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IEEE Transactions on intelligent Vehicles 2024年第9期9卷 1-8页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Wu, Xinyu Department of Control Science and Engineering Harbin Institute of Technology Shenzhen and Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

With the increasing requirement for agile and efficient controllers in safety-critical scenarios, controllers that exhibit both agility and safety are attracting attention, especially in the aerial robotics domain. This paper focuses on the safety issue of Reinforcement Learning (RL)-based control for agile quadrotor flight in restricted environments. To this end, we propose a unified Adaptive Safety Predictive Corrector (ASPC) to certify each output action of the RL-based controller in real-time, ensuring its safety while maintaining agility. Specifically, we develop the ASPC as a finite-horizon optimal control problem, formulated by a variant of Model Predictive control (MPC). Given the safety constraints determined by the restricted environment, the objective of minimizing loss of agility can be optimized by reducing the difference between the actions of RL and ASPC. As the safety constraints are decoupled from the RL-based control policy, the ASPC is plug-and-play and can be incorporated into any potentially unsafe controllers. Furthermore, an online adaptive regulator is presented to adjust the safety bounds of the state constraints with respect to the environment changes, extending the proposed ASPC to different restricted environments. Finally, simulations and real-world experiments are demonstrated in various restricted environments to validate the effectiveness of the proposed ASPC. IEEE

关键词： Reinforcement learning

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Path Planning and Composite Attitude control for a Satellite with 2-DOF Large-Inertia Turntable 1

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3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Yin, Junxiong Zhu, He Zhang, Hongxing Zhao, Teng Zhou, Wei Shanghai Key Laboratory of Space Intelligent Control Technology Shanghai201109 China Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (数字)9789819711079

ISBN: (纸本)9789819711062

Aiming at the great disturbance to the satellite attitude caused by the rotation of the two-degree-of-freedom (2-DOF) large-inertia turntable, based on the trajectory planning of the turntable scanning motion and the coupling dynamic modeling of the turntable and the satellite, a feedforward and feedback composite controller is designed. Using Archimedes spiral to plan the trajectory of the sub-satellite point that the turntable load points to can make the turntable’s rotation angle and speed change smoothly, so as to reduce the disturbance of the turntable motion to the satellite attitude, and improve the time uniformity of the load field of view to cover the ground target. According to the accurate dynamic model of the 2-DOF turntable, the disturbance torque caused by the turntable to the satellite is calculated as the feed-forward control torque in real time. The feedback control torque is calculated according to the satellite attitude deviation and angular velocity deviation. The simulation results verify the effectiveness of the composite controller, which effectively reduces the adverse impact of turntable motion, and the high-precision and high-stability attitude control is achieved. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Attitude control

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Calibration of the Solar X-ray Detector on-board the Macao science Satellite-1B for Soft X-ray Detection

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science China Earth sciences 2025年第1期68卷 11-26页

作者： Man-Hei NG Xiaoping ZHANG Jianwu CHEN Yongqiang SHI Fuchang ZUO Wenxi PENG Weichun FU Liansheng LI Pengwei LUO Chi-Long TANG Guozheng ZHANG Zhiwu MEI Li WANG Cunhui LI Jiaming OU Yanyan Xu State Key Laboratory of Lunar and Planetary Sciences Macao University of Science and TechnologyMacao999078China Space Optoelectronic Measurement and Perception Laboratory Beijing Institute of Control EngineeringBeijing100190China Institute of High Energy Physics Chinese Academy of SciencesBeijing100049China Science and Technology on Vacuum Technology and Physics Laboratory Lanzhou Institute of PhysicsLanzhou730000China China National Space Administration(CNSA) Macao Center for Space Exploration and ScienceMacao999078China

The Solar X-ray Detector(SXD)on-board the Macao science Satellite-1B(MSS-1B)was successfully launched via the Chinese Long March-2C rocket on 21 May 2023,and commenced operations in early June of the same *** MSS-1B/Soft X-ray Detection Units(SXDUs)employ two silicon drift detectors(SDDs),providing a wide range of energy spectra spanning from 0.7 to 24 ***,the SXDUs deliver a high-resolution capability of 0.14 keV@5.9 keV and operate with a time cadence of 1 ***,we perform thorough calibrations of the MSS-1B/SXDUs,employing a combination of ground experiments and *** addition,quantitative analysis comparing the flux measurements obtained by the MSS-1B/SXDUs to the data collected by the Geostationary Operational Environmental Satellite(GOES),provides compelling evidence of their ***,the preliminary spectral analysis results showcase the robustness and expected performance of the MSS-1B/SXDUs,unlocking their potential for facilitating the study of dynamic evolution of solar ***,the innovative MSS-1B/Solar X-ray Detector facilitates concurrent observations of solar soft and hard X-rays,thereby making valuable contributions to the advancements in solar research.

