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Ranging-aided relative navigation of multi-platforms

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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An Improved RGB-D SLAM Method Based on Manhattan World and Point-Line-Plane Features 7

An Improved RGB-D SLAM Method Based on Manhattan World and P...

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2022 7th International Seminar on Computer Technology, Mechanical and Electrical Engineering, ISCME 2022

作者： Yang, Dehua Pei, Hailong Weng, Zhuorong Key Lab. of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Eng. Tech. Research Center of Guangdong China South China University of Technology Guangzhou510640 China

At present, most feature-based SLAM methods are based on feature points. But in indoor environments where texture is scarce and light varies greatly, these methods will reduce the accuracy of pose estimation or even lead to pose tracking failure. To tackle the above problem, we propose an improved RGB-D SLAM method which employs point-line-plane feature extraction and matching as well as Manhattan Frames-based rotation estimation. Finally, the proposed method is proven to have good reliability and robustness in open datasets and real indoor scenes. © Published under licence by IOP Publishing Ltd.

关键词： Textures

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A Vision-Based autonomous Landing Method on Mobile Platform for UAV 42

A Vision-Based Autonomous Landing Method on Mobile Platform ...

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42nd Chinese control Conference, CCC 2023

作者： Zhu, Yongbin Pei, Hailong Wang, Liping Huang, Yuyuan Ou, Kangqi Ministry of Education Unmanned Aerial Vehicle Systems Eng.Tech. Research Center of Guangdong College of Automation Science and Engineering Key Lab of Autonomous Systems and Networked Control South China University of Technology Guangzhou510640 China

ISBN: (纸本)9789887581543

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. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Object detection

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Position control of Continuum Manipulator with Twin-Pivot Compliant Joints

Position Control of Continuum Manipulator with Twin-Pivot Co...

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International Conference on Modelling, Identification and control (ICMIC)

作者： Xin Liu Chenguang Yang Shilu Dai Ying Feng Key Lab of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

This paper proposes a novel closed-loop PD controller based on kinematic for continuum manipulator with twin-pivot compliant joints. The purpose of the twin-pivot compliant joints is to decrease the twisting angle caused by gravity of manipulator and payload. We build the forward and inverse kinematic to control the end-effector of continuum manipulator with twin-pivot compliant joints. In this paper, first we build forward and inverse kinematic of continuum manipulator with twin-pivot compliant joints. We then build the controller based on kinematic models for a continuum manipulator with 24 Degrees of Freedom (DoF). Finally, simulation studies are carried out to test the proposed approach.

关键词： Kinematics End effectors Jacobian matrices Service robots Aerospace electronics

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Grouping TDMA access for industrial wireless sensor networks with multiple access points

Grouping TDMA access for industrial wireless sensor networks...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shuai Liu Wei Liang Xiaoling Zhang Meng Zheng Key Lab. of Networked Control Systems Chinese Academy of Science Shenyang China

Addressing the extremely high reliability is a critical problem of wireless control system in actual industrial applications. In this paper fully considering the characteristics of the wireless network transmission and industrial automation application, a grouping TDMA access approach based on multiple access points is proposed. The main idea is that: redundant multiple access points are applied in communication to improve the system reliability, multiple time synchronizations are made because of beacon frames of multiple access points to improve the accuracy, and ACK is replied by reliable access point to reduce retransmission and improve resource utilization. Finally, a corresponding access device is designed and implemented. Experiments show that it can meet the harsh requirements for the communication in control loops and demonstrates the effectiveness of the proposed approach.

关键词： Time division multiple access Wireless sensor networks Reliability Wireless communication Protocols Packet loss

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Disturbance observer based sliding mode control for unmanned helicopter hovering operations

Disturbance observer based sliding mode control for unmanned...

