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第三十四届中国控制会议

作者： Jian Jia Zhihong Peng School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467374439

In the multi-platform air defense combat, platforms cooperate to achieve best effect. In the traditional air defense cooperation, assigning interception units has been paid more attention. Based on the existing task allocation model, we added the cooperative guidance and time window constraints to accord with the modern battle mode. An allocation method based on decentralized auctions is also proposed. Each platform employs the heuristic method to choose proper target and confirm the execution time, then resolve the conflict by consensus rules. This method is robust for communication network, besides it can avoid the single point of failure. Simulation results show this algorithm is significantly effective and satisfies the demand of real time.

关键词： Weapon Target Assignment,Cooperative,Modeling,Time Window,Decentralized Auction

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Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound for Multi-Target Tracking in Netted Colocated MIMO Radar systems

Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound ...

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第40届中国控制会议

作者： Sijian Liao Zhihong Peng Junqi Cai School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, an effective joint beam selection and power allocation（JBSPA） method is proposed to solve the online resource scheduling problem for multi-target tracking in distributed MIMO radar system. Overall target tracking performance can be improved by optimizing radar system beam selection and power allocation, since each MIMO radar can generate a timevarying beam, and adjust the quality of the observed signal by controlling the transmit power of each beam. In our method the feedback information of the target tracking period is used to complete the optimal radar-targets assignment and power allocation,the objective function is formulated based on the Bayesian Cramér-Rao lower bound, as the formulated JBSPA problem is nonconvex, a three steps solution method based on reward matrix is proposed to solve it effectively. Numerical results show that the proposed JBSPA method can deliver better performance than the competitors in overall MTT performance.

关键词： Resource Scheduling BCRLB Target Tracking Power Allocation MIMO Radar systems

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A credibility allocation approach of complex simulation systems 35

A credibility allocation approach of complex simulation syst...

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35th European Modeling and Simulation Symposium, EMSS 2023

作者： Zhang, Huan Li, Wei Geng, HuaPin Ma, Ping Yang, Ming Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Modeling and Simulation for Complex Systems Harbin150080 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9788885741881

complex simulation systems usually need to satisfy the credibility requirements and the credibility of complex simulation systems is inextricably linked to the credibility of simulation sub-systems. Hence, in order to guarantee the credibility of complex simulation systems meets requirements, it is necessary to allocate the credibility of simulation sub-systems. complex simulation systems are composed of several correlative simulation sub-systems and their credibility has correlation relationships, which makes it difficult to obtain the credibility of simulation sub-systems quickly. The existing works mostly ignore the relationships between the sub-systems and are difficult to generate the credibility allocation results of simulation sub-systems. In this paper, we model the credibility allocation problem as a probabilistic inference problem based on the pairwise Markov random field (PMRF). In addition, we apply several inference algorithms to perform the inference exactly and approximately in the credibility PMRF. Finally, experiments are conduted on the air defense combat complex simulation system, and the experiment results demonstrate that the proposed method can obtain the credibility allocation results quickly and accurately. © 2023 The Authors.

关键词： Inference engines

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Distributed Motion Coordination for Multi-agent systems with Connectivity Maintenance Using Backbone-Based Networks *

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IFAC Proceedings Volumes 2011年第1期44卷 13588-13593页

作者： Yutian Mao Lihua Dou Hao Fang Huagang Liu Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China. (Tel: 010-68913795)

Abstract This paper addresses the problem of distributed connectivity constrained motion coordination of multiple autonomous mobile agents. Different from traditional flat network structure which lacks flexibility and scalability when performing complex spatially distributed tasks, a novel distributed framework for construction of backbone-based hierarchical communication networks is proposed. Firstly, the proposed method periodically extracts a subset of agents which can form the communication backbone from the original network using only local information, thus partitions the system into backbone agents and non-backbone agents. Furthermore, the global network connectivity of the system is maintained at two levels: connectivity-preserving potential functions are used to maintain existing links in the backbone; connectivity between backbone and non-backbone agents is achieved via a leader-follower formation control scheme with backbone agents as the leaders. Finally, nontrivial numerical simulations are worked out to verify the theoretical results.

关键词： Multi-agent systems Motion coordination Connectivity maintenance Backbone-Based network

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Adaptive fuzzy PD+ based spacecraft attitude maneuvering 11

Adaptive fuzzy PD+ based spacecraft attitude maneuvering

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2014 11th World Congress on intelligent control and Automation, WCICA 2014

作者： Zhong, Li Chen, Zhen Liu, Xiangdong Yang, Dapeng Key Laboratory for Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing China

This paper proposes adaptive fuzzy PD+ based controller for the attitude maneuver of rigid spacecraft. Based on the error of the system, the adaptive fuzzy PD+ based controller applies adaptive fuzzy algorithm to modify the gains of PD+ attitude controller online. The advantage of the adaptive fuzzy PD+ based controller is presented in simulation results. © 2014 IEEE.