关键词： Macao science Satellite-1B(MSS-1B) Calibration Solar X-Ray Detector Spectrometer Soft X-rays Solar flares Solar abundances

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Liquid-filled spacecraft finite-time attitude maneuver control with attitude and angular velocity constraints 74

Liquid-filled spacecraft finite-time attitude maneuver contr...

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74th International Astronautical Congress, IAC 2023

作者： Guo, Yanning Zhang, Wei Ma, Guangfu Lyu, Yueyong Zhang, Haibo Harbin Institute of Technology China Beijing Institute of Control Engineering China National Key Laboratory of Science and Technology on Space Intelligent Control China

With development of aerospace industry, the mass of liquid fuel carried by spacecraft is also increasing in order to complete more complex space exploration missions, such as on-orbit refueling and space debris removal. And there is large liquid fuel consumption when spacecraft completes attitude and orbit maneuver, which greatly increases the nonlinearity and uncertainty of spacecraft dynamics and brings great challenges to spacecraft attitude maneuver control. Considering that during attitude maneuver, the control torque is easy to stimulate the liquid slosh, which will affect the attitude control performance and even lead to instability of the system. So it is necessary to constrain the angular velocity during attitude maneuver. In this paper, we consider the large angle attitude maneuver control of liquid-filled spacecraft system. Because of the consumption of liquid fuel, then the mass property of system is unknown and slowly time varying. So a novel finite-time attitude maneuver control law based on barrier Lyapunov function (BLF) and backstepping method in the presence of unknown, time varying system dynamics and angular velocity constraint, which aims at avoidance of violent liquid slosh, is proposed in this paper. Firstly, the sloshing liquid in a partially filled tank carried by the spacecraft is equivalent to a sloshing slug - a sphere of uniform density with a variable radius, and the rigid-liquid coupling dynamic equations with unknown parameters of the spacecraft are deduced by using the law of conservation of moment of momentum. Secondly, a finite-time prescribed performance function (FTPPF) is proposed to guarantee the convergence of spacecraft attitude error to zero within the setting time, with the help of FTPPF and the angular velocity constraint, a time-varying BLF and a logarithmic BLF are proposed correspondingly. Furthermore, a backstepping control law is designed for the spacecraft attitude maneuver based on augmented Lyapunov functions, mean

关键词： Angular velocity constraint Attitude constraint Backstepping control Backstepping control Liquid-filled spacecraft

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SSD object detection algorithm based on knowledge map

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International Journal of Wireless and Mobile Computing 2024年第2期27卷 152-160页

作者： Huang, Li Wang, Xiaofeng Lu, Jianhua Hu, Wei Zhang, Changrong College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China Key Laboratory of Metallurgical Equipment and Control Technology of the Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China

With the pervasive integration of artificial intelligence into all aspects of human life, talent emerges as a primary resource. Upon analysing the current state of talent training in higher education institutions, issues such as dispersed knowledge points, overlapping content, a singular practice approach and ineffective evaluation have been identified. In response to these challenges, this paper proposes a multidisciplinary and comprehensive practical teaching methodology grounded in the knowledge graph framework. It delves into diverse paths for practical teaching and assessment, including aspects like teaching objectives, problem decomposition, resource integration, implementation methods and performance evaluation. The practical application of the SSD algorithm in researching service robot indoor object detection serves as an illustrative example. Employing the holistic practical teaching approach facilitated by the knowledge graph, this model guides students in acquiring object detection expertise, thereby enhancing their comprehensive development. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Object detection

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Identification and compensation of suspension disturbance for magnetically levitated rotary joints 18

Identification and compensation of suspension disturbance fo...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Wang, Yingguang Zhang, Jiyang Fan, Yahong Lu, Ming Luo, Ruizhi Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory Beijing China

