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第27届中国控制与决策会议

作者： Mashood Anwar Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781479970186

In this paper,we propose a time division multiple access(TDMA) based protocol that works on slightly modified IEEE 802.15.4 network in star topology for low latency deterministic networked control *** end device in network transmits its data frame after certain time delay in response to periodic request from network *** time delay is optimized for channel bandwidth utilization and reliable data frame *** this TDMA based protocol eliminates the risk of frame collisions to great extent,MAC sub-layer modifications reduces the non-determinism of the network and increases its bandwidth *** were conducted to evaluate the suggested *** upon these experiments results,the proposed protocol is a feasible solution for control systems with real time constraints.

关键词： IEEE 802154 Networked control system Low latency deterministic networks(LLDN) Medium access control(MAC) Real time systems TDMA

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An electro-hydraulic control system with energy recycling

An electro-hydraulic control system with energy recycling

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Chinese Automation Congress (CAC)

作者： Taoxinjun Tao Junzheng Wang Jiangbo Zhao Xiaojie Hu Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467371902

When traditional electro-hydraulic proportional valve or servo valve controlled systems are used to drive unbalanced external load, the hydraulic valve itself exists throttling losses. At the same time, the excess kinetic or potential energy of external load is consumed in the form of heat. In order to reduce energy loss and recycle external load energy, this paper puts forward a kind of electro-hydraulic control equipment which can recycle energy. It consists of directional valve, hydraulic motor, generator, power transformation device. In details, the directional valve is used to control the fluid direction of hydraulic actuator, hydraulic motor is connected to the fluid return channel of the directional valve. A generator is connected to hydraulic motor so that the back pressure of the actuator can be controlled by adjusting the torque applied on the hydraulic motor. In this way, the trajectory of the actuator is controlled. The mechanical energy applied on the hydraulic motor can be converted to electricity via the power conversion device, and then transmitted back to the grid. The simulation and experiment results prove that the proposed scheme is feasible.

关键词： Valves Torque Generators Actuators Recycling

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Optimal Distributed Fusion for State Estimation in Multirate Wireless Sensor Networks

Optimal Distributed Fusion for State Estimation in Multirate...

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第三十四届中国控制会议

作者： Lu Jiang Liping Yan Yuanqing Xia Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

This paper is concerned with the distributed fusion estimation problem for linear system observed by multirate sensors in the environment of wireless sensor networks(WSNs). Rates of the sampling, estimation, transmission in the WSNs are different. The distributed fusion estimation is composed of two stages. At the first stage, every sensor in the WSNs collects measurements of its own to generate a local estimation, then the local estimations from the neighboring sensors and the neighbour's neighbor sensors are further collected to form the fusion estimation at the second stage. The main result is that a distributed fusion estimation algorithm is presented which is simple and low energy consumption. The performance, namely, the effectiveness and the stability of the algorithm under multiple sensors, is analyzed. A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： state estimation,distributed fusion,multirate multisensor,Kalman filter,wireless sensor networks

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A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm Unmanned aerial vehicles

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On Convergence of Extended State Observers for Discrete-Time Nonlinear Systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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Modeling and Optimization of Cooperative Interception and Guidance Allocation in Multi-Platform Air Defense

Modeling and Optimization of Cooperative Interception and Gu...

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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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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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Hybrid control and steering logic for the CMG-based spacecraft attitude control system

Hybrid control and steering logic for the CMG-based spacecra...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Xing Xin Zhen Li Xiangdong Liu Zhen Chen Chinese National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479977970

Considering the momentum singularity characteristics, an integrated control strategy for the control moment gyros based attitude control systems is proposed, in which the angular momentum conservation between the spacecraft and the CMG is utilized to improved the system performance both in the closed loop responsiveness and the singularity controllability. The moment exchange capability of the CMGs can be fully developed by the control logic under normal operation, while the exchange space is specifically restrained to guarantee the effectiveness of the singularity avoidance steering when gimbal lock occurs. An online uncertainty identification method based on the momentum exchange property is applied in the hybrid control logic to improve the robustness of the system for the first place, and the remaining uncertainty is further handled by an adaptive control law. Numerical simulations for the practical agile spacecraft maneuvering are conducted to verify the effectiveness of the proposed algorithms.

关键词： Space vehicles Attitude control Uncertainty Torque Kinematics control systems Robustness

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Near Minimum-Time Feedback Attitude control with Multiple Saturation Constraints for Satellites

Near Minimum-Time Feedback Attitude Control with Multiple Sa...

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第三十四届中国控制会议

作者： Xing Xin Zhen Li Xiangdong Liu Zhen Chen School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

A near minimum time feedback control law is proposed for the agile satellite attitude control system. The real time controller is formed by specially designed cascaded subunits. Based on this, the rapid attitude maneuvering can be applied in tasks including the move to move case. The near optimal property of that is guaranteed by the rapid dynamic response with a modified bang-bang control logic while simultaneously ensuring non-saturation properties on 3-Axis. The near optimal method is utilized for an online attitude planning, and the generated attitude maneuver path in real time is tracked by a nonlinear back-stepping controller with its improved dynamic performance and by which the united closed loop control is *** simulations are conducted to verify the effectiveness of the proposed control strategy.

关键词： Attitude control,agile satellites,saturation control,back-stepping

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Collision-free and kinematically feasible path planning along a reference path for autonomous vehicle

Collision-free and kinematically feasible path planning alon...

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IEEE Symposium on intelligent Vehicle

作者： Mengyin Fu Kai Zhang Yi Yang Hao Zhu Meiling Wang Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P.R.China

For the local path planning problem of autonomous vehicle in a complicated environment, a method combining cubic hermite spline curves with the kinematic model of autonomous vehicle is developed. And a novel algorithm for obstacle avoidance, called navigation circle, is proposed to take the road structure into account, which is a practical method for real-time path planning. In the new method, one of the trajectory generated by cubic hermite spline curves or navigation circle is optimized through the kinematic model of autonomous vehicle to get the kinematically feasible trajectory. The optimization is actually a numerical forward propagation and is easy to implement. The simulation experiment is conducted on the Robot Operating System (ROS) platform, which is based on replaying the data of the real world obtained from sensors or other modules on autonomous vehicle. Satisfactory simulation results verify the validity and the efficiency of the proposed method as well as the planner's capability to navigate in a realistic scenario.

关键词： Trajectory Vehicles Splines (mathematics) Navigation Mobile robots Planning

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