关键词： Adaptive fuzzy PD+ based controller Attitude maneuver Rigid spacecraft

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Force control of Electro-Hydraulic Servo system Based on Load Velocity Compensation

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Journal of Beijing Institute of Technology 2018年第3期27卷 326-333页

作者： Shoukun Wang Hu Liu Junzheng Wang Deyang Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In an electro-hydraulic servo control system,the force servo system is an important ***,due to the nonlinear characteristic of hydraulic systems,traditional control methods cannot achieve satisfactory control *** deal with this issue,a load velocity compensation algorithm based on the structural invariant principle is proposed in this ***,the theoretical analysis of the hydraulic and cylindrical force control system is presented,and the mathematical model of the force control system is *** the open-loop frequency response characteristics of the system are analyzed,in which the Bode diagram shows that the bandwidth of the system is obviously expanded after adopting the load velocity compensation ***,apractical hydraulic and cylindrical force servo system is introduced to validate the feasibility of the proposed controller,the experimental results demonstrate that the proposed method can improve the performance of force control and eliminate the influence of load stiffness on the dynamic characteristics of the system through a set of comparative experiments with different elastic loads.

关键词： electro-hydraulic servo control system force servo control load velocity compensation elastic load

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Efficient Multi-Robot Coverage of an Unknown Environment

Efficient Multi-Robot Coverage of an Unknown Environment

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第40届中国控制会议

作者： Zihao Chen Zhihong Peng Lei Jiao Yuanyuan Gui School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

This paper discusses the complete area coverage of multi-robots in unknown environments. Finding the optimal solution for the problem of area coverage with multiple robots has been proven to be NP-hard. This paper proposes the Multiagent Node Backtracking Area Coverage（MANBAC） algorithm, which uses improved BCD local area coverage method, and the node backtracking method that is based on the A* algorithm to achieve complete coverage of the entire unknown *** with the area coverage of a single robot, use multi robots can greatly improve the efficiency of area *** with the existing coverage algorithms in known area, this study can be applied to a wider range of area scenarios which are not known.

关键词： Area coverage Unknow environment Multirobot

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Construction of Barrier in a Fishing Game with Point Capture

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IEEE Transactions on Cybernetics 2017年第6期47卷 1409-1422页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong Gu, Dongbing School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom

This paper addresses a particular pursuit-evasion game, called as 'fishing game' where a faster evader attempts to pass the gap between two pursuers. We are concerned with the conditions under which the evader or pursuers can win the game. This is a game of kind in which an essential aspect, barrier, separates the state space into disjoint parts associated with each player's winning region. We present a method of explicit policy to construct the barrier. This method divides the fishing game into two subgames related to the included angle and the relative distances between the evader and the pursuers, respectively, and then analyzes the possibility of capture or escape for each subgame to ascertain the analytical forms of the barrier. Furthermore, we fuse the games of kind and degree by solving the optimal control strategies in the minimum time for each player when the initial state lies in their winning regions. Along with the optimal strategies, the trajectories of the players are delineated and the upper bounds of their winning times are also derived. © 2013 IEEE.

关键词： Optimal systems

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Formation control based on Flocking Algorithm in Multi-agent system

Formation Control based on Flocking Algorithm in Multi-agent...

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The 8th World Congress on intelligent control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Hu Cao Jie Chen Yutian Mao Hao Fang Huagang Liu Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

This paper mainly addresses flocking control algorithm to implement the “boids” model of Reynolds among the formation control by nonholonomic multi-robots. Firstly, distributed flocking of multiple autonomous agents with double integrator dynamics is studied. The proposed flocking algorithm is a gradient-based protocol combined with a velocity consensus protocol. For the gradient-based term, smooth artificial potential functions which could cope with the problem of shape generation are devised for all the agents. Moreover, the proposed coordinated protocols are applied to the formation control of a team of nonholonomic mobile robots. Finally, simulations and experiments show that the proposed controllers ensure the group formation is stabilized to a desired shape, while all the robots’ velocities and directions converge to the same.

关键词： Protocols Computational modeling Robot kinematics Vehicle dynamics Mobile robots Stability analysis

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Fractional-order Virtual Model control for Trotting Motion of Quadruped Robot

Fractional-order Virtual Model Control for Trotting Motion o...

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Chinese control and decision Conference, CCDC

作者： JiangBo Zhao Shicheng Ma Shanshuai Niu Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

Virtual model control (VMC) is the most widely-used method for motion control of quadruped robot. VMC could decrease the abrupt ground reaction force and realize compliant interaction between foot and ground at the cost of control precision. To improve the robustness and precision of VMC, we integrate a fractional-order virtual damper with the classical VMC and propose a fractional-order VMC (FOVMC) for quadruped robot trotting motion. And we provide the implementation details about optimization-based FOVMC parameter tuning method and carry out the trotting experiments on the quadruped robot platform. The experiment results demonstrate that FOVMC could improve the precision of single-leg motion control and achieve a better whole-body trotting performance than classical VMC.

关键词： Legged locomotion Motion control Robot kinematics Foot Torque Force

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