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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Wang, Dong Yang, Jing Xiong, Kai Li, Wenling School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9798350331820

Aiming at the problem that measurement model uncertainty restrains navigation accuracy in the celestial/ inertial (CNS/INS) integrated navigation system, a kind of CNS/INS integrated navigation method based on improved adaptive cubature Kalman filter (CKF) is proposed. In order to mitigate the influence of installation error and axis disturbance error of star camera, angular distance between starlight vector of stars and line of sight vector of space targets is employed to establish the measurement model;the measurement noise covariance matrix (MNCM) is estimated online to lower the model uncertainty;adaptive adjustment coefficient is constructed based on squared Mahalanobis distance (SMD) of measurement innovation to adjust forgetting factor online to further improve robustness and adaptability of the method. Simulation results demonstrate that the proposed method can achieve higher navigation accuracy compared to standard and classical method under measurement model mismatch. © 2023 IEEE.

关键词： Uncertainty analysis

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A Dual Network Approach with Enhanced Feature Guidance for SAR-to-Optical Image Translation 2

A Dual Network Approach with Enhanced Feature Guidance for S...

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2nd IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2024

作者： He, Jingfei Mao, Yongfei Zhao, Liangbo Cui, Zihan Wang, Yu Shi, Hao Beijing Institute of Technology National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing Beijing China China Academy of Space Technology Institute of Remote Sensing Satellite Beijing China China Academy of Space Technology Beijing Institute of Space Mechanics and Electricity Beijing China

ISBN: (纸本)9798331515669

Synthetic Aperture Radar (SAR) images own dominant merits, such as all-weather and all-day working conditions, but it is difficult for unprofessional people to interpret SAR images. Translating SAR images into optical images to assist interpretation can facilitate the transformation of SAR data into usable information. Therefore, an advanced SAR to Optical (S2O) image translation method utilizing a parallel Generative Adversarial Network (GAN) framework was proposed. This method incorporates an optical image reconstruction network alongside the S2O translation network, enhancing the fidelity and color consistency of the translated images. By employing a domain alignment module and a deep supervision feature loss module, the network effectively utilizes abundant optical image features to overcome the scarcity of SAR-optical image pairs. Experiments conducted on the SEN1-2 dataset demonstrate superior performance over existing methods, particularly in preserving detailed structural information in images. © 2024 IEEE.

关键词： Generative adversarial networks

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Learning-Observer-Based Adaptive Tracking control of Multiagent Systems Using Compensation Mechanism

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第1期5卷 358-369页

作者： Li, Zhiqiang Liu, Yang Ma, Hui Li, Hongyi Guangdong University of Technology School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China Qingdao University of Science and Technology School of Automation and Electronics Engineering Qingdao266061 China Guangdong University of Technology School of Mathematics and Statistics Guangzhou510006 China

This article focuses on the adaptive consensus tracking problem for nonlinear multiagent systems with unmeasurable state and input saturation. For unmeasurable state and nonlinearities, a learning-observer inspired by the idea of extended state observer and the learning ability of neural network are established to observe the reconstructed system. In view of input saturation, a nonlinear auxiliary system with the same order is constructed to obtain the compensation signals. Different from the previous auxiliary system, the proposed method simultaneously compensates the change of nonlinearity caused by input saturation. Subsequently, a consensus tracking error is designed to ensure that the follower tracks the neighbor compensated output. Moreover, an adaptive consensus tracking control method based on learning-observer and compensation mechanism is proposed under the backstepping framework. The stability analysis is given by virtue of the Lyapunov theory. Finally, the effectiveness and superiority of the proposed control algorithm are verified through the simulation of unmanned air vehicles with one virtual leader and four followers. © 2020 IEEE.

关键词： Neural networks

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Distributed formation-aggregation control algorithm for a cluster of quadrotors

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Journal of the Franklin Institute 2023年第3期360卷 1560-1581页

作者： Sun, Yongbin Li, Jiayi Wang, Zixuan He, Xiuyu Fu, Qiang Zou, Yao School of Automation Science and Electrical Engineering Beihang University Beijing100191 China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing100083 China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing100083 China

