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Adaptive Backstepping Slide Mode control of Pneumatic Position Servo system

Chinese Journal of Mechanical Engineering 2016年第5期29卷 1003-1009页

作者： REN Haipeng FAN Juntao Shaanxi Key Laboratory Complex System Control and Intelligent Information Processing Xi'an University of Technology

With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking

关键词： pneumatic position servo system adaptive backstepping design slide mode control uncertain parameter tracking accuracy

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New Synchronization Algorithm and Analysis of Its Convergence Rate for Clock Oscillators in Dynamical Network with Time-Delays

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Journal of Beijing Institute of Technology 2010年第1期19卷 58-65页

作者：甘明刚于淼陈杰窦丽华 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

New synchronization algorithm and analysis of its convergence rate for clock oscillators in dynamical network with time-delays are presented.A network of nodes equipped with hardware clock oscillators with bounded drift is ***,a dynamic synchronization algorithm based on consensus control strategy,namely fast averaging synchronization algorithm （FASA）,is presented to find the solutions to the synchronization *** FASA,each node computes the logical clock value based on its value of hardware clock and message *** goal is to synchronize all the nodes＇ logical clocks as closely as ***,the convergence rate of FASA is analyzed that proves it is related to the bound by a nondecreasing function of the uncertainty in message delay and network ***,FASA＇s convergence rate is proven by means of the robust optimal ***,several practical applications for FASA,especially the application to inverse global positioning system （IGPS） base station network are ***,numerical simulation results demonstrate the correctness and efficiency of the proposed *** FASA with traditional clock synchronization algorithms （CSAs）,the convergence rate of the proposed algorithm converges faster than that of the CSAs evidently.

关键词： clock synchronization convergence rate dynamical network robust optimal design

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Immune particle swarm optimization of linear frequency modulation in acoustic communication

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Journal of systems Engineering and Electronics 2015年第3期26卷 450-456页

作者： Haipeng Ren Yang Zhao Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

With the exploration of the ocean, underwater acoustic communication has attracted more and more attention in recent years. The underwater acoustic channel is considered to be one of the most complicated channels because it suffers from more serious multipath effect, fewer available bandwidths and quite complex noise. Since the signals experience a serious distortion after being transmitted through the underwater acoustic channel, the underwater acoustic communication experiences a high bit error rate （BER）. To solve this problem, carrier waveform inter- displacement （CWlD） modulation is proposed. It has been proved that CWlD modulation is an effective method to decrease BER. The linear frequency modulation （LFM） carrier-waves are used in CWlD modulation. The performance of the communication using CWID modulation is sensitive to the change of the frequency band of LFM carrier-waves. The immune particle swarm optimization （IPSO） is introduced to search for the optimal frequency band of the LFM carrier-waves, due to its excellent performance in solving complicated optimization problems. The multi-objective and multi- peak optimization nature of the IPSO gives a suitable description of the relationship between the upper band and the lower band of the LFM carrier-waves. Simulations verify the improved perfor- mance and effectiveness of the optimization method.

关键词： underwater acoustic communication carrier waveform inter-displacement （CWlD） multi-objective optimization immune particle swarm optimization （IPSO）.

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Joint space compliance control for a hydraulic quadruped robot based on force feedback

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Journal of Beijing Institute of Technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

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Sliding mode control based guidance law with impact angle constraint

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Chinese Journal of Aeronautics 2014年第1期27卷 145-152页

作者： Zhao Yao Sheng Yongzhi Liu Xiangdong School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

The terminal guidance problem for an unpowered lifting reentry vehicle against a sta- tionary target is considered. In addition to attacking the target with high accuracy, the vehicle is also expected to achieve a desired impact angle. In this paper, a sliding mode control （SMC）-based guidance law is developed to satisfy the terminal angle constraint. Firstly, a specific sliding mode function is designed, and the terminal requirements can be achieved by enforcing both the sliding mode function and its derivative to zero at the end of the flight. Then, a backstepping approach is used to ensure the finite-time reaching phase of the sliding mode and the analytic expression of the control effort can be obtained. The trajectories generated by this method only depend on the initial and terminal conditions of the terminal phase and the instantaneous states of the vehicle. In order to test the performance of the proposed guidance law in practical application, numerical simulations are carried out by taking all the aerodynamic parameters into consideration. The effec- tiveness of the proposed guidance law is verified by the simulation results in various scenarios.

