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Photovoltaic,thermoelectric and electromagnetic generation technologies applied in power systems for mobile unmanned systems

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Science China(Technological Sciences) 2023年第3期66卷 599-629页

作者： DING Ning WANG XiangYang XIAN XiaoYang CAI YeYun LIU DaoMing DENG Fang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.

关键词： unmanned system renewable energy generation technology photovoltaic generation thermoelectric generation electromagnetic generation

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Switching control System Based on Robust Model Reference Adaptive control

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Journal of systems Science & complexity 2016年第4期29卷 897-932页

作者： HU Qiong FEI Qing MA Hongbin WU Qinghe GENG Qingbo School of Automation Beijing Institute of Technology Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control(RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

关键词： Longitudinal control of F-16 aircraft switching control switching law. nonlinear systems RMRAC switched systems

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Algebraic Connectivity Estimation Based on Decentralized Inverse Power Iteration

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Asian Journal of control 2017年第2期19卷 805-812页

作者： Wei, Yue Fang, Hao Chen, Jie Xin, Bin School of Automation Beijing Institute of Technology Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this work, we propose a new scheme to estimate the algebraic connectivity of the graph describing the network topology of a multi-agent system. We consider network topologies modeled by undirected graphs. The main idea is to propose a new decentralized conjugate gradient algorithm and a decentralized compound inverse power iteration scheme. The matrix inversion computation in this scheme is replaced by solving the non-homogeneous linear equations relying on the proposed decentralized conjugate gradient algorithm. With this scheme, we can achieve a fast convergence rate in estimating the algebraic connectivity by setting the parameter μ properly. Simulation results demonstrate the effectiveness of the proposed scheme. © 2016 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Network topology

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Hypersonic Re-entry Vehicle Fault-Tolerant control Against Actuator Failure via Integral Sliding Mode

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Journal of Beijing Institute of Technology (English Edition) 2021年第ZK期30卷 111-120页

作者： Guo, Fuhui Lu, Pingli School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

A fault-tolerant control (FTC) scheme is proposed based on integral sliding mode(ISM) for attitude control of hypersonic re-entry vehicle (HRV) under partial loss of actuator effectiveness. First, the inner/outer loop mathematical model of HRV in the present of actuator failure is given with specific analysis on torque. Then prescribed performance approach is introduced to the ISM controller design by error transformation. Specifically, the transformation error rather than tracking error is chosen as the sliding variable to establish the sliding mode surface and reaching law. As a result, the attitude tracking error of HRV is limited into the expected range. Meanwhile, the transient process and the steady state behavior are both considered. Considering that the unknown fault information of actuator can cause adverse effect on HRV, an extended state observer(ESO) is adopted to estimate the unknown actuator failure. Thus the observer result is served as compensation for the loss of the controlled system performance. Simulation results show that the proposed scheme can fulfil the tracking task with prescribed performance. © 2020 Journal of Beijing Institute of Technology

关键词： Actuators

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

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Modeling and Simulation of Thermoelectric Power Generation System Based on Finite Element Method 33

Modeling and Simulation of Thermoelectric Power Generation S...

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第三十三届中国控制会议

作者： LI YONG DENG FANG School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

The temperature distribution is the crucial part in the design of the thermoelectric power generation system. Based on the temperature distribution, the system efficiency and stability could be effectively improved by using structure design of the thermoelectric power generation system. In this paper, the differential equation model and the finite element governing equation of thermoelectric power generation system is established, the model is analyzed through the finite element method, and the commercial finite element analysis software Ansys is used to simulate the system temperature distribution, with the assistant of APDL(Ansys Parametric Design Language), a parametric model is built and then the temperature field distribution is *** simulation results are not only beneficial to provide guidance for the optimum of thermoelectric power generation system,but also meaningful to evaluate the feasibility of the design scheme of the system.

关键词： Thermoelectric Power Generator System,Finite Element Method,Temperature Distribution,Structure Optimum,System Evaluation

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A calculation method of braking torque for eddy current dynamometer using least square method based on assumption of cylindrical ring 29

A calculation method of braking torque for eddy current dyna...

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第29届中国控制与决策会议

作者： Li Duo-yang Wang Jun-zheng Shen Wei Chen Ying-hui Zhao Jiang-bo Chen Guang-rong Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781509046584

For engineering applications,the existing method of calculating the braking torque is more ***,the calculation method depends on the internal structure parameters which are often difficult to ***,the calculational method of braking torque using least square method based on assumption of cylindrical ring(CR-LS) is proposed in this *** to calculation methods of eddy current braking devices,The CR-LS assumes that the eddy current is distributed as a cylindrical ring with the same width as the tooth tip of the *** current values are worked out by conversion *** the employ of LS,unknown internal structure parameters of dynamometer in formula are *** makes the formula use in industrial control with *** experimental verification,the formula obtained by CR-LS was simple and available,and calculation results had minor errors in contrast with output values of actual *** CR-LS can be applied in actual engineering calculations of dynamometer.

关键词： Dynamometer Braking Torque Cylindrical Ring CR-LS

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Distributed Solver for Discrete-Time Lyapunov Equations over Dynamic Networks with Linear Convergence Rate

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IEEE Transactions on Cybernetics 2022年第2期52卷 937-946页

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

The problem of solving discrete-Time Lyapunov equations (DTLEs) is investigated over multiagent network systems, where each agent has access to its local information and communicates with its neighbors. To obtain a solution to DTLE, a distributed algorithm with uncoordinated constant step sizes is proposed over time-varying topologies. The convergence properties and the range of constant step sizes of the proposed algorithm are analyzed. Moreover, a linear convergence rate is proved and the convergence performances over dynamic networks are verified by numerical simulations. © 2013 IEEE.

关键词： Convex optimization

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Large-scale 3D Semantic Mapping Using Stereo Vision

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International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping （SLAM）.

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An Adaptive Padding Correlation Filter With Group Feature Fusion for Robust Visual Tracking

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1845-1860页

作者： Zihang Feng Liping Yan Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081China IEEE the School of Artificial Intelligence Beijing University of Posts and TelecommunicationsBeijing 100876China

In recent visual tracking research,correlation filter(CF)based trackers become popular because of their high speed and considerable *** methods mainly work on the extension of features and the solution of the boundary effect to learn a better correlation ***,the related studies are *** exploring the potential of trackers in these two aspects,a novel adaptive padding correlation filter(APCF)with feature group fusion is proposed for robust visual tracking in this paper based on the popular context-aware tracking *** the tracker,three feature groups are fused by use of the weighted sum of the normalized response maps,to alleviate the risk of drift caused by the extreme change of single ***,to improve the adaptive ability of padding for the filter training of different object shapes,the best padding is selected from the preset pool according to tracking precision over the whole video,where tracking precision is predicted according to the prediction model trained by use of the sequence features of the first several *** sequence features include three traditional features and eight newly constructed *** experiments demonstrate that the proposed tracker is superior to most state-of-the-art correlation filter based trackers and has a stable improvement compared to the basic trackers.

关键词： Adaptive padding context information correlation filter(CF) feature group fusion robust visual tracking

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