This paper focuses on the solution to a formation-aggregation problem concerned with a cluster of quadrotors. In particular, all the quadrotors are steered towards a target region while reaching an expected formation configuration. However, only a subset of quadrotors, treated as leaders, have access to the projections onto the target region;and in the meantime, each quadrotor just exchanges information with its neighbors. It is assumed that the quadrotors without the knowledge of the target region, treated as followers, are within the convex hull of the leaders in the expected configuration. A distributed formation-aggregation control algorithm is proposed under the hierarchical framework. To be specific, resorting to an auxiliary dynamic system with a distributed idea, a command force is first synthesized in the position loop for the concerned formation-aggregation objective. Next, an applied thrust and a command attitude are extracted from the synthesized command force. Finally, an applied torque is synthesized in the attitude loop such that the attitude tracking to the command one is realized. In terms of the Lyapunov theory, it is shown that the leaders are capable of guiding the overall quadrotor cluster into the target region in the expected configuration. Simulations are carried out to validate the theoretical results. © 2022 The Franklin Institute

关键词： Computer networks

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Lightweight Storage Framework for Blockchain-Enabled Internet of Things Under Cloud Computing

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Computers, Materials & Continua 2023年第5期75卷 3607-3624页

作者： Xinyi Qing Baopeng Ye Yuanquan Shi Tao Li Yuling Chen Lei Liu School of Computer and Artificial Intelligence Huaihua CollegeHuaihua418000China Guizhou Science and Technology Innovation Service Center Co Guiyang550000China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua418000China State Key Laboratory of Public Big Data College of Computer Science and TechnologyGuizhou UniversityGuiyang550000China

Due to its decentralized,tamper-proof,and trust-free characteristics,blockchain is used in the Internet of Things(IoT)to guarantee the reliability of ***,some technical flaws in blockchain itself prevent the development of these applications,such as the issue with linearly growing storage capacity of blockchain *** the other hand,there is a lack of storage resources for sensor devices in IoT,and numerous sensor devices will generate massive data at ultra-high speed,which makes the storage problem of the IoT enabled by blockchain more *** are various solutions to reduce the storage burden by modifying the blockchain’s storage policy,but most of them do not consider the willingness of *** attempt to make the blockchain more compatible with the IoT,this paper proposes a storage optimization scheme that revisits the system data storage problem from amore practically oriented *** will only store transactional data that they are directly involved *** addition,a transaction verification model is developed to enable peers to undertake transaction verification with the aid of cloud computing,and an incentive mechanism is premised on the storage optimization scheme to assure data *** results of the simulation experiments demonstrate the proposed scheme’s advantage in terms of storage and throughput.

关键词： Blockchain internet of things storage optimization transaction verification cloud computing incentive mechanism

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A multi-source data fusion navigation method of spacecraft with limited GNSS signals

A multi-source data fusion navigation method of Spacecraft w...

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第十四届中国卫星导航年会

作者： Leyao Li Jiansong Chang Jianxin Guo Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory

Global Navigation Satellite system(GNSS) is initially designed to provide services to objects on the earth surfaces, or in the earth-orbits with altitude below 3000 km. However, previous researches show that GNSS receivers mounted on GEO satellites can receive GNSS signals and generate positioning and navigation results as well. Considering that in some harsh situations, such as bad observation geometry, weak signal acquisition, etc., the on-board GNSS receivers can only transfer pseudo-range data to GEO satellites, this paper proposed an autonomous navigation method in which the information from GNSS receiver, optical attitude sensors, and inter-satellite links are fused together: at first, the extended state equation and measurement equation of a GEO satellite with optical sensor's errors are deduced;then, an extended Kalman filter is designed to evaluate and compensate optical sensor's errors via constructed earthcentered vector bias;later, a sequential correction is carried out using intersatellite link measurements;finally, the performance of proposed method is analyzed through Monte-Carlo simulation. It shows that the average distance and velocity evaluation errors of proposed method are around 0.2 Km and 0.05 m/s individually;the performance can meet the requirements of survivability of a class of high-orbit, long-life and high-value satellites.

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Stability analysis of a pipe conveying fluid with a nonlinear energy sink

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science China(Information sciences) 2021年第5期64卷 85-99页

作者： Nan DUAN Sida LIN Yuhu WU Xi-Ming SUN Chongquan ZHONG Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology

This paper considers the global stability problem of the system comprising a pipe conveying fluid and a nonlinear energy sink(PCF-NES) system. First, a quadratic form model containing a gradient term of a convex function is obtained from a high-order partial-differential-equation model of the PCF-NES system using the Galerkin approximation approach. Energy and disturbance functionals are then established based on this model. Second, a Lyapunov function is constructed based on the first-order characteristic of the convexity and energy disturbance technique to prove the global exponential stability of the approximated PCF-NES system. Finally, theoretical results are verified using numerical simulations and the positive effect of the NES on the vibration control of the entire PCF is discussed.

