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Satellite Formation control and Navigation Experiment Platform Based on UAVs 35

Satellite Formation Control and Navigation Experiment Platfo...

引用

第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous System and Networked ControlMinistry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

In order to simulate the in-orbit movement of formation satellites,the unmanned helicopter is utilized to set up the microgravity environment relative navigation ground simulation *** platform can provide the movement of six degrees of freedom and can simulate the formation satellite flying in three-dimensional *** test platform includes host computer system,communication system,UAVs formation control system,satellite attitude simulation system,and so *** are equipped with laser radar and visible light *** control and navigation of multi-body can be achieved under complex network *** platform can be used for the test of satellite autonomous formation simulation,joint fleet navigation,and so *** algorithm of multi-body formation,multi-source and multi-target tracking based on sensor network,multi-body navigation and remote control can be verified on this platform.

关键词： formation satellites unmanned helicopter test platform

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Euler-precision ZED formula 3NgPED-G extended to future minimization with theoretical guarantees and numerical experiments 2

Euler-precision ZED formula 3NgPED-G extended to future mini...

引用

2nd IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2017

作者： Zhang, Yunong Gong, Huihui Li, Jian Huang, Huanchang Yang, Min School of Information Science and Technology Sun Yat-sen University Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Reseach Institute Shunde528300 China

ISBN: (纸本)9781467389778

In this paper, we propose and investigate a new Euler-precision 3-node g-proportional finite difference formula [also named Zhang finite difference (ZFD) formula 3NgPFD-G], which achieves an error pattern of O(g), where g denotes the sampling gap. Moreover, the proposed formula is extended to future minimization (FM). Specifically, the ZFD formula 3NffPFD-G and its extension to discretize continuous-time Zhang neural network (CTZNN) model for solving FM are first of all put forward. Secondly, the ZFD formula 3NgPFD-G is proved to effectively approximate the 1st-order derivative by Taylor expansion, and results of discrete-time Zhang neural network (DTZNN) model for solving FM are obtained by adopting the formula above to discretize the CTZNN model. Finally, expository numerical approximation and discretization experiments are conducted and analyzed to illustrate the efficacy and superiority of the ZFD formula 3NgPFD-G and its extension to FM. © 2017 IEEE.

关键词： Neural network models

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Solving ordinary differential equations by ZED 4IgSFD-L method 36

Solving ordinary differential equations by ZED 4IgSFD-L meth...

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36th Chinese control Conference, CCC 2017

作者： Zhang, Yunong Yang, Xuyun Huang, Huanchang Li, Wan Lai, Fangzheng School of Information Science and Technology Sun Yat-sen University Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Research Institute Foshan528300 China

ISBN: (纸本)9789881563934

Ordinary differential equations (ODEs) are commonly used in physical system and automation researches, describing the relationship among variables. Hence there are practical significances to discuss and to research the solutions of ODEs. The initial value problem (IVP) is one of the important parts, and we usually use traditional methods, e.g. Euler method, to obtain the solutions. In this paper, we propose a new method named ZFD (Zhang finite difference) 4IgSFD-L method. Note that this method is developed by using ZFD formula 4IgSFD-L (4-instant g-square finite difference with subtype L) based on Taylor expansion, with g denoting sampling gap and g 2). © 2017 Technical Committee on control Theory, CAA.

关键词： Taylor series Differential equations Electronic mail Layout autonomous systems Trajectory

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An online identification method for small unmanned helicopter base on TVARMA model

An online identification method for small unmanned helicopte...

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2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016

作者： Liu, Zun Long, Pei Hai South China University of Technology Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9781509033645

This paper establishes an online identification algorithm which can provide the model status in real time base on TVARMA model for small unmanned helicopter. First, the TVARMA model used for describing the small unmanned helicopter is shown. After that, a recursive algorithm is elaborated to solve the parameters in the TVARMA model. Then a flight experiment data is used to identify the TVARMA model as an example, analysis and compare are made in the end to prove that the TVARMA model is accurate and this identification method is also effective. © 2016 IEEE.

关键词： Helicopters

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Application of Kalman Filtering Algorithm in Laser Triangulation Measurement

Application of Kalman Filtering Algorithm in Laser Triangula...

