS LAGEPP UMR 5007 43 boulevard du 11 novembre 1918 F-69100 Villeurbanne France National Key Laboratory of Multispectral Information Intelligent Processing Technology School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 China

In this paper, we revisit the global coordinated tracking problem of the leader-following multi-agent systems with input saturation via the scheduling low-gain feedback technique, aiming to make breakthroughs from aspects such as the heterogeneity of saturation level and the distributed characteristic of scheduled tuning algorithms on the low-gain parameters, that is the newly proposed distributed scheduling low-gain approach. First, we provide a continuous-time tuning algorithm for the low-gain parameter of each follower to articulate the fundamental idea of the distributed scheduling low-gain technique on addressing heterogeneous saturation, so as to solve the global consensus tracking of multi-agent systems with heterogeneous input saturation and one leader. Then, this result is extended to the global containment tracking of multi-agent systems with multiple leaders. Furthermore, from the perspective of reducing communication burden, we further propose a distributed scheduling low-gain parameter algorithm by using the sampled relative information between each follower and its neighbors, and offer the upper and lower bounds on the sampling period to ensure the achievement of global coordination tracking. Finally, numerical simulations are performed to verify the theoretical results.

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Analysis of water surface effects during the water-exit process of the vector bi-rotor aerial-aquatic vehicle

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Aerospace Science and Technology 2025年 164卷

作者： Yi Sun Youzhi Xu Huan Shen Jingheng Liu Yadong Gao Qijun Zhao Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots the College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Jiangsu Key Laboratory of Bionic Materials and Equipment Nanjing 210016 China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

The water-exit motion, as a critical core capability of aerial-aquatic vehicles, is essential for maintaining their stable and reliable performance. For most aerial-aquatic vehicles, the water-exit motion relies primarily on the high thrust generated by rotors. However, during the transition between media, maintaining a stable water-exit attitude is crucial for ensuring the stability of subsequent aerial flight. This effect is especially pronounced in multi-rotor aerial-aquatic vehicles utilizing vector control. This paper addresses the issue of poor attitude stability during the water-exit motion of vector bi-rotor aerial-aquatic vehicles. Employing multiphase flow numerical simulation methods, the study examines the impact of water surface effects at different water-exit heights ( H ) on the flow field variation performance of the vehicle. The initial water-exit height ( H i n i t i a l ) is determined, and the flow field variation principles induced by water surface effects are derived. Based on the numerical simulation results, a prototype of a vector bi-rotor aerial-aquatic vehicle with a coupled vector power system was developed. Near-surface flight tests were conducted in an outdoor lake environment to validate the flow field variation principles obtained from the simulations. Additionally, based on the experimental results, the optimal water-exit height ( H o p t i m a l ) was identified, and both the flow field variation principles and height-climbing water-exit strategy were further optimized. The results of this study can provide stable water-exit conditions for vector multi-rotor aerial-aquatic vehicles, effectively reducing disturbances during the transition. This contributes to the optimization of a complete water-exit strategy and lays a foundation for the development of robust water-exit control methods in future applications.

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Formation Control for Multi-UAVs System Based on Event-triggered Mechanism 38

Formation Control for Multi-UAVs System Based on Event-trigg...

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38th Chinese Control Conference (CCC)

作者： Ji, Lei Fan, Chunxia Qiao, Yan Xiang, Hao Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Peoples R China

ISBN: (纸本)9789881563972

关键词： Multi-unmanned aerial vehicles system (Multi-UAV system) Formation control Event-trigger Combination error

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Grappling claws for a robot to climb rough wall surfaces: Mechanical design, grasping algorithm, and experiments

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ROBOTICS AND AUTONOMOUS SYSTEMS 2020年 128卷 103501-103501页

作者： Xu, Fengyu Meng, Fanchang Jiang, Quansheng Peng, Gaoliang Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Suzhou Univ Sci & Technol Sch Mech Engineer Suzhou 215009 Peoples R China Harbin Inst Technol Sch Mech & Elect Harbin 150001 Peoples R China

