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control Conference (ICC), 2019 Sixth Indian

作者： Susan Basnet Saurabh Kumar Shashi Ranjan Kumar Department of Aerospace Engineering Intelligent Systems and Control Lab Indian Institute of Technology Bombay Mumbai India

This paper addresses an active aircraft Defense problem wherein an aircraft is under attack by an external in-terceptor, and a defender is launched to neutralize the attacker. We develop a nonlinear guidance law that guarantees that the defender intercepts the attacker before it reaches the vicinity of the target. The guidance strategy is derived using the concept of line-of-sight guidance, where the defender is allowed to move toward the attacker while maintaining his position between the target and the attacker. We show that knowing the attacker's maximum acceleration capability is sufficient to guarantee the successful interception of the attacking interceptor. Nevertheless, the proposed guidance strategy is derived within a nonlinear engagement framework, which elucidates its applicability for broader operating conditions, unlike the methods where the linearized dynamics were considered. Finally, we demonstrate the merits and robust performance of the proposed guidance strategies with various engagement scenarios.

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Toward advanced driver assistance ACC and LPA based system and Model-in-the-Loop (MIL) simulations

Toward advanced driver assistance ACC and LPA based system a...

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Innovative Research in Applied Science, engineering and Technology (IRASET),Conference on

作者： Brahim El Boukili Lhoussain Bahatti Mohammed-Hicham Zaggaf lab. Electrical Engineering and Intelligent Systems (IESI) Higher Normal School of Technical Education Mohammedia Morocco

This paper presents a development of an ADAS system that contain two functions; Adaptive Cruise control (ACC) and Lane Positioning Assist (LPA), the project is divided into two axes, on the one hand the development of the two driving assistance functions and their integrations in a powertrain and test each one separately, on the other hand the integration the both ADAS systems in one powertrain, the test of this integration will be done using an HMI. The objective of this modeling is to be able to simulate the maximum of the driving scenarios to optimize the real tests and to increase the driver safety.

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An accurate tuning model of spintronic memristor with different switching thresholds by logic judgment of domain wall motion 41

An accurate tuning model of spintronic memristor with differ...

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第41届中国控制会议

作者： Kun Wang Yajuan Hui Zhong Yang Xiangshui Miao School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan National Lab for Optoelectronics Huazhong University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Spintronic memristor possessing extraordinary advantages such as high-speed,low-power,highly scalab.e,and capable of constructing dynamic complex systems,which is a potential candidate for the next-generation memory *** many excellent models of spintronic memristor have been proposed,nonlinear model is not suitable for application analysis because of its complex *** this paper,an accurate tuning model of spintronic memristor with different switching thresholds by logic judgment of domain-wall motion is *** switching thresholds of current density are introduced to drive the domain-wall movement by judging the position of state value and real-time current density,which solves the general problems of boundary ***,by the simulation and verification via PSpice modeling,an accurate regulation of the resistance by voltage excitation is *** results pave the way for the applications of diversified circuit design for spintronic memristor.

关键词： Spintronic memristor Different switching thresholds SPICE model

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An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers 3

An Optimal Control Based Trajectory Planning Method for Coop...

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3rd International Symposium on intelligent Robotics and systems, ISoIRS 2023

作者： Wang, Qi Ge, Hao Duan, Xuting Zhou, Jianshan School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology Beijing China Nanjing Research Institute of Electronic Engineering State Key Laboratory of Air Traffic Management System and Technology Nanjing China School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China

ISBN: (纸本)9798350339963

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution. © 2023 IEEE.

关键词： Trajectories

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Economic dispatching strategy of microgrid based on multiple distributed power sources

Economic dispatching strategy of microgrid based on multiple...

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2022 Chinese Automation Congress, CAC 2022

作者： Hao, Shengyuan Guo, Xingzhong School of Electrical Engineering Anhui Polytechnic University Key Lab. of Advanced Sensing and Intelligent Control of Advanced Equipment Ministry of Education Anhui University of Technology WuHu241000 China

ISBN: (纸本)9781665465335

This paper proposes an economic dispatching strategy for the microgrid based on multiple distributed energy sources, aiming at the problem that microgrid can fully cooperatively invoke multiple distributed energy sources and minimize the economic cost and carbon emissions. An optimization model is established, which includes wind generators, photovoltaic generators, diesel generators, gas turbines and the main grid. This study takes the minimum economic cost and the minimum carbon emissions as the dual objectives, and uses NSGA-II algorithm to solve the model. Finally, a numerical example is given to verify that this study can play a positive role in the economic and environmental protection operation of the microgrid. © 2022 IEEE.

关键词： Electric load dispatching

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New Measure for Network controllab.lity Robustness Based on controllab.e Subspace

New Measure for Network Controllability Robustness Based on ...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Yanwen Liu Jie Ding Xiang Li Department of Electronic Engineering School of Information Science and Engineering Adaptsdive Networks and Control Lab Fudan University Shanghai China Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

ISBN: (数字)9798350330991

ISBN: (纸本)9798350331004

In this paper, we propose a new criteria to measure network controllab.lity robustness based on generic dimension of controllab.e subspace given a network. Generic dimension curve and controllab.llity robustness index are introduced to show network controllab.lity robustness from different aspects. 12 different attack methods are carried out for six network models. It is found that the multiloop structure is useful to maintain network robustness under attacks. Moreover, the networks with single backbone structure are fragile under attacks. Besides, both the increase and protection of driver nodes can enhance the controllab.lity robustness of networks.

