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第40届中国控制会议

作者： Zhixuan Xiao Xiaoping Fan Xiaowu Yang School of Automation Central South University School of Information Technology and Management Hunan University of Finance and Economics College of Artificial Intelligence and Electrical Engineering Guizhou Institute of Technology Special Key Laboratory of Artificial Intelligence and Intelligent Control of Guizhou Province

In this paper,bearing rigidity theory,Routh-Hurwitz stability theory and Lyapunov stability theory are used to study the bearing measurement based formation maneuver *** leaders are set up in the formation and different control laws are designed for the second leader and followers respectively,and the global formation stability is also *** the target formation,the followers are constrained by bearings,and the leaders are constrained by bearing and *** formation scaling and rotation maneuverings can be achieved by adjusting the distance constraint and bearing constraint between two leaders *** the whole formation control process,wireless communication is not *** control laws only rely on the bearings,speed measurements of agents and the distance measurement between two ***,some simulations are provided to verify our analysis.

关键词： bearing rigidity formation maneuvering multi-agent system formation control

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Cooperative interception against highly maneuvering target with acceleration constraints for multiple heterogeneous missiles

Cooperative interception against highly maneuvering target w...

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第40届中国控制会议

作者： Wenlu Bai Ziyan Chen Jianglong Yu Xiwang Dong Hong Jiang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Key Laboratory of Dependable Service Computing in Cyber Physical Society (Chongqing University) Ministry of Education of ChinaChongqing University

The cooperative interception problem of multiple heterogeneous missiles with low maneuverability against highly maneuvering target is studied in this paper. Firstly, the reachable area of the missiles and the escape area of the target are analyzed. The form of the guidance law based on the coverage-based cooperative interception strategy and the standard ballistic design method is given. Secondly, the algorithm for realizing the coverage distribution of multiple heterogeneous missiles is proposed. The parameter design of the cooperative guidance law and the conditions that the initial position of the missiles and target need to meet are derived. Thirdly, the number of heterogeneous missiles required to complete the coverage is calculated by numerical solution. The initial position and the guidance law parameters of each missile are given. Finally, it is verified by simulation examples that multiple heterogeneous missiles with low maneuverability can achieve cooperative interception against highly maneuvering target through the reasonable configuration of the initial interception position and the reasonable design of the cooperative interception guidance law.

关键词： Heterogeneous missiles cooperative interception highly maneuvering target acceleration constraints

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Cooperative guidance strategy with a leader-follower structure

Cooperative guidance strategy with a leader-follower structu...

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第40届中国控制会议

作者： Zhexin Shi Jianglong Yu Jiahong Wei Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Key Laboratory of Dependable Service Computing in Cyber Physical Society (Chongqing University) Ministry of Education of ChinaChongqing University

The cooperative guidance design and analysis issues for multiple robots system are investigated. First, a cooperative guidance structure is constructed by leader layer robots and follower layer robots. Then, for the leader robot layer, the cooperative detection guidance law is designed to achieve the coordination of the detection field of view（FOV）, while providing the reference trajectories. Third, for the follower robot layer, the time-varying line of sight（LOS） angle formation tracking guidance law is proposed based on the leader robots’ LOS angle trajectories convex combination. In addition, the design process is given ***, a cooperative guidance platform consisting of two leaders, three followers, and a target is constructed. The theoretical results are verified by numerical simulation examples, and experimental results are presented on the platform.

关键词： Paper Instruction Chinese control Conference

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Iterative learning control tracks the slowly varying reference trajectory of linear parabolic distributed parameter systems

Iterative learning control tracks the slowly varying referen...

