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Method of improving pedestrian navigation performance based on chest card

Journal of Systems engineering and Electronics 2024年第4期35卷 987-998页

作者： CHENG Hao GAO Shuang CAI Xiaowen WANG Yuxuan WANG Jie School of Instrumentation and Optoelectronic Engineering Beihang UniversityBeijing 100191China School of Automation and Electronic Information Xiangtan UniversityXiangtan 411105China Navigation Guidance and Control Graduate School of the Second Institute of China Aerospace Science and Industry CorporationBeijing 100854China

With the development of positioning technology,loca-tion services are constantly in demand by *** a primary location service pedestrian navigation has two main approaches based on radio and inertial *** pedestrian naviga-tion based on radio is subject to environmental occlusion lead-ing to the degradation of positioning *** pedestrian navigation based on micro-electro-mechanical system inertial measurement unit(MIMU)is less susceptible to environmental interference,but its errors dissipate over *** this paper,a chest card pedestrian navigation improvement method based on complementary correction is proposed in order to suppress the error divergence of inertial navigation *** suppress atti-tude errors,optimal feedback coefficients are established by pedestrian motion *** extend navigation time and improve positioning accuracy,the step length in subsequent movements is compensated by the first step *** experi-mental results show that the positioning accuracy of the pro-posed method is improved by more than 47%and 44%com-pared with the pure inertia-based method combined with step compensation and the traditional complementary filtering com-bined method with step *** proposed method can effectively suppress the error dispersion and improve the positioning accuracy.

关键词： pedestrian navigation micro-electro-mechanical sy-stem(MEMS) inertial navigation complementary filtering

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Reachable set estimation for spacecraft relative motion based on bang-bang principle

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Chinese Journal of Aeronautics 2023年第2期36卷 229-240页

作者： Lizhen SHAO Haibin MIAO Renhong HU Hongjin LIU Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China Shunde Graduate School of University of Science and Technology Beijing 100083China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 528399China Beijing Institute of Control Engineering Beijing 100190China Beijing Sunwise Space Technology Ltd. Beijing 100190China

For spacecraft formation flight,the information of relative motion reachable set is very important,which can be used to predict the operating boundary of adjacent spacecraft and thus to ensure the safety of spacecraft *** this paper,we aim at developing a numerical method to approximate the reachable set for spacecraft relative *** particular,we focus on the quality of the approximation and the computational *** on the bang-bang control principle,a polyhedral approximation algorithm is proposed to compute the reachable set of a relative motion spacecraft *** inner approximation and an outer approximation of the reachable set for the system can be *** prove that the approximation quality measured in Hausdorff distance can be *** method is easy to implement and has low computational ***,the effectiveness of the algorithm is demonstrated by experimental simulation.

关键词： Polyhedral approximation Reachable set Spacecraft control Spacecraft relative motion The bang-bang control principle

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A Fractional Order Fast Repetitive control Paradigm of Vienna Rectifier for Power Quality Improvement

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Computer Modeling in engineering & sciences 2023年第2期134卷 1159-1176页

作者： Sue Wang Xintao Luo Saleem Riaz Haider Zaman Chaohong Zhou Pengfei Hao School of Electrical and Control Engineering Shaanxi University of Science and TechnologyXi’anChina School of Automation Northwestern Polytechnical UniversityXi’anChina Electronics Engineering Department University of Engineering and Technology PeshawarKhyberPakhtunKhwaPakistan

Due to attractive features,including high efficiency,low device stress,and ability to boost voltage,a Vienna rectifier is commonly employed as a battery charger in an electric vehicle(EV).However,the 6k±1 harmonics in the acside current of the Vienna rectifier deteriorate theTHDof the ac current,thus lowering the power ***,the current closed-loop for suppressing 6k±1 harmonics is essential tomeet the desired total harmonic distortion(THD).Fast repetitive control(FRC)is generally adopted;however,the deviation of power grid frequency causes delay link in the six frequency fast repetitive control to become non-integer and the tracking performance to *** paper presents the detailed parameter design and calculation of fractional order fast repetitive controller(FOFRC)for the non-integer delay *** finite polynomial approximates the non-integer delay link through the Lagrange interpolation *** comparing the frequency characteristics of traditional repetitive control,the effectiveness of the FOFRC strategy is ***,simulation and experiment validate the steadystate performance and harmonics suppression ability of FOFRC.