关键词： Analytical models Circuits and systems Complex networks controllab.lity Robustness Indexes Protection

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Autonomous Search of Real-Life Environments Combining Dynamical System-Based Path Planning and Unsupervised Learning

SSRN

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SSRN 2024年

作者： Amadasun, Uyiosa Philip Nili Ahmadabadi, Zahra McNamee, Patrick Naseradinmousavi, Peiman Dynamic Systems and Intelligent Machines Lab Dynamic Systems and Control Lab San Diego State University Mechanical Engineering 5500 Campanile Drive San DiegoCA92182 United States

In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as there has been little experimental work done. The existing experimental works have not developed robust methods to satisfactorily address the immediate set of problems a chaotic coverage path planner needs to overcome in order to scan realistic environments within reasonable coverage times. These immediate problems are as follows: (1) an obstacle avoidance technique which generally maintains the kinematic efficiency of the robot's motion, (2) a means to spread chaotic trajectories across the environment (especially crucial for large and/or complex-shaped environments) that need to be covered, and (3) a real-time coverage calculation technique that is accurate and independent of cell size. This paper aims to progress the field by proposing algorithms that address all of these problems by providing techniques for obstacle avoidance, chaotic trajectory dispersal, and accurate coverage calculation. The algorithms produce generally smooth chaotic trajectories and provide high scanning coverage of environments. These algorithms were created within the ROS framework and make up a newly developed chaotic path planning application. The performance of this application was comparable to that of a conventional optimal pathplanner. The performance tests were carried out in environments of various sizes, shapes, and obstacle densities, both in real-life and Gazebo simulations. © 2024, The Authors. All rights reserved.

关键词： Trajectories

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Multi-Objective Particle Swarm Optimisation for Pareto Optimal Tuning of Super-Twisting controller in Quadcopter 4

Multi-Objective Particle Swarm Optimisation for Pareto Optim...

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4th International Conference on Innovative Research in Applied Science, engineering and Technology, IRASET 2024

作者： Vera, Octavio Gomez, Victor Rodas, Jorge Kali, Yassine Saad, Maarouf Comparatore, Leonardo Universidad Nacional De Asunción Lab. Of Power And Control Systems Facultad De Ingeniería Luque Paraguay School Of Engineering Université Du Québec En Abitibi-Témiscamingue Rouyn-Noranda Canada Grepci Laboratory École De Technologie Supérieure Department Of Electrical Engineering Montreal Canada

ISBN: (纸本)9798350309508

This work introduces the Multi-Objective Particle Swarm Optimisation (MOPSO) algorithm to optimise and speed up adjusting gains of a modified super-twisting second-order sliding-mode (MSTSOSM) attitude controller designed for a quadcopter. The tuning process is executed in MATlab.Simulink, utilising a non-linear model that incorporates the physical characteristics of the quadcopter. The optimised parameters correspond to the MSTSOSM gains associated with each attitude state. The MSTSOSM constructs vectors using the gains of each Euler angle, employing particle coordinates computed by the MOPSO algorithm. These coordinates dynamically evolve during the algorithm's execution, exploring the parameter space for optimal positions. Consequently, the Pareto front emerges, showcasing Pareto's optimal solutions. The optimisation methodology is grounded in Pareto dominance theory, evaluating performance indicators such as rise time, root-mean-square error, and overshoot across all attitude axes in step responses. This systematic approach transcends traditional trial-and-error methods, comprehensively exploring the parameter space. Simulation and experimental results affirm the efficacy of this tuning process, demonstrating its capacity to enhance quadcopter control with precision and efficiency. © 2024 IEEE.

关键词： Sliding mode control

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An Improved Data-Driven Adaptive Dynamic Programming Approach for Cooperative Games 42

An Improved Data-Driven Adaptive Dynamic Programming Approac...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Yi-Min Sun, Tao Ma, Song He, Lei-Ming Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Tsinghua University Department of Automation Beijing100084 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China Chinese Aeronautical Establishment Beijing100029 China

ISBN: (纸本)9789887581543

In this paper, we consider a continuous system cooperative dynamic game problem with two players. Through the introduction of dynamic programming concept, a Hamilton-jacobi-Belman equation for two players is designed. By introducing detection noises and using the basis function approximation method, a data-driven adaptive dynamic programming method is proposed and an iterative equation is obtained. Then, by introducing two detection noises and using the basis function approximation method, an iterative equation is obtained. It is note-worthy that we can obtain the Nash equilibrium solution of the cooperative game. Finally, a numerical simulation example is given to demonstrate the effectiveness of the proposed adaptive dynamic programming approach. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Dynamic programming

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