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Stabilization of Continuous-Time systems Against Stochastic Network Uncertainties:Fundamental Variance Bounds

Journal of systems Science & Complexity 2021年第5期34卷 1858-1878页

作者： QI Tian CHEN Jie School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked ControlSouth China University of TechnologyGuangzhou 510640China Department of Electrical Engineering City University of Hong KongHong KongChina

This paper studies the stabilizability and stabilization of continuous-time systems in the presence of stochastic multiplicative *** authors consider multi-input,multi-output(MIMO)linear time-invariant systems subject to multiple static,structured stochastic uncertainties,and seek to derive fundamental conditions to ensure that a system can be stabilized under a mean-square *** the stochastic control framework,this problem can be considered as one of optimal control under state-or input-dependent random noises,while in the networked control setting,a problem of networked feedback stabilization over lossy communication *** authors adopt a mean-square small gain analysis approach,and obtain necessary and sufficient conditions for a system to be meansquare stabilizable via output *** single-input,single-output(SISO)systems,the condition provides an analytical bound,demonstrating explicitly how plant unstable poles,nonminimum phase zeros,and time delay may impose a limit on the uncertainty variance required for mean-square *** MIMO minimum phase systems with possible delays,the condition amounts to solving a generalized eigenvalue problem,readily solvable using linear matrix inequality optimization techniques.

关键词： Mean-square small gain theorem multiplicative stochastic uncertainty networked control

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Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Ranging-aided relative navigation of multi-platforms

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control Theory and Technology 2018年第2期16卷 122-132页

作者： Hai-Long PEI Ruican XIA Key Lab of Autonomous Systems and Networked Control Ministry of Education China Unmanned System Engineering Center of Guangdong Province Guangzhou Guangdong 510640 China School of Automation South China University of Technology Guangzhou Guangdong 510640 China

This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba＇s Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive.

关键词： Multi-vehicles relative navigation Wahba＇s Problem pose estimation extended Kalman filter

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Discrete Time-Varying Four Fundamental Operations Implemented by Euler Forward Difference 36

Discrete Time-Varying Four Fundamental Operations Implemente...

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第36届中国控制会议

作者： Yunong Zhang Huihui Gong Jian Li Binbin Qiu Min Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781538629185

Time-varying problems are widely encountered in various engineering fields,such as signal processing,construction monitoring,and ***,traditional arithmetics intrinsically aim at time-invariant problems *** running on relatively low-speed processing units,traditional arithmetics may generate quite large and unacceptable lagging *** this paper,the problems of discrete time-varying four fundamental operations(TVFFO) are *** order to eliminate the lagging errors,based on Zhang dynamics(ZD) and Euler forward difference(EFD) formula,discrete computing models,which are named Euler-implemented discrete ZD(EIDZD) models,are proposed and *** that the EIDZD models are with an error pattern 0(g),where g denotes the sampling ***,illustrative numerical experiments of EIDZD models are also conducted,which show the high accuracy of EIDZD models.

关键词： Time-varying four fundamental operations（TVFFO） Zhang dynamics（ZD） Continuous time-varying models Euler forward difference（EFD） Euler-implemented discrete ZD（EIDZD） models Numerical experiments

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Robust controller Design for BTT Missile Equipped with Grid Fin 35

Robust Controller Design for BTT Missile Equipped with Grid ...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in flying, then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory, the beginning state of the cruise is chosen as the feature point, and then the dynamical coefficient are calculated, then the longitudinal and lateral perturbation equations are established. The dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation equations. The transfer functions and the dynamic responses under the step deflection of grid fin are derived, then the dynamic characteristics of the missile can be obtained. The results indicate that the grid fin can provide favorable stability. The H controller of pitch and lateral bank channels are designed based on dynamic characteristics analysis, the simulation results indicate that the system dynamic performance can satisfy the requirement, and H controller has a fine robustness for the parametric variation.

关键词： BTT missile H control dynamic characteristics grid fin

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ADRC for Nonlinear Time-Variant systems with Unknown orders 35

ADRC for Nonlinear Time-Variant Systems with Unknown orders

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第35届中国控制会议

作者： LI Xiangyang AI Wei TIAN Senping Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781509009107

Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns with the capability of ADRC for nonlinear time-variant systems with unknown *** controlled system's local model whose order is set according to the controller is introduced to make ADRC ***,an extend state filter(ESF) is added to the proposed ADRC to attain smoother control *** proposed ADRC based on local model is validated in simulation for a nonlinear,time-varying system with unknown order and uncertainties.

关键词： ADRC local model extended state observer nonlinear time-variant system unknown order data-driven control

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GPS/SINS/MC Integrated Navigation Algorithm Research Based on Zero Velocity Update 36

GPS/SINS/MC Integrated Navigation Algorithm Research Based o...