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第36届中国控制会议

作者： WEN Xiao-qin LIANG Jun-yuan Ministerial Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and EngineeringSouth China University of Technology

In order to improve the measurement precision of the laser displacement ***,the cause of the error caused by the measured surface features is analyzed from the measurement principle of laser ***,according to the result of error analysis,the Kalman filter algorithm is applied to the sensor data to carry out error ***,the experiments were carried out with LS-100 CP laser displacement sensor and *** experimental results show that the Kalman filter algorithm in the application of laser triangula tion measurement is feasible,effective and have a good practical value.

关键词： Kalman filter algorithm triangulation method data processing measurement precision

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Dynamic Characteristics Analysis of Elastic Missile 7

Dynamic Characteristics Analysis of Elastic Missile

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： XU Zhaoqing Pei Hailong South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467383189

The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this *** aerodynamic force and moment and structure mode are *** unsteady aerodynamics additional caused by vibration is researched through simplified theory;the longitudinal and lateral rigid disturbance motion equations are established in term of the linear theory *** elastic vibration dynamic response can be acquired after the unsteady aerodynamics loads additional are substituted to the disturbance motion equations as perturbation *** outputs can provide raw data for stability analysis,precision analysis,control and guidance system *** response of output shows that the longitudinal attitude angles and sideslip angle variation induced by elastic vibration will be very slight,but the variation of bank angle will be great,this result is matched with the experiment phenomenon.

关键词： Laplace simulation Dynamic Characteristics Analysis of Elastic Missile

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Optimal tracking cooperative control for multi-agent systems with periodic sampling via robust model predictive control approach 36

Optimal tracking cooperative control for multi-agent systems...

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第36届中国控制会议

作者： Bohui Wang Weisheng Chen Jingcheng Wang Bin Zhang Zhengqiang Zhang Hai Lin Bin Ma the School of Aerospace Science and Technology Xidian University the Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China the Autonomous Systems and Intelligent Control international Joint Research Center Xian Technological University the Department of Electrical Engineering University of South Carolina the with the School of Engineering Qufu Normal University

ISBN: (纸本)9781538629185

This paper addresses the optimized tracking cooperative control problem for multi-agent systems with periodic sampling and directed communication topology via robust model predictive control *** proposed optimized tracking cooperative control strategy relaxes the assumptions in existing works that the control gain and the local input must be continuous and the states information exchange has no recourse *** the conditions of the optimized consensus and the communication cost being satisfied,the tracking cooperative control law with bounded parameters is developed based on the periodic *** shows that if the sampling condition is satisfied,the multi-agent systems will reach the optimized *** results are provided to verify the proposed approach.

关键词： Index Terms-multi-agent systems tracking cooperative control periodic sampling optimized consensus robust model predictive control

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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Robust controller Design for BTT Missile Equipped with Grid Fin 35

Robust Controller Design for BTT Missile Equipped with Grid ...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in flying, then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory, the beginning state of the cruise is chosen as the feature point, and then the dynamical coefficient are calculated, then the longitudinal and lateral perturbation equations are established. The dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation equations. The transfer functions and the dynamic responses under the step deflection of grid fin are derived, then the dynamic characteristics of the missile can be obtained. The results indicate that the grid fin can provide favorable stability. The H controller of pitch and lateral bank channels are designed based on dynamic characteristics analysis, the simulation results indicate that the system dynamic performance can satisfy the requirement, and H controller has a fine robustness for the parametric variation.

关键词： BTT missile H control dynamic characteristics grid fin

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ADRC for Nonlinear Time-Variant systems with Unknown orders 35

ADRC for Nonlinear Time-Variant Systems with Unknown orders

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第35届中国控制会议

作者： LI Xiangyang AI Wei TIAN Senping Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781509009107

Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns with the capability of ADRC for nonlinear time-variant systems with unknown *** controlled system's local model whose order is set according to the controller is introduced to make ADRC ***,an extend state filter(ESF) is added to the proposed ADRC to attain smoother control *** proposed ADRC based on local model is validated in simulation for a nonlinear,time-varying system with unknown order and uncertainties.

关键词： ADRC local model extended state observer nonlinear time-variant system unknown order data-driven control

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