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Chinese control Conference (CCC)

作者： Yongbin Zhu Hailong Pei Liping Wang Yuyuan Huang Kangqi Ou Key Lab of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Eng.Tech. Research Center of Guangdong College of Automation Science and Engineering South China University of Technology Guangzhou China

As the application scenarios of multi-rotor Unmanned Aerial Vehicles (UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realize the accurate autonomous landing of UAV, considering the increasingly mature visual navigation technology, this paper proposed a hierarchical landmark based on nested rectangles and its relative positioning algorithm, and designed a set of autonomous landing system for the mobile platform of quadrotor UAV. The landmark has a high recognition rate of different heights and good expansibility. The algorithm has high computational efficiency and low performance requirements for image processing equipment, thus the system has good accuracy and robustness. The simulation and flight experiment show that the proposed algorithm can effectively realize the accurate autonomous landing of UAV.

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Sliding Mode control for Air-Land Amphibious Unmanned Aerial Vehicle in Land Mode

Sliding Mode Control for Air-Land Amphibious Unmanned Aerial...

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第43届中国控制会议

作者： Huayang Huang Wei Liu Dabo Xu Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education School of Automation Science and Engineering South China University of Technology Shien-Ming Wu School of Intelligent Engineering South China University of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper investigates the control problem of a novel air-land amphibious unmanned aerial vehicle(NALAUAV) in the land mode by the sliding mode control approach. Firstly, considering the body height and moment of inertia of the NALAUAV in the land mode can be changed, we derive the accurate dynamics model based on the mobile wheeled inverted pendulum system and obtain real-time body height calculation through the analysis of the kinematics of the parallel robotic legs. Secondly, we design a novel sliding surface that incorporates body height estimation to ensure rapid stabilization of the body at various body height. Thirdly, we introduce a new segmented power reaching law to further improve the system performance. Theoretical proofs for the algorithm are provided, and its effectiveness is verified by numerical simulations and virtual physical simulations.

关键词： Air-land amphibious unmanned aerial vehicle Sliding mode control Segmented power reaching law

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Aerodynamic noise reduction of a blunt flat plate by trailing-edge blowing

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PHYSICS OF FLUIDS 2023年第6期35卷 1-14页

作者： Guo, Jing Maryami, Reza Yang, Chenghao Yang, Yannian Wang, Xiaoning Liu, Yu Southern Univ Sci & Technol Dept Mech & Aerosp Engn Shenzhen 518055 Guangdong Peoples R China China Aerodynam Res & Dev Ctr Key Lab Aerodynam Noise Control Mianyang 621000 Sichuan Peoples R China Hefei Univ Technol Inst Sound & Vibrat Res Hefei 230009 Anhui Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Sch Automat Sci & Engn Minist EducKey Lab Autonomous Syst & Networked Co Guangzhou 510640 Peoples R China

This study investigates the influence of air blowing on the aerodynamic noise generated by a flat plate with a blunt trailing edge. The uniform blowing was applied through evenly spaced holes along the span at the base of the flat plate. Acoustic pressure measurements were conducted in an anechoic wind tunnel using a free-field microphone at Reynolds numbers ranging from 2.8 x 10 5 to 6.5 x 10 5. Particle image velocimetry measurements were performed to obtain time-resolved evolution and statistics of the flow velocity field, providing a detailed understanding of the noise reduction mechanisms. The results demonstrated that air blowing effectively reduces both the amplitude and bandwidth of tonal and broadband noise within a limited frequency range. This phenomenon was attributed to the stabilization of separated shear layers over a longer distance by air blowing and a decrease in turbulent kinetic energy in the near-wake region. It was shown that air blowing suppresses the tonal peak of vertical velocity fluctuations and narrows the wake width, which accounts for the increase of vortex shedding frequency and a potential drag reduction. Generally, the effects of air blowing on vortex shedding at the blunt trailing edge are analogous to those of a splitter plate. The unaffected convective velocity of the large-scale vortex structures and the enhanced spanwise coherence in the vortex formation region provide further evidence to this analogy.

