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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Qing, Zhang Jing, Li Jiahui, Tong Jian, Han Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811694912

The Space-ground consistency of the unmanned aerial vehicle (UAV) cluster combat distributed interactive simulation system is the fundamental guarantee to simulate and reproduce the authenticity and correctness of UAV cluster combat mission, combat environment and combat process. This paper analyzes the common inconsistency problems of UAV cluster combat distributed simulation system, gives the technical connotation of the space-ground consistency of UAV cluster combat simulation, deeply analyzes all kinds of factors that affect the consistency of UAV cluster combat simulation space and ground, and puts forward the control methods of time-space consistency of UAV cluster combat simulation system, the control strategies and suggestions of model consistency and service consistency. It provides a theoretical basis and technical support for the construction of distributed interactive simulation system for UAV cluster combat. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Multi-UAV Cooperative Path-Planning Under complex Threat Environment

Multi-UAV Cooperative Path-Planning Under Complex Threat Env...

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Chinese control Conference (CCC)

作者： Zhenchang Liu Yuting Liu Hongyin Zhao Hanchen Lu Mingrui Hao Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing

This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to sift path segments, and the diversity of threat avoidance paths is considered under a reasonable calculation amount. A threat intrusion strategy is designed for no safety path condition, which makes the cooperative path-planning method have excellent robustness. A cooperative path optimization method based on particle swarm optimization is adopted for the path length and collision avoidance requirements. The simulation results show that the UAV cooperative paths can avoid the threat area under any starting and ending points, and path lengths are close to the expected length.

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Parametric Approach to Missile Formation control

Parametric Approach to Missile Formation Control

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Yutao Zhuang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing

Under the condition of strong connectivity, the formation keeping problem of missile formation based on high-order fully actuated system is studied. The time-varying controller of the system is designed for the formation tracking of missile formation and disturbance suppression by upgrading the first-order model to the second-order model and using the parametric approach. The numerical simulation experiments of the system are completed with the introduction of bounded random disturbances. The motion trajectory, position tracking error, velocity tracking error and control force output of the missile formation are analyzed, and the final steady-state error is basically stabilized within 0.1, and the control force is controlled at about 2000 N during the formation holding phase.

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Distributed Observer-Based Simultaneous Fault Detection and Formation control of Multi-UAVs 42

Distributed Observer-Based Simultaneous Fault Detection and ...

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42nd Chinese control Conference, CCC 2023

作者： Su, Xiaowan Hao, Mingrui Yang, Ruohan Yue, Keyuan Feng, Zhichao Northwestern Polytechnical University Xi'an710072 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China The Rocket Force University of Engineering Xi'an710025 China

ISBN: (纸本)9789887581543

This paper studies the formation control and simultaneous fault detection of multi-UAVs. Firstly, a distributed observer is constructed for the second-order particle model of each UAV. Secondly, a novel formation controller is designed based on the distributed observer. Then, the faulty UAV is detected by the residual signal. Finally, based on Lyapunov theory and Projection Lemma, sufficient conditions for UAVs formation are obtained. The effectiveness of the proposed method is verified by simulation. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Fault detection

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Practical Distance-Based Formation Stabilization and Tracking of Nonholonomic Multi-agent systems 7th

Practical Distance-Based Formation Stabilization and Tracki...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Tang, Xiangyu Yu, Jianglong Dong, Xiwang Yang, Xiangyu Ren, Zhang School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733279

This paper investigates practical distance-based formation stabilization and tracking issues for nonholonomic multi-agent systems (MASs). Firstly, the agent’s nonholonomic kinematics is represented as a left invariant system on a Lie group. Through the introduction of an auxiliary state and a virtual control guided by the transverse function method, the original system is effectively converted into a fully actuated one. Secondly, under the assumption of infinitesimal and minimal rigidity in the graph, a gradient-descent-based virtual controller is devised for the transformed MASs, facilitating practical rigid formation stabilization. Thirdly, a discontinuous distributed velocity estimator is designed for formation tracking. The nonholonomic MASs achieve the desired formation shape while effectively tracking the reference trajectory. Finally, the effectiveness of the proposed method is verified by numerical examples. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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Flight Parameter Prediction and Fault Propagation based on Machine Learning and Symbolic Directed Graph 6

Flight Parameter Prediction and Fault Propagation based on M...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Wenzhuo Guo, Kun Cheng, Yuehua Hu, Hengsong Xu, Cheng Yu, Ziquan Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Institute of Mechanical and Electrical Engineering Beijing China

ISBN: (纸本)9798350316155

Fault influence and propagation analysis of flight vehicle systems is an important element of flight vehicle health management and also an important problem to be solved. A fault influence model based on data-driven is established, including a prediction model of flight parameters under fault, a dynamic influence path, and an influence degree model. Based on the historical experimental data, a long and short-term memory neural network (LSTM) model is proposed to predict the time-series data of each flight parameter of the flight vehicle under fault;based on the prediction results, a symbolic directed graph (SDG) is used to describe the fault of the flight vehicle system, and then introduce the concept of a compatible path with time-series characteristics to describe the dynamic propagation process of the fault. The case shows that the method proposed in this paper enables qualitative and quantitative analysis of the fault influence, and can reasonably describe the fault propagation path and influence characteristics. © 2023 IEEE.