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Chinese automation Congress (CAC)

作者： Xisheng Dai Jing Wu Fan Zhang Senping Tian School of Electrical Electronics and Computer Science Guangxi University of Science and Technology Liuzhou P. R. China School of Automation Science and Engineering South China University of Technology Guangzhou P. R. China

ISBN: (数字)9781665426473

ISBN: (纸本)9781665426480

Up to now, based upon the existing results on iterative learning control (ILC) of distributed parameter systems have not been fully utilized for the variable reference trajectory case. This paper proposes a new ILC algorithm for a parabolic distributed parameter system that assumes that the reference trajectory changes slowly with the number of iterations. The sufficient conditions are established such that the tracking error convergent to a bounded domain. And the detail theoretical analysis of the algorithm convergence is also presented clearly under some given conditions. Numerical examples verify the effectiveness of the proposed method.

关键词： Sufficient conditions automation Trajectory Distributed parameter systems Iterative learning control Convergence

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Anti-wind Trajectory control for Unmanned Aerial Vehicle with Nonlinear Dynamic Inversion Based on High Order Sliding Mode

Anti-wind Trajectory Control for Unmanned Aerial Vehicle wit...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Jiayun Wen Honglun Wang Dawei Li School of Automation Science and Electrical Engineering & Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

UAVs are easily affected by wind disturbances when performing tasks in the atmosphere. In this paper, a control scheme against wind disturbances is proposed for this condition, and the design is verified on the established UAV model that can reflect wind disturbances. The robustness of the control rate is verified by simulation, and the designed control law can enable the UAV to track the preset track stably under the action of constant wind.

关键词： Integrated circuits TV Zirconium Trajectory Radio frequency Germanium

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Finite-time adaptive cooperative guidance for multiple missiles

Finite-time adaptive cooperative guidance for multiple missi...

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第40届中国控制会议

作者： Pengfei Shi Jianglong Yu Ziyan Chen Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Key Laboratory of Dependable Service Computing in Cyber Physical Society (Chongqing University) Ministry of Education of ChinaChongqing University

This paper studies the finite-time convergent cooperative guidance problem for multiple missiles to achieve the coordination of the flight time. The control variable is relaxed equivalently and an additional term utilizing the local state information is added such that the finite-time convergence being guaranteed. Furthermore, the time-varying coupling gains are introduced in the guidance law and an algorithm to depict the design process is proposed so that the cooperative guidance law for each follower missile is fully distributed. In addition, finite-time convergence of the guidance error is proved based on Lyapunov theory. Finally, a numerical example is displayed to validate the effectiveness of the proposed theoretical results.

关键词： Cooperative guidance finite-time convergence adaptive control

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Weapon target assignment strategy for multi-missile cooperative guidance with auction algorithm

Weapon target assignment strategy for multi-missile cooperat...

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第40届中国控制会议

作者： Qingze Li Xiwang Dong Qingdong Li Jianglong Yu Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Key Laboratory of Dependable Service Computing in Cyber Physical Society (Chongqing University) Ministry of Education of ChinaChongqing University

This paper presents a weapon target assignment method to reduce maneuverability overload through redistribution for multi-missile cooperative attack. Firstly, a dynamic constrained model of multi-missile cooperative attack on multi-target is established. Secondly, in order to evaluate the missile’s cooperative attack performance better, a cooperative attack probability matrix considering the cooperative attack efficiency is constructed by taking the time-to-go and the line-of-sight rate as *** kinds of maneuvering overload results are compared to verify the effectiveness of redistribution, including unassigned process, primary target assignment and redistribution at the beginning of mid-to-terminal guidance handover. Then, an auction algorithm is used to solve the target assignment problem under multiple constraints. Finally, the simulation results show that the proposed algorithm is much less time-consuming than the existing intelligent optimization algorithms and meets the real-time requirement.