关键词： Noise abatement

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Extended Preintegration for Relative State Estimation of Leader-Follower Platform

arXiv

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arXiv 2023年

作者： Xia, Ruican Pei, Hailong The Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou510640 China

Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually engaged to compensate. Recently ego-motion constraint obtained by Inertial measurement unit (IMU) preintegration has been extensively used in simultaneous localization and mapping (SLAM) to alleviate the computation burden. This paper introduces an extended preintegration incorporating the IMU preintegration of two platforms to formulate the motion constraint of relative state. One merit of this analytic constraint is that it can be seamlessly integrated into the unified graph optimization framework to implement the relative state estimation in a high-performance real-time tracking thread, another point is a full smoother design with this precise constraint to optimize the 3D coordinate and refine the state for the refinement thread. We compare extensively in simulations the proposed algorithms with two existing approaches to confirm our outperformance. In the real virtual reality (VR) application design with the proposed estimator, we properly realize the visual tracking of the six degrees of freedom (6DoF) controller suitable for almost all scenarios, including the challenging environment with missing features, light mutation, dynamic scenes, etc. The demo video is at https://***/watch?v=0idb9Ls2iAM. For the benefit of the community, we make the source code public. Copyright © 2023, The Authors. All rights reserved.

关键词： Virtual reality

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MBA-Net: multi-branch attention network for occluded person re-identification

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MULTIMEDIA TOOLS AND APPLICATIONS 2023年第2期83卷 6393-6412页

作者： Hong, Xing Zhang, Langwen Yu, Xiaoyuan Xie, Wei Xie, Yumin South China Univ Technol Sch Automat Sci & Engn Guangzhou Guangdong Peoples R China South China Univ Technol Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China South China Univ Technol Guangdong Prov Key Lab Tech & Equipment Macromol A Guangzhou Guangdong Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou Guangdong Peoples R China South China Normal Univ Sch Phys & Telecommun Engn Guangzhou Guangdong Peoples R China

Occluded person re-identification (ReID) aims to retrieve the same pedestrian from partially occluded pedestrian images across non-overlapping cameras. Current state-of-the-art methods generally use auxiliary models to obtain non-occluded regions, which not only result in more complex models, but also cannot effectively handle the more generalized ReID task. To this end, a Multi-Branch Attention Network (MBA-Net) is proposed to achieve multi-level refinement of features through an end-to-end multi-branch framework with attention mechanisms. Specifically, we first achieve preliminary feature refinement through a backbone network with a non-local attention mechanism. Then, a two-level multi-branch architecture in MBA-Net is proposed with two-level features refinement to obtain aware local discriminative features from the self-attention branch, non-occluded local complementary features from the cross-attention branch, and global features from the global branch. Finally, we can obtain retrieval features that are robust to occlusion by concatenating all the above features. Experimental results show that our MBA-Net achieves state-of-the-art performance on an occluded person ReID dataset Occluded-Duke and simultaneously achieves competitive performance on two general person ReID datasets Market-1501 and DukeMTMC-ReID.

关键词： Person Re-identification Occlusion Feature refinement Attention mechanism

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Formation control of Discrete-time Multi-agent systems Based on Distributed Filter Observer 3

Formation Control of Discrete-time Multi-agent Systems Based...

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3rd Conference on Fully Actuated System Theory and Applications (FASTA)

作者： Gao, Huanli Li, Wei Qiu, Ming Cai, He South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Peoples R China Guangdong Engn Technol Res Ctr Unmanned Aerial Ve Guangzhou 510641 Peoples R China Peoples Armed Forces Dept Shanhaiguan Dist Qinhuangdao 066200 Hebei Peoples R China

ISBN: (纸本)9798350373707;9798350373691

This paper explores the formation control of discrete multi-agent systems under external communication disturbance. Firstly, leveraging the modified algebraic Riccati equation, a disturbed output based discrete filter observer is proposed to minimize network information exchange and mitigate disturbance effects. Then, the formation control issue is transformed into a cooperative output regulation problem, which a certainty equivalent state feedback controller solves. The effectiveness of the control strategy is demonstrated by numerical simulations.

关键词： Formation control Discrete-time Multi-agent System Distributed Filter Observer

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Design of Yaw controller for a Small Unmanned Helicopter Based on Improved ADRC

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Guidance, Navigation and control 2021年第4期1卷 7-25页

作者： Linjie Huang Hailong Pei Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Engineering and Technology Research Center of GuangdongSouth China University of TechnologyGuangzhou 510640P.R.China

Yaw control is signi¯cant to the attitude control of small unmanned helicopters(SUHs).Since the existing robust control method cannot be applied to the SUH with unknown dynamics and disturbances,this paper proposes an improved active disturbance rejection control(IADRC)to solve the *** IADRC obtains the optimal solution of the actuator gain(b0)by gradient ***,this paper summarizes some experiences during the tuning process of ADRC,which signi¯cantly reduces the di±culty of designing ***,the experimental results show that the proposed method is better than the traditional PID in robust and tracking control performance.

