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Receding horizon control for multi-UAVs close formation control based on differential evolution

science China(Information sciences) 2010年第2期53卷 223-235页

作者： ZHANG XiangYin, DUAN HaiBin & YU YaXiang National Key Laboratory of science and Technology on Holistic control, school of automation science and Electrical engineering, Beihang University, Beijing 100191, China National Key Laboratory of Science and Technology on Holistic Control School of Automation Science and Electrical Engineering Beihang University Beijing China

Close formation flight is one of the most complicated problems on multi-uninhabited aerial vehicles (UAVs) coordinated control. Based on the nonlinear model of multi-UAVs close formation, a novel type of control strategy of using hybrid receding horizon control (RHC) and differential evolution algorithm is proposed. The issue of multi-UAVs close formation is transformed into several on-line optimization problems at a series of receding horizons, while the differential evolution algorithm is adopted to optimize control sequences at each receding horizon. Then, based on the Markov chain model, the convergence of differential evolution is proved. The working process of RHC controller is presented in detail, and the stability of close formation controller is also analyzed. Finally, three simulation experiments are performed, and the simulation results show the feasibility and validity of our proposed control algorithm.

关键词： uninhabited aerial vehicle (UAV) close formation receding horizon control (RHC) differential evolution (DE) Markov chain

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Performance Monitoring of MPC Based on Dynamic Principal Component Analysis

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IFAC Proceedings Volumes 2011年第1期44卷 13139-13144页

作者： Xue Min Tian Gong Quan Chen Yu Ping Cao Sheng Chen College of Information and Control Engineering China University of Petroleum Dongying 257061 China Automation Technique Center of China MCC20 Group Co. Ltd. Shanghai 201900 China School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

Abstract A unified framework based on the dynamic principal component analysis (PCA) is proposed for performance monitoring of constrained multi-variable model predictive control (MPC) systems. In the proposed performance monitoring framework, the dynamic PCA based performance benchmark is adopted for performance assessment, while performance diagnosis is carried out using a unified weighted dynamic PCA similarity measure. Simulation results obtained from the case study of the Shell process demonstrate that the use of the dynamic PCA performance benchmark can detect the performance deterioration more quickly compared with the traditional PCA method, and the proposed unified weighted dynamic PCA similarity measure can correctly locate the root cause for poor performance of MPC controller.

关键词： Model predictive control performance monitoring performance assessment performance diagnosis dynamic principal component analysis

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Unmanned air/ground vehicles heterogeneous cooperative techniques:Current status and prospects

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science China(Technological sciences) 2010年第5期53卷 1349-1355页

作者： DUAN HaiBin & LIU SenQi National Key Laboratory of science and Technology on Holistic Flight control,school of automation science and Electrical engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China National Key Laboratory of Science and Technology on Holistic Flight Control School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging *** cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the effectiveness of implementing detection,search and rescue *** paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation,including heterogeneous flocking,formation control,formation stability,network control,and actual *** main problems and future directions in this field were also analyzed in *** innovative technologies can significantly enhance the effectiveness of implementing complicated tasks,which definitely provide a series of novel breakthroughs for the intelligence,integration and advancement of future robot systems.

关键词： unmanned air vehicle(UAV) unmanned ground vehicle(UGV) heterogeneous cooperation

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Least trace extended set-membership filter

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science China(Information sciences) 2010年第2期53卷 258-270页

作者： HUANG Yi , CHEN ZongJi & WEI Chen National Key Laboratory of science and Technology on Integrated control Technology, school of automation science and Electric engineering, Beihang University, Beijing 100083, China National Key Laboratory of Science and Technology on Integrated Control Technology School of Automation Science and Electric Engineering Beihang University Beijing China

To improve the consistency of estimation result, a least-trace extended set-membership filter (LTESMF) is presented for a class of nonlinear stochastic systems, which has linear output and unknown- but-bounded noise. Feedback technique is used instead of the intersection of ellipsoid-sets in the measurement update. The feedback parameter is optimized in order to minimize the trace of error bounded ellipsoid’s envelop matrix. A new stability analysis method was developed to prove the stochastic system’s stability by using the convergence of some measurement of the error bounded ellipsoid. Analysis result shows that the estimation error of LTESMF will converge to a bounded area. A simulation of SINS/GPS integrated alignment with large misalignment angles is conducted. The results demonstrate that the convergence speed and the consistency of LTESMF are much better than those of extended Kalman filter (EKF), in addition the steady estimation precision and computational complexity are close to that of EKF.

关键词： set-membership estimation nonlinear system convergence upper bound least trace stability analysis

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Two alternative approaches to stochastic discrete-time iterative learning control systems

Two alternative approaches to stochastic discrete-time itera...

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IEEE Conference on Decision and control

作者： Deyuan Meng 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 aims to address the robust convergence problem that arises from discrete-time iterative learning control (ILC) systems subject to random disturbances. Two alternative approaches are considered in order to achieve the perfect output tracking of the stochastic discrete-time ILC systems in the sense of both expectation and variance, which use the tracking error and the input error for analysis, respectively. It is shown that the convergence results of two approaches to ILC can be established by developing some statistical expressions in super-vector forms. Moreover, it is demonstrated that the convergence results of two approaches to ILC are not always equal, and they can keep the same only in the case where the controlled plants are square.

关键词： Iterative learning control discrete-time systems random disturbances

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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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Robust L_(2) - L_(infinity) Consensus control of the Second-order Multi-agent Systems with Time-delay

Robust L_(2) - L_(infinity) Consensus Control of the Second-...

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IEEE Conference on Decision and control

作者： Yan Cui Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University 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

Robust L_(2) - L_(infinity) consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus problem of the systems is transformed into a normal L_(2) - L_(infinity) control problem, and distributed state feedback protocols with time-delay are proposed. Sufficient conditions are established for the convergence to consensus of the network under fixed or switching topology. Numerical simulations are provided to demonstrate the effectiveness of our theoretical results.

关键词： Topology Europe

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Column Formation control of Multi-robot Systems with Input Constraints

Column Formation Control of Multi-robot Systems with Input C...

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IEEE Conference on Decision and control

作者： Xiaohan Chen 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 is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.

关键词： Column formation control multi-robot systems leader-follower input constraints elliptic approximation

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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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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on control, automation and Systems ( ICCAS)

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and Department of Systems and Control Beihang University BUAA Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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