关键词： Directed graphs

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A Provably Stable SBP-SAT FDTD Subgridding Method without Modifying Yee's Grids

A Provably Stable SBP-SAT FDTD Subgridding Method without Mo...

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2023 IEEE International Symposium on Antennas and Propagation and USNC-URSI Radio sci.nce Meeting, AP-S/URSI 2023

作者： Wang, Yuhui Diao, Guijie Ni, Hong Yang, Shunchuan Research Institute for Frontier Science Beihang University Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China

ISBN: (纸本)9781665442282

A stable finite-difference time-domain (FDTD) sub-grid ding method using the summation-by-parts simultaneous approximation term (SBP-SAT) technique is proposed. To meet the SBP properties and keep Yee's grids unchanged, the projection operators are carefully designed to extrapolate fields on the boundaries. Then, the SATs are used to weakly enforce the boundary conditions between multiple mesh blocks with different mesh sizes. Therefore, its long-term stability is theoretically guaranteed. An iris filter is simulated to validate the effectiveness of the proposed method. Results show that the proposed SBP-SAT FDTD subgridding method is stable, accurate and efficient. © 2023 IEEE.

关键词： Finite difference time domain method

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Scribble-Supervised Video Object Segmentation

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 339-353页

作者： Peiliang Huang Junwei Han Nian Liu Jun Ren Dingwen Zhang Brain and Artificial Intelligence Laboratory School of AutomationNorthwestern Polytechnical UniversityXi’an 710072China IEEE Department of Engagement Services Mohamed Bin Zayed University of Artificial IntelligenceAbuDhabiUnited Arab Emirate Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory BeijingChina

Recently,video object segmentation has received great attention in the computer vision *** of the existing methods heavily rely on the pixel-wise human annotations,which are expensive and time-consuming to *** tackle this problem,we make an early attempt to achieve video object segmentation with scribble-level supervision,which can alleviate large amounts of human labor for collecting the manual ***,using conventional network architectures and learning objective functions under this scenario cannot work well as the supervision information is highly sparse and *** address this issue,this paper introduces two novel elements to learn the video object segmentation *** first one is the scribble attention module,which captures more accurate context information and learns an effective attention map to enhance the contrast between foreground and *** other one is the scribble-supervised loss,which can optimize the unlabeled pixels and dynamically correct inaccurate segmented areas during the training *** evaluate the proposed method,we implement experiments on two video object segmentation benchmark datasets,You Tube-video object segmentation(VOS),and densely annotated video segmentation(DAVIS)-*** first generate the scribble annotations from the original per-pixel ***,we train our model and compare its test performance with the baseline models and other existing *** experiments demonstrate that the proposed method can work effectively and approach to the methods requiring the dense per-pixel annotations.

关键词： Convolutional neural networks(CNNs) scribble self-attention video object segmentation weakly supervised

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A Stable and Symmetric FDTD Subgridding Method with Arbitrary Grid Ratio

A Stable and Symmetric FDTD Subgridding Method with Arbitrar...

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2023 IEEE International Symposium on Antennas and Propagation and USNC-URSI Radio sci.nce Meeting, AP-S/URSI 2023

作者： Deng, Langran Gong, Ningbo Diao, Guijie Yang, Shunchuan Research Institute for Frontier Science Beihang University Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China

ISBN: (纸本)9781665442282

A stable and symmetric finite-difference time-domain (FDTD) subgridding method is proposed to effectively and accurately solve the three-dimensional electromagnetic prob-lems. The linear interpolation coefficient (LIC) and the length cutoff coefficient (LCC) are carefully designed to guarantee the stability of the proposed method. In addition, the proposed method is applicable to arbitrary grid ratios and nested meshes. A practical multiscale example is used to validate its accuracy and efficiency. © 2023 IEEE.

关键词： Finite difference time domain method

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An SIE Formulation with Loop Analysis for Large-Scale Arbitrarily Shaped Interconnects

An SIE Formulation with Loop Analysis for Large-Scale Arbitr...

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2023 IEEE International Symposium on Antennas and Propagation and USNC-URSI Radio sci.nce Meeting, AP-S/URSI 2023

作者： Zhu, Zekun Gong, Ningbo Diao, Guijie Yang, Shunchuan School of Electronic and Information Engineering Beihang University Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China

ISBN: (纸本)9781665442282

A magneto-quasi-static (MQS) surface integral equation (SIE) formulation with loop analysis is proposed to extract the impedance of interconnects in packages. The loop analysis is developed with an independent and complete set of unknowns according to the graph theory, which can significantly reduce the dimension of the final matrix. With the pre-corrected fast Fourier Transform (pFFT), large-scale interconnects can be efficiently modelled. A practical example in packages is carried out to validate the effectiveness and scalability of the proposed formulation. Results show that the proposed formulation is accurate and flexible to model complex interconnects in packages compared with the industrial solver. © 2023 IEEE.

关键词： Fast Fourier transforms

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