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第三届国际航空科学青年学者学术会议

作者： Ihsan ULLAH Hai-Long PEI Key Lab of Autonomous Systems and Networked Control Ministry of Education School of Automation South China University of Technology

Numerous control techniques are developed for miniature unmanned helicopters to do hover operation with each methods having its own advantages and limitations. During the hover operation helicopters suffer from unknown external disturbances such as wind and ground effect. For a stable operation, these disturbances must be compensated accurately. This paper presents a disturbance observer based sliding mode control technique for small-scale unmanned helicopters to do hover operation in presence of external disturbances. To counteract both matched and mismatched uncertainties a new sliding surface is designed based on the disturbances estimations. The controller design is based on the linearized state-space model of the helicopter which effectively describes helicopter dynamics during the hover operations. The model mismatch and external disturbances are estimated as lumped disturbances and are compensated in the controller design. The proposed controller reduces chattering and is capable of handling matched and mismatched uncertainties. The control performance is successfully tested in Simulink.

关键词： Unmanned helicopter External Disturbances Sliding mode control Disturbance Observer Chatter reduction Mismatched uncertainty

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A High-Performance Sensor-Based control for Complex Maneuvers of Ducted Fan Unmanned Aerial Vehicles

A High-Performance Sensor-Based Control for Complex Maneuver...

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Chinese control and Decision Conference, CCDC

作者： Chengji Liu Hailong Pei Zihuan Cheng Ministry of Education Unmanned Aerial Vehicle Systems Eng. Tech. Research Center of Guangdong Key Lab. of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

ISBN: (纸本)9781665478977

This paper presents a sensor-based approach for control of ducted fan UAVs. In the inner-most loop control design that suffers from complex aerodynamics, we employ an Incremental Nonlinear Dynamics Inversion (INDI) controller such that only a simplified vehicle dynamics is needed while ensuring the robustness and response time. To account for the highly coupling effects of the longitudinal dynamics, we propose a sensor-based Total Energy control System (TECS), in which we take advantage of the accelerators to obtain non-conservative forces, liberating the design from dynamics model. The effectiveness of the approach is validated through simulation using a real model of a small ducted fan UAV.

关键词： Couplings Fans control design Atmospheric modeling Aerodynamics autonomous aerial vehicles Robustness

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A High-Performance Sensor-Based control for Complex Maneuvers of Ducted Fan Unmanned Aerial Vehicles

A High-Performance Sensor-Based Control for Complex Maneuver...

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第34届中国控制与决策会议

作者： Chengji Liu Hailong Pei Zihuan Cheng Key Lab.of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Eng.Tech.Research Center of GuangdongSouth China University of Technology

This paper presents a sensor-based approach for control of ducted fan *** the inner-most loop control design that suffers from complex aerodynamics,we employ an Incremental Nonlinear Dynamics Inversion(INDI)controller such that only a simplified vehicle dynamics is needed while ensuring the robustness and response *** account for the highly coupling effects of the longitudinal dynamics,we propose a sensor-based Total Energy control System(TECS),in which we take advantage of the accelerators to obtain non-conservative forces,liberating the design from dynamics *** effectiveness of the approach is validated through simulation using a real model of a small ducted fan UAV.

关键词： Ducted Fan Aircraft Unmanned Aerial Vehicles Incremental control Total Energy control

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A Reference Nodes Selection Optimize Algorithm in Multi Robot System

A Reference Nodes Selection Optimize Algorithm in Multi Robo...

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第34届中国控制与决策会议

作者： Ye Huanting Pei Hailong Key Lab.of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Eng.Tech.Research Center of GuangdongSouth China University of Technology

Relative positioning is essential for control and coordination of multi-robot systems(MRS).For large-scale MRSs,relative positioning may consume too much computation and communication *** selecting a suitable subset of robots in the system as reference nodes(RN),the time difference of arrival(TDOA) algorithm can effectively resolve this ***,in a mobile MRS,varying topology may decrease the TDOA positioning *** paper addresses these challenges by presenting the dynamical RN selecting algorithm(DRS) in the fixed RNs amount *** algorithm updates the selection of RNs to maintain the accuracy of positioning when the topology *** prove the optimal conditions for RN selection with Cramer-Rao Lower Bound(CRLB) and propose an iterative RN selecting *** simulations indicate that our algorithm can update the selection of RNs to limit the error of TDOA measurement efficiently.

关键词： UWB TDOA

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot 14

Extended State Observer Based Fault-Tolerant Predictive Cont...

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14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collab.rative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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