ISBN: (纸本)9798350312201

For the multi-degree-of-freedom harmonic disturbance force/moment of the magnetically levitated rotor, a harmonic disturbance/disturbance force suppression method based on the eigenfrequency disturbance observer is proposed in this paper. First, a multi-freedom harmonic disturbance force/moment mechanism analysis is performed and its source is located. Then, a multi-degree-of-freedom eigenfrequency disturbance observer based on an adaptive discriminator is designed for closed-loop identification of the eigenfrequency disturbance forces of the magnetically levitated rotor by controlling its steady speed rotation. Then, the open-loop compensation current of each channel magnetic bearing is solved according to the multi-degree-of-freedom eigenfrequency perturbation observation results, so that the open-loop compensation electromagnetic force/moment and the perturbation force/moment form a balanced force/moment. Finally, tests were conducted on the rotating joint products, and the test results showed that the method can reduce the amount of magnetic levitation rotor levitation control fluctuation by more than 90% and improve the levitation stability by one order of magnitude. © 2023 IEEE.

关键词： Magnetic levitation

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A Multi-constraint Attitude control Scheme for Micro-nano Satellite During On-Orbit Standby 11th

A Multi-constraint Attitude Control Scheme for Micro-nano Sa...

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11th International Conference on Signal and Information Processing, Network and Computers, ICSINC 2023

作者： Li, Mingqun Lei, Yongjun Wang, Shuyi Beijing Institute of Control Engineering Beijing100194 China Science and Technology on Space Intelligent Control Laboratory Beijing100194 China

ISBN: (纸本)9789819721153

In this paper, the attitude control problem of a class of micro-nano satellites in low Earth orbit without solar array driving mechanism is studied. Firstly, based on the attitude dynamics, a three-axis decoupled attitude control law is proposed so that each channel can be designed independently. Then, various constraints in satellite attitude design during on-orbit standby were analyzed. Under the constraints of energy security, a satellite attitude maneuver was proposed to ensure the sun orientation of the solar array. During the design process, multiple constraints such as attitude reference guarantee and thermal control condition guarantee were introduced. For different orbital characteristics, methods were proposed to determine the orientation attitude towards the sun by combining the geocentric vector, orbital normal vector, and solar vector, as well as the on-orbit standby control strategy of sun orientation in the sun light area with earth orientation in the shadow area. Then the optimal maneuver strategy and angular velocity planning method was proposed in the aspect of large angle attitude maneuver, which makes the attitude control of satellites safe and stable during on-orbit standby. The mathematical simulation results show that the scheme proposed in this paper is applicable to low Earth orbit micro-nano satellites with various inclinations, which verifies the effectiveness of the method proposed in this paper. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Attitude control

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A PSO-LSTM-based Method for Spatial Target Orbit Phase Prediction 4

A PSO-LSTM-based Method for Spatial Target Orbit Phase Predi...

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4th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2023

作者： Qu, Zonghua Wei, Chunling Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory Beijing China

ISBN: (纸本)9798350326444

As space becomes increasingly crowded and the orbital space environment gradually deteriorates, countries have gradually begun to pay attention to the in-orbit security of spacecraft. The timely and accurate sensing of space threats can effectively guarantee the in-orbit safety of our spacecraft. The orbital phase prediction for space targets is an important problem in the field of space situational awareness. In this paper, we propose a PSO-LSTM-based orbital prediction method for space targets, which has an accuracy rate of over 88.7% for different phases of orbital prediction. © 2023 IEEE.

关键词： Orbits

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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science China(Technological sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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Parameter-Free Shifted Laplacian Reconstruction for Multiple Kernel Clustering

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1072-1074页

作者： Xi Wu Zhenwen Ren F.Richard Yu the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010China the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010 the Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou UniversityWuzhou 543002 the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518060China

Dear Editor,This letter proposes a parameter-free multiple kernel clustering(MKC)method by using shifted Laplacian *** MKC can effectively cluster nonlinear data,but it faces two main challenges:1)As an unsupervised method,it is up against parameter problems which makes the parameters intractable to tune and is unfeasible in real-life applications;2)Only considers the clustering information,but ignores the interference of noise within Laplacian.

关键词： parameter letter Parameter

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