关键词： Backstepping Impact angle Sliding mode control Terminal guidance Unpowered lifting reentryvehicle

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Trajectory reshaping based guidance with impact time and angle constraints

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Chinese Journal of Aeronautics 2016年第4期29卷 984-994页

作者： Zhao Yao Sheng Yongzhi Liu Xiangdong School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

This study presents a novel impact time and angle constrained guidance law for homing missiles. The guidance law is first developed with the prior-assumption of a stationary target, which is followed by the practical extension to a maneuvering target scenario. To derive the closed-form guidance law, the trajectory reshaping technique is utilized and it results in defining a specific polynomial function with two unknown coefficients. These coefficients are determined to satisfy the impact time and angle constraints as well as the zero miss distance. Furthermore, the proposed guidance law has three additional guidance gains as design parameters which make it possible to adjust the guided trajectory according to the operational conditions and missile's capability. Numerical simulations are presented to validate the effectiveness of the proposed guidance law. (C) 2016 Chinese Society of Aeronautics and Astronautics. Production and hosting by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license.

关键词： Guidance Homing missiles Impact angle Impact time Trajectory reshaping

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Evasion strategies of a three-player lifeline game

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Science China(Information Sciences) 2018年第11期61卷 144-154页

作者： Fan ZHANG Wenzhong ZHA School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Information Science Academy China Electronics Technology Group Corporation

This study examines a multi-player pursuit-evasion game, more specifically, a three-player lifeline game in a planar environment, where a single evader is tasked with reaching a lifeline prior to capture. A decomposition method based on an explicit policy is proposed to address the game qualitatively from two main aspects:(1) the evader's position distribution to guarantee winning the game(i.e., the escape zone),which is based on the premise of knowing the pursuers' positions initially, and(2) evasion strategies in the escape zone. First, this study decomposes the three-player lifeline game into two two-player sub-games and obtains an analytic expression of the escape zone by constructing a barrier, which is an integration of the solutions of two sub-games. This study then explicitly partitions the escape zone into several regions and derives an evasion strategy for each region. In particular, this study provides a resultant force method for the evader to balance the active goal of reaching the lifeline and the passive goal of avoiding capture. Finally,some examples from a lifeline game involving more than one pursuer are used to verify the effectiveness and scalability of the evasion strategies.

关键词： lifeline game three-player pursuit-evasion game barrier evasion strategy game of kind

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The Detection of Typical Targets under the Background of Land War 29

The Detection of Typical Targets under the Background of Lan...

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第29届中国控制与决策会议

作者： Xiaowen Wu Wenjie Chen Yingying Qin State Key Laboratory of Intelligent Control and Decision Complex System Beijing Institute of Technology

ISBN: (纸本)9781509046584

This paper investigates whether advanced neural network techniques can be applied to the detection and identification of typical targets in the context of land warfare. We collected 13 typical targets and built a detection data set. Based on the Faster R-CNN framework, we improve the detection accuracy by two ways. First, we design a neural network model with strong local modeling capabilities. Second, we combine middle layers and the last layer of feature maps as the detection features to enhance the detection ability and improve the detection accuracy.

关键词： Deep Learning Convolutional Neural Network Local Modeling Capability Object Detection

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High-order sliding mode attitude controller design for reentry flight

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Journal of systems Engineering and Electronics 2014年第5期25卷 848-858页

作者： Liang Wang Yongzhi Sheng Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and accurate tracking of the aerodynamic angle commands with the finite time convergence. The proposed control strategy is developed on the basis of integral sliding mode philosophy, which combines conventional sliding mode control and a linear quadratic regulator over a finite time interval with a free-final-state and allows the finite-time establishment of a high-order sliding mode. Firstly, a second-order sliding mode attitude controller is designed in the proposed high-order siding mode control framework. Then, to address the control chattering problem, a virtual control is introduced in the control design and hence a third-order sliding mode attitude controller is developed, leading to the chattering reduction as well as the control accuracy improvement. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results.

关键词： reentry vehicle attitude control high-order sliding mode control integral sliding mode.

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Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

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Journal of Central South University 2014年第8期21卷 3079-3091页

作者：张兴陈杰辛斌 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is *** take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of *** on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole ***,in view of the impact of wind on UAVs' paths,the notion of virtual target is *** application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental ***,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of ***,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational *** results exhibit that the proposed algorithm can produce high quality solutions to the problem.

关键词： unmanned aerial vehicle path planning in wind field Dubins traveling salesman problem terminal heading relaxation differential evolution

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