关键词： stability analysis energy disturbance technique convexity characteristic pipes conveying fluid nonlinear energy sink

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Adaptive Visual Tracking control of an Eye-in-hand Robotic Manipulator without Image-space Velocity Measurements

Adaptive Visual Tracking Control of an Eye-in-hand Robotic M...

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第43届中国控制会议

作者： Lijiao Wang Jia Wei Tao Heyu Xu Yongjun Lei Shuyi Wang Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this paper, we study the visual servoing tracking problem of an eye-in-hand robotic manipulator with uncertain robotic dynamics, kinematics and camera parameters. Our control objective is to achieve image-space tracking of a moving target without the measurements of visual velocity, where the trajectory of the target also bears uncertainties. A novel image-space position observer with online parameter updating is presented to avoid the reliance on visual velocity and to handle the unknown robotic kinematics and camera parameters. Based on the observed visual information, we perform the adaptive controller design in a cascade framework. The asymptotic convergence of the tracking error is proved by use of Lyapunov analysis tool and the input-output stability analysis tool. Finally, simulation with a two-DOF U-shape robotic manipulator is performed to validate the effectiveness of the proposed strategy.

关键词： Visual Servoing Eye-in-hand Robotic Manipulator Uncertainties Image-space Observer Adaptive controller

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Seeking Secure Synchronous Tracking of Networked Agent Systems Subject to Antagonistic Interactions and Denial-of-Service Attacks

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第5期6卷 1309-1320页

作者： Li, Weihao Shi, Lei Shi, Mengji Yue, Jiangfeng Lin, Boxian Qin, Kaiyu University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu611731 China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu611731 China Henan University School of Artificial Intelligence Zhengzhou450046 China

Inspired by the group phenomenon of biological populations in nature, swarm intelligence has been derived and has further advanced the research of coordinated control of networked agent systems (NASs). With this in mind, this article delves into the problem of secure synchronous tracking control for high-order NASs subject to antagonistic interactions, particularly under the threat of denial-of-service (DoS) attacks. First, a novel distributed secure control scheme is crafted to address the complex dynamics of NASs that encompass both cooperative and antagonistic interactions among agents. This scheme is pivotal as it enables follower agents to synchronize their tracking with the leader agent, even amidst the disruptive influence of DoS attacks, transcending the conventional bipartite tracking consensus approach. Subsequently, a dynamic, time-varying closed-loop system is generated, which is intrinsically linked to the intermittent nature of DoS attacks, characterized by periods of dormancy and activity. Based on the infinite matrix product convergence analysis method, some essential algebraic conditions are formulated, which hinge on the parameters of DoS attacks, the underlying network structure, and the gain of the controller. These conditions are critical for guaranteeing the attainment of robust synchronous tracking. Finally, some numerical simulation examples are provided to verify the effectiveness of the proposed secure synchronous tracking control scheme for high-order NASs with signed networks. That is, all followers are able to achieve synchronous tracking of the leader when the corresponding topology, as well as control parameter conditions, are satisfied, and the opposite is not possible. © 2020 IEEE.

关键词： Swarm intelligence

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Consensus Tracking Data-Driven control of Multi-Agent Systems based on Matrix S-Lemma under Noisy Data 13

Consensus Tracking Data-Driven Control of Multi-Agent System...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Tan, Shuli Zhang, Xiufeng Yang, Chunxi Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Kunming China Yunnan Key Laboratory of Intelligent Control and Application Yunnan Kunming650504 China

ISBN: (纸本)9798350361674

In this paper, the problem of consensus tracking for multi-agent systems in the presence of noise inter-ference is investigated. Unlike the traditional model-based approach, this paper assumes that the dynamics of all agents are unknown and only a portion of the input-state data is available. The offline data contaminated with noise interference is utilized. By introducing the matrix S-lemma, a necessary and sufficient conditions for directly designing consensus tracking controllers from bounded noisy input-state data is given. This method can be applied to large datasets and effectively addresses computational challenges associated with extensive data. Simulation result illustrates the effectiveness of the theoretical analysis. © 2024 IEEE.

关键词： Multi agent systems

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