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Active Collision Avoidance Maneuver Design Under Constant Thrust ⋆

IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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Collision Avoidance Maneuver Design Based on Equidistance Interpolation

Collision Avoidance Maneuver Design Based on Equidistance In...

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IEEE Conference on Decision and control

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.

关键词： Constant thrust Vision measurement Switch control law The specified trajectory Equidistance interpolation

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Gaussian mixture PHD filter for multiple maneuvering extended targets tracking

Gaussian mixture PHD filter for multiple maneuvering extende...

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IEEE Conference on Decision and control

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and the target dynamics is described by a jump Markov linear system which combines the shape parameters into the kinematic state vector. As each extended target gives rise to unlabeled multiple measurements per time step, all the received measurements are partitioned into a number of subsets so that the measurements in each subset are expected to stem from the same source. In addition, the best-fitting Gaussian approximation approach is employed to circumvent the difficulty of multiple model mixing in the Gaussian mixture probability hypothesis density (GM-PHD) filter. A numerical example is provided to compare the performance of the proposed filter with that of the GM-PHD filter without measurement partition.

关键词： Maneuvering Filters shape parameter extended target Gauss Subset numerical example

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Hybrid genetic-ant colony algorithm based job scheduling method research of arc welding robot

Hybrid genetic-ant colony algorithm based job scheduling met...

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2010 IEEE International Conference on Information and automation, ICIA 2010

作者： Meng, Zhengda Chen, Qinqi Key Lab. of Measurement and Control of Complex System of Engineering School of Automation Southeast University Nanjing China

ISBN: (纸本)9781424457021

Research of job scheduling methods of arc welding robot is focused in this paper. The job scheduling of arc welding robot is considered as a Traveling-salesman-Problem. Welding job scheduling is modeled and relevant job scheduling optimization methods are designed. Genetic algorithm and ant colony algorithm are applied to robot welding job scheduling first. Then, based on the characteristics of both algorithms, hybrid genetic ant colony algorithm is designed to improve optimization performance. With simulated weldment as the subject, genetic algorithm, ant colony algorithm and hybrid genetic ant colony algorithm are analyzed and compared by simulation. Validity of above methods is verified. ©2010 IEEE.

关键词： Genetic algorithms

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带马尔科夫跳的模态相关时变时滞随机系统的状态反馈控制器设计(英文)

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自动化学报 2010年第11期36卷 1601-1610页

作者：马莉达飞鹏吴凌尧 Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of EducationResearch Institute of AutomationSoutheast University College of Electronic and Information Engineering Jiangsu University

In this paper,an improved mean-square exponential stability condition and delayed-state-feedback controller for stochastic Markovian jump systems with mode-dependent time-varying state delays are obtained. First,by constructing a modified Lyapunov-Krasovskii functional,a mean-square exponential stability condition for the above systems is presented in terms of linear matrix inequalities (LMIs). Here,the decay rate can be a finite positive constant in a range and the derivative of time-varying delays is only required to have an upper bound which is not required to be less than 1. Then,based on the proposed stability condition,a delayed-state-feedback controller is designed. Finally,numerical examples are presented to illustrate the effectiveness of the theoretical results.

关键词：马尔科夫跳模态相关时变时滞随机系统状态反馈控制器

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Supervisory and energy management system of large public buildings

Supervisory and energy management system of large public bui...

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International Conference on Mechatronics and automation

作者： Ma, Xudong Cui, Ran Sun, Yu Peng, Changhai Wu, Zhishen Key Lab. of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing 210096 China International Institute for Urban Systems Engineering Southeast University Nanjing 210096 China

ISBN: (纸本)9781424451418

Buildings are important contributors to energy consumption accounting for around one-third of energy consumed in cities, where large public buildings are the dominant energy consumers and energy consumption might be significantly decreased through Building Energy Management systems (BEMS). A supervisory and management system for energy conservation in large public buildings is presented in this paper, with a PC or a embedded computer system running a BEMS software designed to connected to distributed energy metering system, wireless sensor networks, even conventional building automation (BA) systems. The supervisory and management software consists of information inquiry, energy consumption metering, energy efficiency analysis and decision support subsystems. The system framework is introduced with development and application of the software described in detail. © 2010 IEEE.

关键词： Energy utilization

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Regularizing the Gauss-Newton iterative procedure for the inverse boundary problem of ERT 6

Regularizing the Gauss-Newton iterative procedure for the in...