关键词： Vienna rectifier fast repetitive control fractional order performance analysis

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HiTL-based adaptive fuzzy tracking control of MASs:A distributed fixed-time strategy

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science China(Technological sciences) 2023年第10期66卷 2907-2916页

作者： LIU Yang CHI RongHu LI HongYi WANG LiJie LIN Na College of Automation and Electronic Engineering Qingdao University of Science and TechnologyQingdao 266061China School of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China Institute of Complexity Science and the School of Automation Qingdao UniversityQingdao 266071China

Human-in-the-loop(HiTL)control is promising for the cooperative control problem of multi-agent systems(MASs)under the complicated *** considering the effect of human intelligence and decision making,the system robustness and security are notably ***,a distributed fixed-time tracking control problem is investigated in this paper for heterogeneous MASs based on the HiTL ***,a lemma of practically fixed-time stable is given where an explicit relationship of settling time and convergence domain is clearly ***,under the framework of the adaptive backstepping approach,a series of modified intermediate control signals is designed to avoid the singularity problem by taking advantage of power transformation,fuzzy logic systems,and inequality ***,the numerical example and comparison results are utilized to testify the effectiveness of the proposed method.

关键词： human-in-the-Loop heterogeneous MASs fixed-time stable adaptive tracking control fuzzy logic systems

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An Interval Multi-Objective Evolutionary Generation Algorithm for Product Design Change Plans in Uncertain Environments

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IEEE Transactions on Evolutionary Computation 2024年第3期29卷 1-1页

作者： Zheng, Rui-zhao Zhang, Yong Sun, Xiao-yan Gong, Dun-wei Gao, Xiao-zhi School of Information and Control Engineering China University of Mining and Technology Xuzhou China College of Automation and Electronic Engineering Qingdao University of Science and Technology Qingdao China School of Computing University of Eastern Finland Kuopio Finland

Design change is an important issue in complex product development projects. In a complex product with numerous parts (also known as components), the change of one key part may spread to other parts associated with it, generating a chain reaction throughout the entire project. Therefore, it is necessary to select a suitable change plan involving only fewer crucial parts in order to enhance the product’s performance, minimize change cost, and reduce change duration/time. Focusing on the case where the correlation strength between parts cannot be accurately obtained, in this paper we study an interval multi-objective evolutionary algorithm for finding excellent design change plans. Firstly, on the basis of the established multi-layer product network with interval correlation weights, an interval multi-objective optimization model of the product design change planning problem is established, where three new objective functions regarding product performance, carbon trading cost and supply risk are defined. Then, a constraint multi-objective evolutionary algorithm based on interval Pareto dominance is proposed to search for optimal change plans. Several novel operators, including the problem characteristic-guided population update strategy, the probability-based interval Pareto dominance, and the interval constraint handling strategy, are developed to enhance the algorithm’s performance. Finally, the proposed algorithm is compared with eight existing algorithms on the two design change cases, experimental results revealed its effectiveness. IEEE

关键词： Evolutionary algorithms

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Distributed formation control of multiple aerial vehicles based on guidance route

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Chinese Journal of Aeronautics 2023年第3期36卷 368-381页

作者： Jinyong CHEN Rui ZHOU Guibin SUN Qingwei LI Ning ZHANG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Information Systems Engineering Laboratory Nanjing 210007China AVIC Xi’an Flight Automatic Control Research Institute Xi’an 710076China

Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based strategy has been demonstrated to be applicable to fixed-wing ***,it requires a global coordinator and there exists control lag,due to its own *** this reason,this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned ***,a hop-count scheme is introduced to achieve distributed implementation,in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local ***,the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape *** addition,the stall protection and collision avoidance are also ***,three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.