Wall-climbing robots have been widely applied in the inspection of smooth walls. However, only a few adhesion methods have been developed for robots that will allow them to climb cliffs and dusty, high-altitude, rough walls (constructed using coarse concrete, bricks, and stones, etc.) that may be subjected to vibrations. This paper proposes a suitable adhesion method that employs grappling-hook-like claws arranged in a cross shape. First, we address the implementation mechanism required. Then, a method of extracting the characteristic parameter is revealed rough wall was devised, 3D profiles of rough walls were simulated, and the discriminant conditions necessary for the claws to stably grasp the wall were provided. A method of triangulation is proposed to judge which regions of a 3D wall can be gripped, and we subsequently present a grasping discrimination algorithm for the interaction between the miniature claws and 3D wall profile. Finally, a prototype of the grappling-hook-like claw system was fabricated. A test platform was built to test the robot which incorporates an electromagnetic vibration shaker to simulate a vibrating wall. Experiments were then carried out on the robot using the vibrating wall and a random outdoor wall. The results verified the feasibility of the proposed claws and the validity of the discriminant algorithm for gripping 3D walls. Compared with traditional adhesion approaches, the proposed method (based on hook-like claws) is more adaptable to suit various types of wall. It also has higher resistance to disturbances and so provides a more reliable method of adhesion for robots on rough walls. (C) 2020 Elsevier B.V. All rights reserved.

关键词： Flexible grasping claw Grasping discrimination algorithm 3D wall Asperity of rough wall surfaces

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Adaptive Fault Tolerant Control for a Quadrotor Under Actuator Faults 38

Adaptive Fault Tolerant Control for a Quadrotor Under Actuat...

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38th Chinese Control Conference (CCC)

作者： Wang, Xian Zhao, Jing Qian, Juan Xie, Fei Fu, Jiang Nanjing Univ Posts & Telecommun Coll Automat Coll Artificial Intelligence Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Peoples R China Nanjing Normal Univ Sch Elect & Automat Engn Nanjing 210023 Peoples R China Nanjing Univ Sci & Technol Nanjing 210023 Peoples R China

ISBN: (纸本)9789881563972

A novel fault tolerant control scheme for actuator fault which may occur on an underactuated system of quadrotor aircraft using a backstepping sliding mode technique is addressed. Firstly, a nonlinear observer is designed to estimate fault information. Secondly. a backstepping terminal sliding mode fault tolerant control scheme is proposed. The fault can be accurately estimated information under different fault factors, and further compensated via fault tolerant controller (FTC). Finally, the experimental simulation results show excellent fault-tolerant performance.

关键词： Fault Tolerant Control Nonlinear Observer Backstepping Sliding Mode Control Underactuated system

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LED Visible Light Localization Based on Illuminance Analysis

LED Visible Light Localization Based on Illuminance Analysis

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IEEE International Conference on Real-time Computing and Robotics (IEEE-RCAR)

作者： Gu, Chenting Liu, Xiaofeng Ou, Yongsheng Liu, Chao Tao, Hao Shi, Tianyun HoHai Univ Nanjing 210098 Peoples R China Jiangsu Key Lab Special Robots Changzhou 213022 Peoples R China Changzhou Key Lab Robots & Intelligent Technol Changzhou 213022 Peoples R China Hohai Univ Coll IoT Engn Changzhou 213022 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Key Lab Human Machine Intelligence Synerg Syst Shenzhen 518055 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Guangdong Prov Key Lab Robot & Intelligent Syst Shenzhen Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen 518055 Peoples R China China Ship Dev & Design Ctr Wuhan 430064 Peoples R China China Acad Railway Sci Corp Ltd Beijing 100081 Peoples R China China Acad Railway Sci Corp Ltd Fdn Project 2018Y Beijing Peoples R China

ISBN: (纸本)9781728172934

LED based positioning technology has recently become a popular choice due to the low cost, convenience for maintenance and strong adaptability to the environment. In this paper, we introduce an illuminance-distance analysis method with a rolling shutter camera, for a low-cost indoor positioning system to improve robustness in the case of insufficient LEDs. Firstly, the binary threshold method is used to decode the light signals. Then the gray value information of image is extracted to analyze the depth of LEDs, using the illuminance attenuation theorem. It provides potential solution to the position of devices with the camera by combining depth information, image and camera intrinsics. Our proposed method reduced the minimum number of LEDs observed by the camera from three to two, using only the camera. We evaluated the proposed method with real scene data and demonstrated the effectiveness of illumination-distance model based localization.

