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第35届中国控制会议

作者： CHENG Yifeng SHENG Yongzhi LIU Xiangdong School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper investigates the attitude tracking control problem of reentry vehicle with modeling inaccuracies and external disturbances. An improved nonsingular terminal sliding mode control method is presented, and a faster convergence rate is obtained in comparison with the conventional nonsingular terminal sliding mode control(NTSM). By the proposed control strategy, the possible singularity during the control phase is avoided, and robustness is also guaranteed. Simulation is made for a reentry vehicle in the condition aerodynamic parameters and atmospheric density are perturbed. The results show the effectiveness of the proposed strategies.

关键词： reentry vehicle improved nonsingular terminal sliding mode fast convergence rate Lyapunov stability singularity elimination

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New advances in complex motion control for single robot systems and multi-agent systems

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Science China(Technological Sciences) 2016年第12期59卷 1963-1964页

作者： FANG Hao LU Shao Lei CHEN Jie School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

CHEN Jie,email：chenjie@***

关键词： robot advances email cooperation simplified decomposed scenarios classic climbing obstacles

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Trajectory Tracking Strategy for Gliding Hypersonic Vehicle with Aileron Stuck at an Unknown Angle

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Journal of Beijing Institute of Technology 2019年第3期28卷 447-455页

作者： Haibo Ji Lei Wang School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of EducationBeijing 100081China

A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendicular to the velocity are derived, and then a guidance law based on a time-varying sliding mode method is used to realize trajectory tracking. Furthermore, the rotational equations of motion are separated into an actuated subsystem and an unactuated subsystem. And an adaptive time-varying sliding mode attitude controller is proposed based on the actuated subsystem to track the command attitude and the tracking performance and robustness are therefore enhanced. The proposed guidance law and attitude controller make the hypersonic vehicle fly along the reference trajectory even when the aileron is stuck at an unknown angle. Finally, a hypersonic benchmark platform is used to demonstrate the effectiveness of the proposed strategy.

关键词： trajectory tracking stuck aileron time-varying sliding mode

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CPG-Inspired Gait Generation and Transition control for Six Wheel-legged Robot

CPG-Inspired Gait Generation and Transition Control for Six ...

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2021 China Automation Congress, CAC 2021

作者： Deng, Chencheng Wang, Shoukun Chen, Zhihua Wang, Junzheng Ma, Liling Li, Jiehao State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665426473

Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristics of clear parameter meaning and easy adjustment. In this paper, a method of gait planning and dynamic gait switching based on Hopf oscillator model is introduced. Firstly, the model and three gait modes of the robot are introduced. Secondly, an improved Hopf oscillator based on CPG is designed, and the signal generated by the oscillator is used to control the robot's legs. Finally, the simulation results of the three basic walking gaits and gait switching verify the feasibility and effectiveness of the algorithm. © 2021 IEEE

关键词： Robots

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Towards Pose Estimation for Large UAV in Close Range 37

Towards Pose Estimation for Large UAV in Close Range

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Ou, Ni Wang, Junzheng Liu, Shangfei Li, Jiehao State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665465366

This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a novel pose estimation method based on vision fusion and point cloud registration is proposed. Our approach works on one-shot mode and only requires 10 samples with real poses for template construction. Through V-rep simulation environment, we generate two 200-sample datasets of different difficulty for evaluation. Error quantiles, 5cm5deg and 10cml0deg are three evaluation metrics used in our ablation experiments. It is illustrated that our method outperforms in robustness and precision due to proposed dimension extension modification and fusion of vision sensors. © 2022 IEEE.

关键词： Antennas

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Overview of Research on Transformation of Multi-AUV Formations

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complex System Modeling and Simulation 2021年第1期1卷 1-14页

作者： Bin Xin Junxi Zhang Jie Chen Qing Wang Yun Qu School of Automation and the State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of TechnologyBeijing 100081China

Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.

关键词： autonomous underwater vehicle multi-AUV formation formation transformation formation control

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A maximum power point tracking controller for thermoelectric generators 36

A maximum power point tracking controller for thermoelectric...

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第36届中国控制会议

作者： Wei Xie Guangyue Huang Xiao Zhang Fang Deng School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems China ZhenHua Oil Co

ISBN: (纸本)9781538629185

Thermoelectric generators（TEGs） directly convert heat energy into electricity for power-supplying sensors and other portable electronic *** this paper,a maximum power point tracking（MPPT） controller in the modified perturb and observe（P＆O） algorithm was designed on the basis of analyzing the output characteristics of the TEG *** MPPT controller consists of a voltage sensor,a current sensor,a microcontroller and a SEPIC converter,which keeps the operating point of the thermoelectric generator tracking the maximum power point（MPP）.The thermoelectric generator was heated to generate electricity,and a supercapacitor accumulated that *** results using the MPPT controller present that the thermoelectric generator’s output voltage achieves around 5V,the output power achieves upward of 2W when the temperature difference △T=75℃,and the operating point of the thermoelectric generator accurately tracks the MPP with a tracking efficiency of 99.8%;the charging power can be improved 89.65%.

关键词： Thermoelectric generators（TEGs） Modified P＆O algorithm Maximum power point tracking（MPPT） SEPIC converter

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Iterative search with emulating nodes' local movement on range-free sensor network localization 34

Iterative search with emulating nodes' local movement on ran...

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第三十四届中国控制会议

作者： QIAO Dapeng GUO Zongben MA Hongwei SHI Shuguang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Aerospace Control Devices

ISBN: (纸本)9781467374439

This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between the solution quality and computation cost. When sensor network localization in range-free scenario is considered as a constraint satisfaction problem, localization will reach the highest accuracy but with huge computation complexity. To solve the constraint satisfaction, some characteristics that only exist in range-free localization problem are utilized as heuristics in the search of nodes' positions. They are summarized as simple and complex movement to emulate nodes' local movement, and proved to be effective to find a suitable searching direction and jump out of local-minimums existing in the localization. Those emulations are then included in each iteration of a two-objective evolutionary algorithm minimizing the number of node-pairs with violated connectivity, as well as the value quantitating how worse of the violations. Simulation results show that the proposed algorithm can greatly decrease the reach high-accurate positions within limited iterations.

关键词： Wireless sensor network,Localization,Local movement,Evolutionary algorithm,Non-convex,Connectivity

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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET intelligent Transport systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET intelligent Transport systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： Autonomous vehicles

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An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

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Journal of control and decision 2015年第1期2卷 64-85页

作者： Jie Huang Jie Chen Hao Fang Lihua Dou School of Automation Beijing Institute of TechnologyBeijingChina State Key Laboratory of Intelligent Control and Decision of Complex Systems BeijingChina Fujian Institute of Education FuzhouChina

This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system *** controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,*** important definitions,lemmas,theorems and dynamics are *** the consensus and formation control problems for networked nonholonomic chained systems are ***,some open questions are proposed.

关键词： distributed coordination multi-agent system nonholonomic system chained system high-order

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