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第36届中国控制会议

作者： Fuchun Liu Shengjie Cao Yifeng Chen Xuan Su College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control（ASNC）Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781538629185

The navigation output accuracy of SINS/GPS integrated navigation system will decline when GPS is not *** Velocity Update（ZUPT） technology is used for the error correction in this *** a relevant algorithm,the zero velocity detection algorithm is applied in the carrier *** method has achieved an integrated navigation system filtering algorithm based on *** simulation and experiment results show that the algorithm effectively improves the accuracy of navigation by limiting the velocity value of GPS in zero-velocity condition.

关键词： Integrated Navigation Zero Velocity Update Kalman Filter

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Transition Analysis and Practical Flight control for Ducted Fan Fixed-Wing Aerial Robot: Level Path Flight Mode Transition

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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年第2期7卷 3106-3113页

作者： Cheng, Zi-Huan Pei, Hai-Long South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Sch Automat Sci & EngnKey Lab Autonomous Syst & Lab Autonomous Syst & Networked ControlMinist Ed Guangzhou 510640 Peoples R China

For agile fixed-wing aerial robots, the vertical/horizontal flight mode transition is a fundamental requirement for high maneuverability. This letter focuses on a challenging implementation in which the aircraft conducts the transitional flight at fixed altitude along a straight path. Implemented on a small ducted fan fixed-wing, we propose a transition-corridor-based control strategy to conduct the flight transition neatly. The transition corridor is described as a region comprising all the admissible flight velocities, accelerations and attitudes, bounded by the capacity of both the propulsion and control system of the vehicle. By planning the transition trajectory in obedience with the identified transition corridor, as well as adopting a unified full envelope flight control scheme, the ducted fan fixed-wing successfully accomplishes the practical transitional flight. Experimental results are satisfactory in both flight mode transition and altitude stabilization.

关键词： Aerial robot ducted fan agile fixed-wing transition corridor transition control uav control

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Research on Indoor Robot SLAM of RBPF Improved with Geometrical Characteristic Localization 29

Research on Indoor Robot SLAM of RBPF Improved with Geometri...

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第29届中国控制与决策会议

作者： Liu Fuchun Chen Yifeng Li Yunze College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control(ASNC)Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509046584

LIDAR and odometer are used as the main sensors in this paper, with the two-wheeled self-balancing robot as the research and experiment platform, this topic has researched the way to SLAM when the robot is in unfamiliar environment with uncertain position and orientation. On the issue of setting the dynamic threshold value to zone the LIDAR scanning points in the process of constructing the geometry map, with the consideration of the character of RPLIDAR which is used in our research, this paper has analyzed and proposed the specific dynamic threshold values, which make the zoning of LIDAR scanning points more reasonable. In order to improve the robustness of SLAM, we have used regular particle filter(RPF) as the location algorithm. In order to solve the problem of unable to add auxiliary information under the traditional MCL framework, we have taken full use of the high accuracy character of the geometry matching and locating, and have used the result of it to improve the importance density function of RPF. Based on the idea of Rao-Blackwellization, the improved RBPF-SLAM has been proposed. The validity and feasibility of the improved RBPF-SLAM have been proved with simulations and experiments.

关键词： Simultaneous Localization and Mapping LIDAR robot particle filter

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Neural learning control for sampled-data nonlinear systems based on Euler approximation and first-order filter

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第18期34卷 12050-12070页

作者： Liang, Dengxiang Wang, Min South China Univ Technol Sch Automat Sci & Engn Guangdong Prov Key Lab Tech & Equipment Macromol A Key Lab Autonomous Syst & Networked ControlMinist Guangzhou Peoples R China Pengcheng Lab Shenzhen Peoples R China

The primary focus of this research paper is to explore the realm of dynamic learning in sampled-data strict-feedback nonlinear systems (SFNSs) by leveraging the capabilities of radial basis function (RBF) neural networks (NNs) under the framework of adaptive control. First, the exact discrete-time model of the continuous-time system is expressed as an Euler strict-feedback model with a sampling approximation error. We provide the consistency condition that establishes the relationship between the exact model and the Euler model with meticulous detail. Meanwhile, a novel lemma is derived to show the stability condition of a digital first-order filter. To address the non-causality issues of SFNSs with sampling approximation error and the input data dimension explosion of NNs, the auxiliary digital first-order filter and backstepping technology are combined to propose an adaptive neural dynamic surface control (ANDSC) scheme. Such a scheme avoids the n$$ n $$-step time delays associated with the existing NN updating laws derived by the common n$$ n $$-step predictor technology. A rigorous recursion method is employed to provide a comprehensive verification of the stability, guaranteeing its overall performance and dependability. Following that, the NN weight error systems are systematically decomposed into a sequence of linear time-varying subsystems, allowing for a more detailed analysis and understanding. In order to ensure the recurrent nature of the input variables, a recursive design is employed, thereby satisfying the partial persistent excitation condition specifically designed for the RBF NNs. Meanwhile, it can verify that the NN estimated weights converge to their ideal values. Compared with the common n$$ n $$-step predictor technology, there is no need to redesign the learning rules due to the designed NN weight updating laws without time delays. Subsequently, after capturing and storing the convergence weights, a novel neural learning dynamic surface contro

关键词： neural learning control neural networks nonlinear system persistent excitation sampled-data strict-feedback systems

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