关键词： Weapon target assignment Multi-missile cooperative attack Redistribution Auction algorithm

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Deep-3D microscope: 3D volumetric microscopy of thick scattering samples using a wide-field microscope and machine learning

arXiv

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arXiv 2021年

作者： Li, Bowen Tan, Shiyu Dong, Jiuyang Lian, Xiaocong Zhang, Yongbing Ji, Xiangyang Veeraraghavan, Ashok Department of Automation Tsinghua University Beijing China Department of Electrical and Computer Engineering Rice University HoustonTX77005 United States Tsinghua Shenzhen International Graduate School Shenzhen China Shenzhen China

Confocal microscopy is the standard approach for obtaining volumetric images of a sample with high axial and lateral resolution, especially when dealing with scattering samples. Unfortunately, a confocal microscope is quite expensive compared to traditional microscopes. In addition, the point scanning in a confocal leads to slow imaging speed and photobleaching due to the high dose of laser energy. In this paper, we demonstrate how the advances in machine learning can be exploited to "teach" a traditional wide-field microscope, one that's available in every lab, into producing 3D volumetric images like a confocal. The key idea is to obtain multiple images with different focus settings using a wide-field microscope and use a 3D Generative Adversarial Network (GAN) based neural network to learn the mapping between the blurry low-contrast image stack obtained using wide-field and the sharp, high-contrast images obtained using a confocal. After training the network with widefield-confocal image pairs, the network can reliably and accurately reconstruct 3D volumetric images that rival confocal in terms of its lateral resolution, z-sectioning and image contrast. Our experimental results demonstrate generalization ability to handle unseen data, stability in the reconstruction results, high spatial resolution even when imaging thick (∼ 40 microns) highly-scattering samples. We believe that such learning-based-microscopes have the potential to bring confocal quality imaging to every lab that has a wide-field microscope. Copyright © 2021, The Authors. All rights reserved.

关键词： Microscopes

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Shortest Path Planning of UAV for Target Tracking and Obstacle Avoidance in 3D Environment

Shortest Path Planning of UAV for Target Tracking and Obstac...

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第三十九届中国控制会议

作者： Yanxiang Wang Honglun Wang Yuebin Lun School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

This paper focuses on planning the shortest path of the unmanned aerial vehicle（UAV） for tracking ground target under kinematics constraints, wind effects, and obstacle avoidance requirements in complex three-dimensional environment. First, the path planning mission is modeled in detail by formulating the UAV point-mass model, the target model, the obstacle model, etc. Then, the shortest path guidance vector field（SPGVF） is proposed to optimize UAV trajectory. According to the target motion information, the SPGVF algorithm can guide UAV to the optimal observation height in the vertical plane, as well as converge to the standoff distance along the tangent of the objective circle in the horizontal plane. Third, obstacle avoidance strategy is proposed to plan the collision-free path. By combining the SPGVF and obstacle avoidance strategy, the missions of tracking target and avoiding obstacles can be performed with the feasible shortest path simultaneously. Finally, the simulation results show that the hybrid method can generate the shortest path in various scenarios.

关键词： unmanned aerial vehicle （UAV） shortest path guidance vector field （SPGVF） obstacle avoidance complex 3D environment

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An Accelerated Iterative Learning control Approach for X-Y precision plane motion stage

An Accelerated Iterative Learning Control Approach for X-Y p...

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作者： Tao Zhang Hongyu Yan Danping Jia Hualiang Zhang Bingjie Zhao Xu Lu Yang Liu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

X-Y precision plane motion stage is widely used in precision motion control fields such as lithography machine workpiece stage,CNC machine tool,Laser measuring system,etc.,which requires high accuracy of the position *** X-Y precision plane motion stage uses two permanent magnet linear synchronous motors(PMLSM) as drivers to drive the motion table to perform XY two-degree-of-freedom *** open-closedloop PD-type iterative learning controller(ILC) approach based on accelerated convergence was proposed to improve trajectory tracking performance of *** interval was changed by real-time correction of the exponential gain matrix in the interval to accelerate the convergence *** to the λ norm,the monotone convergence of the proportion differentiation(PD) was developed for the *** controller consists of two terms:a PID controller which enhances robustness to disturbances and system parameter variability and an ILC which generally improves the performance in the repetitive tasks by using the information from previous *** experimental results show that tracking precision and convergence speed of PMLSM can be effectively improved by the scheme.

关键词： X-Y precision plane motion stage Iterative learning control tracking precision convergence rate

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