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 a...
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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.
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 tar...
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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.
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...
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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...
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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.
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 modi...
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In an electro-hydraulic servo controlsystem,the force servo system is an important ***,due to the nonlinear characteristic of hydraulic systems,traditional control methods cannot achieve satisfactory control *** deal...
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In an electro-hydraulic servo controlsystem,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 controlsystem is presented,and the mathematical model of the force controlsystem 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.
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 pro...
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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.
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...
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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...
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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.
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 co...
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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.
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