关键词： Formation shape control Fixed-wing aircraft Guidance route Hop-count estimation Model predictive control

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Barrier Lyapunov Function-Based Finite-Time Dynamic Surface control for Output-Constrained Nonstrict-Feedback Systems

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Journal of Systems science & Complexity 2023年第2期36卷 524-539页

作者： YU Jinpeng FU Cheng LIU Jiapeng MA Yumei The College of Automation Qingdao UniversityQingdao 266003China Shandong Key Laboratory of Industrial Control Technology Qingdao UniversityQingdao 266003China The School of Control Science and Engineering Shandong UniversityJinan 250100China

This paper investigates a finite-time tracking problem for the uncertainty nonlinear systems in nonstrict-feedback form,in which the output signal is restricted in a *** on the barrier Lyapunov function and dynamic surface control scheme,a novel adaptive neural controller is proposed by using the finite-time Lyapunov *** the aforementioned literature on finite time tracking control,the violation of system output constraint is avoided by combining the barrier Lyapunov function method with finite-time *** structural characteristics of neural network is introduced to expand the adaptive neural finite-time backstepping method to the uncertainty nonlinear systems in the non-strict ***,the dynamic surface control is introduced to cope with the problem of“explosion of complexity”inherent in conventional backstepping *** is shown that the designed controller can achieve finite-time tracking control and all the variables in the closed-loop system are bounded with output constraint guaranteed form stability analysis and simulation results.

关键词： Adaptive neural network control explosion of complexity finite-time tracking nonstrictfeedback form

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Fixed-time-synchronized control: a system-dimension-categorized approach

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science China(Information sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

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Robust Stability and Stabilizability Conditions for Time-Delay Systems Under Stochastic Uncertainties

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IEEE Transactions on Automatic control 2024年第6期70卷 4037-4044页

作者： Chen, Jianqi Mao, Qi Zhao, Di Chen, Chao Nanjing University Center for Advanced Control and Smart Operations Suzhou China Nanjing Normal University School of Electrical and Automation Engineering Nanjing China Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology Shanghai China Leuven3001 Belgium

This study first explores the mean-square robust stability problem of stable continuous-time linear time-invariant systems subject to stochastic multiplicative uncertainties with prescribed variance bounds. The internal structures of uncertainties, however, are not presumed to cope with diverse random noises and errors arising from networked channels. A necessary and sufficient mean-square stability condition is obtained involving a novel small-gain type characterization. Next, we consider the output feedback controller synthesis problem of networked control systems facing stochastic multiplicative uncertainties and intrinsic channel-wise time delays simultaneously. Based on the obtained mean-square stability condition, further, we develop a fundamental necessary and sufficient condition of mean-square stabilizability explicitly. Such a condition equivalently determines that an open-loop unstable system can be stabilized by output feedback in the mean-square sense. Finally, an analysis of delay robustness is elaborated, in which the mean-square stabilizability condition is extended to the case tolerating uncertain but upper-bounded time delays. Overall, this study provides a comprehensive analysis of the robust mean-square stability and mean-square stabilizability of time-delay systems under stochastic uncertainties, which can have practical implications for networked control systems. © 1963-2012 IEEE.

关键词： Continuous time systems

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Fault Diagnosis for Railway Point Machines Using VMD Multi-Scale Permutation Entropy and ReliefF Based on Vibration Signals

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Chinese Journal of Electronics 2025年第1期34卷 204-211页

作者： Yongkui Sun Yuan Cao Peng Li Shuai Su National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University School of Automation and Intelligence Beijing Jiaotong University Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University

The railway point machine plays an important part in railway systems. It is closely related to the safe operation of trains. Considering the advantages of vibration signals on anti-interference, this paper develops a novel vibration signal-based diagnosis approach for railway point machines. First, variational mode decomposition(VMD)is adopted for data preprocessing, which is verified more effective than empirical mode decomposition. Next, multiscale permutation entropy is extracted to characterize the fault features from multiple scales. Then ReliefF is utilized for feature selection, which can greatly decrease the feature dimension and improve the diagnosis accuracy. By experiment comparisons, the proposed approach performs best on diagnosis for railway point machines. The diagnosis accuracies on reverse-normal and normal-reverse processes are respectively 100% and 98.29%.

关键词： Vibrations Fault diagnosis Accuracy Data preprocessing Switches Feature extraction Rail transportation Entropy Maintenance Monitoring

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