关键词： Light emitting diodes

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Methods to Measure the Network Path Connectivity

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SECURITY AND COMMUNICATION NETWORKS 2020年第1期2020卷

作者： Li, Yinwei Jiang, Guo-Ping Wu, Meng Song, Yurong Nanjing Univ Posts & Telecommun Sch Comp Sci Nanjing 210003 Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210003 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Sch Telecommun & Informat Engn Nanjing 210003 Peoples R China

The functionalities, such as connectivity and communication capability of complex networks, are related to the number and length of paths between node pairs in the networks. In this paper, we propose a new path connectivity measure by considering the number and length of paths of the network (PCNL) to evaluate network path connectivity. By comparing the PCNL with the typical natural connectivity, we prove the effectiveness of the PCNL to measure the path connectivity of networks. Because of the importance of the shortest paths, we further propose the shortest paths connectivity measure (SPCNL) based on the number and length of the shortest paths. Then, we use edge-betweenness-based malicious attacks to study the relationship between the SPCNL and network topology in five types of networks. The results show that the SPCNLs of the networks have a significant corresponding relationship and similar changing trend with their network topology heterogeneities with the increase of the number of deleted edges. These findings mean that the SPCNL is positively correlated with the heterogeneity of the network topology, which provides a new perspective for designing complex networks with high path connectivity.

关键词： Network topology

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intelligent Positioning for a Commercial Mobile Platform in Seamless Indoor/Outdoor Scenes based on Multi-sensor Fusion

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SENSORS 2019年第7期19卷 1696.-1696.页

作者： Wang, Dongsheng Lu, Yongjie Zhang, Lei Jiang, Guoping Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Jiangsu Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Jiangsu Peoples R China Nanjing Univ Posts & Telecommun Sch IOT Nanjing 210023 Jiangsu Peoples R China

Many traffic occasions such as tunnels, subway stations and underground parking require accurate and continuous positioning. Navigation and timing services offered by the Global Navigation Satellite System (GNSS) is the most popular outdoor positioning method, but its signals are vulnerable to interference, leading to a degraded performance or even unavailability. The combination of magnetometer and Inertial Measurement Unit (IMU) is one of the commonly used indoor positioning methods. Within the proposed mobile platform for positioning in seamless indoor and outdoor scenes, the data of magnetometer and IMU are used to update the positioning when the GNSS signals are weak. Because the magnetometer is susceptible to environmental interference, an intelligent method for calculating heading angle by magnetometer is proposed, which can dynamically calculate and correct the heading angle of the mobile platform in a working environment. The results show that the proposed method of calculating heading angle by magnetometer achieved better performance with interference existence. Compared with the uncorrected heading angle, the corrected accuracy results could be improved by 60%, and the effect was more obvious when the interference was stronger. The error of overall positioning trajectory and true trajectory was within 2 m.

关键词： magnetometer heading angle integrated positioning Kalman filter embedded system

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Neighborhood Interval Observer Based Coordination Control for Multi-agent Systems with Disturbances ⁎

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IFAC-PapersOnLine 2020年第2期53卷 10994-10999页

作者： Xiaoling Wang Guo-Ping Jiang Wen Yang Housheng Su Xiaofan Wang College of Automation Nanjing University of Posts and Telecommunications Nanjing 210023 China and also with Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) Nanjing 210023 China Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai 200237 China School of Artifcial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Automation Shanghai University Shanghai 200072 China

This paper focuses on multi-agent systems with uncertain disturbances, in which only the bounding functions on the disturbances and the bounds on the initial state of each agent are known. By designing a neighborhood interval observer for this kind of multi-agent system, the estimation of the sum of the relative state of each agent associated with itself and its neighbors is frstly realized. Then, on the basis of these estimated information, local control algorithm is designed to drive the system to achieve bounded consensus.

关键词： Multi-agent system disturbance neighborhood interval observer bounded consensus

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