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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement

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Defence Technology（防务技术） 2024年第12期42卷 136-155页

作者： Xintao Wang Ming Yang Songyan Wang Mingzhe Hou Tao Chao Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an *** confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 ***,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the ***,the nonlinear numerical simulations verify the performance of the game guidance strategy.

关键词： Active defense aircraft Differential game theory Three-player confrontation Energy optimization Acceleration constraint Obstacle avoidance

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Speed sensorless control with neuron MRAS estimator of an induction machine

Speed sensorless control with neuron MRAS estimator of an in...

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7th International Conference on Power Electronics and Drive systems, PEDS 2007

作者： Lei, Dong Dong, Yang Xiaozhong, Liao Department of Automatic Control Engineering Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)1424406455

In the high speed range, vector control of rotor flux orientation of an induction machine implements good performance. However, the performance in low speed rang deteriorates because of the inaccurate estimation of rotor flux and speed. In this paper, modified voltage model for rotor flux estimation and neuron model-reference adaptive system (MRAS) for speed estimation are used to improve the performance of speed sensorless vector control. To improve the accuracy of rotor flux estimation, the stator resistance is identified on-line. The experimental results show that the proposed scheme yields improved performance in low speed range. © 2007 IEEE.

关键词： Induction machine

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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2017 American control Conference, ACC 2017

作者： Yang, Yi Hao, Li Zhu, Hao Ningyi, Lyu Wenjie, Song School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509059928

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach. © 2017 American Automatic control Council (AACC).

关键词： Hidden Markov models

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Differential Evolution Based Receding Horizon control for UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期35卷 107-114页

作者： ZHANG Xing School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Decision and Cognitive Sciences Research Centre Manchester Business School University of Manchester Manchester M15 6PB UK

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词：无人机在线运动规划动态约束目标函数

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Target tracking trajectory generation for quadrotors in static complex environments 4

Target tracking trajectory generation for quadrotors in stat...

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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Ji, Yang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

This paper mainly focuses on the problem of target tracking trajectory generation for quadrotors in static complex environments. In this paper, a trajectory planning framework is proposed that can be used to address the occlusion problem caused by obstacles in target tracking situations. The main innovations are: First, a visibility function is introduced that is constructed based on a signed Euclidean distance field (ESDF) map. Based on this function, the favorable view direction is derived to track the target distinctly. Second, the distance between the target and chaser is optimized as one of the cost functions, resulting in a smooth and comfortable distance between them. Finally, the effectiveness of the algorithm is verified on the Rviz platform. © 2022 IEEE.

关键词： Target tracking

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UAV-aided Large-scale Map Building and Road Extraction for UGV 7

UAV-aided Large-scale Map Building and Road Extraction for U...

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7th IEEE Annual International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2017

作者： Meiling, Wang Huachao, Yu Guoqiang, Feng Yi, Yang Yafeng, Li Tong, Liu School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing100081 China

ISBN: (纸本)9781538604892

Due to the limited visual field of UGV, it is difficult to detect the accessible zone in a wide range of area in real time. This paper proposes a UAV-aided autonomous road network construction method where roads are previously unknown for UGV navigation. First, SIFT and RANSAC algorithms are applied to obtain the homography of UAV sequential images, through which these images are stitched to a large-scale map. Next, least square fitting algorithm and RDP algorithm are applied to extract initial road area and then obtain road network suitable for UGV navigation by topological processing and skeleton extraction. The experiments show that this UAV-aided method is effective in generating a large-scale road network map for UGV driving through unknown environment without human intervention. © 2017 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Tracking and Mapping Strategy for Indoor UAV Based on Entropy Theory:An ORB-SLAM3 Extension 41

Tracking and Mapping Strategy for Indoor UAV Based on Entrop...

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第41届中国控制会议

作者： Jian Xu Haoyu Qi Min Xu Yunge Zang Zhen Li Xi Zhang Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

For indoor application,which is an entirely GPS-denied environment,visual simultaneous localization and mapping(SLAM) facilitates the real autonomy of unmanned aerial vehicle(UAV) but raises the challenging requirement on accurate localization with low computational *** address this difficulty,a stereo-camera based SLAM system is proposed by applying Entropy theory to *** an extension to ORB-SLAM3,the additional entropy decision module and map processor are specifically *** decision module can improve computing efficiency by deciding whether keyframes or extra optimization should be ***,the map processor is targeted at loading and maintaining the prior map whenever *** results in indoor laboratory environment show that the developed system can achieve the superior localization accuracy in more efficient computation manner with smaller size of mapping compared with ***,the map can be effectively expanded and corrected even when prior information is invalid,greatly increasing the robustness of SLAM system.

关键词： UAV stereo-camera ORB-SLAM3 entropy theory prior map

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Design of Modular Humanoid Rehabilitation Robot for Apoplectic Hemiplegia 29

Design of Modular Humanoid Rehabilitation Robot for Apoplect...

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第29届中国控制与决策会议

作者： Shuai Li Jian Li Siqi Li Guodong Li Yu Mu The Bionic Robot and System Key Laboratory School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most effective way to regain the Activities of Daily Living(ADL).Based on the concept of humanoid and modular design,this paper outlines the design process of humanoid ***,kinematics and dynamics are calculated in different coordinate frames,which makes simulation and control algorithms are more complex and not intuitive,for the forked-tree structure rehabilitation robot,a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames,the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics,and the singular configurations of redundant manipulator are *** important design criteria of humanoid robot is discussed,and the realization of the mechanical design is ***,the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.

关键词： Rehabilitation Robot Humanoid robot Modularity Singularity Geometric Representation

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Autonomous Tracking control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit

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Journal of Beijing Institute of Technology 2020年第4期29卷 466-473页

作者： Jing Li Qingbin Wu Junzheng Wang Hui Qin Jiehao Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of TechnologyBeijing 100081China

Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent *** this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering *** on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are *** the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference *** experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.

关键词： autonomous tracking control four-wheel independent steering robot pure pursuit lateral error

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Dynamic State Estimation for Power system with Communication Constraint Using Event-Triggered Cubature Kalman Filter

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Journal of Beijing Institute of Technology (English Edition) 2021年第ZK期30卷 129-140页

作者： Wei, Minfeng Xu, Min Zhang, Fengdi School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

Accurate dynamic state estimation plays an important role in power systems. Although various filtering algorithms, such as unscented Kalman filter (UKF) and particle filter (PF), have been proposed based on phasor measurement units (PMUs), they occupy a huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are widely applied in smart grids. In order to relieve this communication burden, the event-triggered cubature Kalman filter (ETCKF) is proposed based on the stochastic event-triggered schedule in this paper, which guarantees that only the measurements containing innovational information are transmitted and has advantages over other event-triggered schedules, such as the deterministic event-triggered schedule, since it can maintain the Gaussian property of the conditional distribution of the system state. Based on the developed nonlinear event-triggered schedule, the cubature Kalman filter (CKF), using the third-degree spherical-radial cubature rule, further provides more accurate estimation than UKF and has lower computational complexity than PF. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2020 Journal of Beijing Institute of Technology

关键词： Phasor measurement units

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