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6th World Congress in Industrial Process Tomography

作者： Xu, Yaoyuan Dong, Feng Tan, Chao Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin300072 China

ISBN: (纸本)9780853163220

In this work, a Newton iterative algorithm is adopted to approximate the boundary of inclusions based on quadratic boundary element method. Two regularization methods are adopted, the first one is widely used Tikhonov regularization and the second one is based on Fourier decomposition in the polar coordinate. Although there are many criterions to determine the regularization parameter for the former, such as L-curve criterion, generalized cross validation (GCV) and so on, they are yet not always effective for regularizing this iterative procedure. A parameter selection is presented, which ensures the stability and also convergence performance. A skill for the selection of decomposition order for the latter method is *** resistance tomography (ERT) is a novel non-intrusive technique to image the electrical conductivity distribution. ERT image reconstruction is characterized as a severely nonlinear and ill-posed inverse problem with many unknowns. In recent years, there are a growing number of papers published which aim to determine the locations and shapes of inclusions by assuming their conductivities are piece-wise constant and isotropic. © International Society for Industrial Process Tomography, 2010. All rights reserved.

关键词： Image reconstruction

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Gas volume fraction measurement and re-tomography of gas-liquid annular flow with ERT based data fusion 6

Gas volume fraction measurement and re-tomography of gas-liq...

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6th World Congress in Industrial Process Tomography

作者： Zhang, Fusheng Dong, Feng Tan, Chao Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin300072 China

ISBN: (纸本)9780853163220

Gas-liquid annular flow widely exists in many industrial processes. Accurate process parameter measurement and online monitoring are urgent issues to the researchers worldwide. Data fusion with some particular merits has been paid more and more attention in multi-phase flow researching field recently. In this work, gas volume fraction of gas-liquid annular flow in a horizontal pipeline is measured by a 16-eclectrode electrical resistance tomography (ERT) system with data fusion method. The reconstructed images of annular flow are reprocessed with the gas volume fraction result to make the images more approaching to the real flow state, called re-tomography in this work. A function fusion architecture including Dempster-Shafer (D-S) evidence theory in the decision fusion level is put forward. Flow regime recognition is carried out to improve the parameter measuring accuracy and gas volume fraction is calculated right after the correct recognition. Electrode voltage data is independent and paralleled measured by the system, so every electrode can be considered as a homogenous sensor in the fusion system. Excitation voltage and non-excitation voltage are separately treated, the former part goes to the flow regime recognition and the latter part goes to the gas volume fraction calculation after data sequence arrangement. The experiment results show that this fusion method could efficiently recognize the flow regimes with proper accuracy and the relative error of gas volume fraction measurement is within ±10%. The re-tomography method is feasible and meaningful to the flow state monitoring of annular flow. © 2010, International Society for Industrial Process Tomography. All rights reserved.

关键词： Tomography

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Improvement in the accuracy of estimating the time-of-flight in an ultrasonic ranging system using multiple square-root unscented Kalman filters

Improvement in the accuracy of estimating the time-of-flight...

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作者： Yao, Zhen-Jing Meng, Qing-Hao Zeng, Ming Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

The square-root unscented Kalman filter (SRUKF) is applied to identify the shape parameters of an ultrasonic echo envelope. The SRUKF has better stability than the normal unscented Kalman filter (UKF) because the square-root of the error covariance matrix used in the SRUKF guarantees positive semidefiniteness. Considering the effect of the initial state on the convergence speed of filters, the multi-SRUKF is used to estimate the time-of-flight (TOF). Each SRUKF has a different initial state. The result estimated in a limited time with minimum mean square error is finally adopted. Simulation experiments for various couples of shape parameters and signal-to-noise ratios validate the improvement in the TOF accuracy. Real experiments using the echo signals of a SensComp 600 ultrasonic transducer show that the relative means and standard deviations of the TOF error obtained using the multi-SRUKF method are less than 0.2% and 0.15%, respectively. © 2010 American Institute of Physics.

关键词： Mean square error

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Adaptive integral dynamic surface control based on fully tuned radial basis function neural network

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Journal of systems engineering and Electronics 2010年第6期21卷 1072-1078页

作者： Li Zhou Shumin Fei Changsheng Jiang Key Laboratory of Measurement and Control of CES of Ministry of Education Southeast University Nanjing 210096 R R. China School of Automation Southeast University Nanjing 210096 R R. China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 R R. China

An adaptive integral dynamic surface control approach based on fully tuned radial basis function neural network （FTRBFNN） is presented for a general class of strict-feedback nonlinear systems,which may possess a wide class of uncertainties that are not linearly parameterized and do not have any prior knowledge of the bounding *** is employed to approximate the uncertainty online,and a systematic framework for adaptive controller design is given by dynamic surface control. The control algorithm has two outstanding features,namely,the neural network regulates the weights,width and center of Gaussian function simultaneously,which ensures the control system has perfect ability of restraining different unknown uncertainties and the integral term of tracking error introduced in the control law can eliminate the static error of the closed loop system effectively. As a result,high control precision can be *** signals in the closed loop system can be guaranteed bounded by Lyapunov ***,simulation results demonstrate the validity of the control approach.

关键词： adaptive control integral dynamic surface control fully tuned radial basis function neural network.

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