关键词： Yaw control small unmanned helicopter active disturbance rejection control gradient descent

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Towards training noise-robust anomaly detection via collaborative adversarial flows

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MEASUREMENT 2025年 242卷

作者： Cheng, Hao Luo, Jiaxiang Zhang, Xianyong Liu, Haiming Wu, Fan South China Univ Technol Sch Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Minist Educ Precis Elect Mfg Equipment Engn Res Ctr Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Guangdong Peoples R China Guangdong Polytech Normal Univ Sch Automat Guangzhou 510180 Guangdong Peoples R China Guangdong MOJE Intelligent Equipment CO Ltd Guangzhou 510765 Guangdong Peoples R China

Unsupervised visual anomaly detection (UVAD) aims at identifying unobserved anomalies by training a classification model with anomaly-free images, which has been widespread applied to surface inspection of multiple industrial products. However, previous UVAD methods trained by ideal normal samples suffer from performance degradation in real world industry because of the inevitable intrusion of noisy samples into the training set. Addressing this issue, this article introduces a novel strategy, Collaborative Adversarial Flows (CAF), which employs multiple normalizing flows to efficiently filter out noisy samples and accurately construct distributions of normal samples. Unlike previous methods that focused solely on learning accurate representations of normal samples, CAF adds an additional learning objective of inferring noisy samples based on distributional metrics while optimizing representations. Furthermore, CAF establishes a flow-based collaborative adversarial paradigm that promotes high-likelihood samples and rejects low-likelihood noisy samples in optimizing the latent distribution, thereby enhancing the robustness of model under contaminated training set. Comprehensive experiments on the public benchmark MVTec AD under human-made noise intrusion demonstrate that CAF effectively improves the robustness to noisy samples and achieves impressive performance. In electronic manufacturing processes with real industrial noise, the applicability and robustness of CAF have been further proved by the inspection of surface mount devices.

关键词： Noise-robust anomaly detection Real-world defect inspection Training noise Collaborative adversarial optimization Normalizing flows

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A distributed principal component regression method for quality-related fault detection and diagnosis

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INFORMATION SCIENCES 2022年 600卷 301-322页

作者： Sun, Chengyuan Yin, Yizhen Kang, Haobo Ma, Hongjun Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Guangzhou Univ Guangzhou 510006 Guangdong Peoples R China South China Univ Technol Key Lab Autonomous Syst & Networked Control Sch Automat Sci & Engn Minist EducUnmanned Aerial Vehicle Syst Engn Tec Guangzhou 510641 Peoples R China

Modern industrial processes are confronted with a large-scale challenge in recent years. In this paper, a novel distributed kernel principal component regression (DKPCR) approach is proposed to study the plant-wide problem of quality-related process monitoring. Along with reducing the scale of abundant measurements, the proposed approach also focuses on the robust issues that arise from the large outliers. In the local phase, every agent of the DKPCR technique processes the data of the partial sections and sends the selected information to the centralized mainframe. The engineer gathers the data from the local agents and then makes a decision based on the Bayesian inference. Additionally, the corresponding weight diagnosis approach is devised to isolate the fault-relevant variables under the smear effect by virtue of the detection results and information. In the end, the Tennessee Eastman case (TEC) and the three-phase flow system (TPFS) are leveraged to demonstrate the detection and diagnosis performance of the proposed approach. (c) 2022 Elsevier Inc. All rights reserved.

关键词： Distributed kernel principal component regression (DKPCR) Fault detection Fault diagnosis Quality-related process monitoring

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Incremental Nonlinear Dynamic Inversion for a Dual-Ducted-Fan UAV Attitude control under In-Ground-Effect

Incremental Nonlinear Dynamic Inversion for a Dual-Ducted-Fa...

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Intelligent Robotics and Automatic control (IRAC), International Conference on

作者： Zixiao Cheng Hailong Pei Kai Fang College of Automation Science and Engineering South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems Guangzhou China

ISBN: (数字)9798350389807

ISBN: (纸本)9798350389814

This paper is aimed at modeling and attitude control of a dual-ducted-fan UAV under in-ground-effect(IGE). As the UAV flies and hovers over ground or above obstacles, the IGE can cause changes in thrust/torque that drastically affects flight behavior, especially during takeoff/landing. To address this problem, the paper derives a six degree-of-freedom model of the aircraft dynamics firstly. Then, key parameters and in-ground-effect features are obtained through measurements. In order to achieve stable attitude tracking control with in-ground-effect adapting, an incremental nonlinear dynamic inversion(INDI) based cascade controller is designed. Finally, the performance of the designed INDI controller is verified by stability proof, simulations and real flight experiments.

关键词： Adaptation models Fans Attitude control Atmospheric modeling autonomous aerial vehicles Stability analysis Data models Nonlinear dynamical systems Motion measurement Aircraft

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