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Entropy optimization based filtering for non-Gaussian stochastic systems

science China(Information sciences) 2017年第12期60卷 33-43页

作者： Bo TIAN Yan WANG Lei GUO School of Automation Science and Electrical Engineering Beihang University National Key Laboratory on Aircraft Control Technology Beihang University

This paper is concerned with the entropy optimization based filter design for a class of multivariate dynamic stochastic systems with simultaneous presence of non-Gaussian process noise and measurement *** filter consists of time update and measurement update two steps, where the selection of the filter gain in the measurement update equation is a key issue to be addressed. Different from the classic Kalman filter theory, entropy rather than variance is employed as the filtering performance criterion due to the non-Gaussian characteristic of the estimation error. Following the establishment of the relationship between the probability density functions of random noises and estimation error, two kinds of entropy based performance indices are provided. On this basis, the corresponding optimal filter gains are obtained respectively by using the gradient optimization technique. Finally, some numerical simulations are provided to demonstrate the effectiveness of the proposed filtering algorithms.

关键词： non-Gaussian systems joint probability density function(JPDF) quadratic information potential relative entropy optimal filtering

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A new control algorithm for energy-regulation Electro-Hydrostatic Actuator

A new control algorithm for energy-regulation Electro-Hydros...

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CSAA/IET International Conference on aircraft Utility Systems, AUS 2018

作者： Pan, Qmgxin Tan, Lei Shang, Yaoxing Jiao, Zongxia Li, Zhihui School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Aviation Industry Hongdu Group United States

ISBN: (纸本)9781785617911

This paper puts forward the control algorithm of the Energy-Regulation Electro-Hydrostatic Actuator (ER-EHA) based on distinguishing aiding load and reverse load working condition. According to the principle of the control algorithm, during the reverse load working condition, the system is mainly controlled by the pump control system;during the aiding load working condition, the system is mainly controlled by the valve control system, and the pump control system assists in the meanwhile, by which the generator working condition of the motor is prevented It helps reduce the energy loss and motor heating. The feasibility of this system is verified by the simulation. Compared with the EHA of fixed displacement and variable speed (EHA-FPVM), the simulation result of motor heating is reduced by nearly 35%. © 2018 IET Conference Publications. All rights reserved.

关键词： Energy dissipation

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A Q-Network Based Terrain-Following Method for aircrafts

A Q-Network Based Terrain-Following Method for Aircrafts

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Guoqing Liu Jiang Wu Chaojie Yang Xianbing Zhang Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

The ability of terrain following supports aircrafts to break through enemy's defense in low-altitude penetration missions, and many researchers have proposed their own terrain-following algorithms. However, because of the unknown environment and computational complexity, it is difficult to apply these approaches in real world. A Q-Network based self-learning terrain-following method is presented in this paper, which combines reinforcement learning and neural network, enabling aircrafts to make decisions online with raw sensor data. Besides, heuristic information is also used to improve the traditional ε-greedy policy, which makes a better balance between exploration and exploitation. At last, simulation illustrates the effectiveness of this method.

关键词： Atmospheric modeling aircraft Solid modeling Two dimensional displays Three-dimensional displays Mathematical model Markov processes

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Cooperative Navigation Method Based on Adaptive CKF for UAVs In GPS Denied Areas

Cooperative Navigation Method Based on Adaptive CKF for UAVs...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Yingrong Yu Siting Peng Qingdong Li Xiwang Dong Zhang Ren Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

Unmanned Aerial Vehicles (UAVs), when used in a formation setting, can be more advantageous. The concerted operation of UAV formations has many potential applications, such as cooperative reconnaissance, formation combat and search and rescue in mountainous regions. Nevertheless, modern navigation systems for UAVs are not able to guarantee the precision of pose estimation when GPS is unavailable in complex environment. The IMU drifts of navigation systems can cause poor calculation accuracy of position, velocity and attitude of all UAVs in the group within dozens of seconds. To solve this problem, this paper puts forward a new cooperative navigation method based on adaptive Cubature Kalman Filter which shares the relative observations between the UAVs and fuses these data with direct measurements from IMU to obtain better navigation performance. The simulation results demonstrate the validity of the proposed method.

关键词： Global Positioning System Mathematical model Kalman filters Gyroscopes Unmanned aerial vehicles Accelerometers

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Cooperation Target Assignment of Missiles Based on Multi-Agent technique and Improved Contract Net Protocol

Cooperation Target Assignment of Missiles Based on Multi-Age...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Jiaqi Xiang Xiwang Dong Qingdong Li Zhang Ren Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

The target assignment problem is a classic problem in military field. Its purpose is choosing the best plan of distribution to get the most benefit and minimum cost while meeting the constraint condition. For the cooperation target assignment problem of missiles, each missile can be regarded as an agent, thus forming a multi-agent system. In this article, some common methods of target assignment were discussed firstly. After that the Multi-Agent technique was introduced in cooperation target assignment problem. And a mathematical model of cooperation target assignment problem was established. Then according to the characteristics and restrictions of target assignment, an improved contract network protocol was introduced. Finally, the simulation based on MATLAB demonstrated that a rational allocation of target was achieved by this algorithm.

关键词： Missiles Contracts Resource management Task analysis control systems Protocols Mathematical model

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Off-Policy Reinforcement Learning for Optimal Preview Tracking control of Linear Discrete-Time systems with unknown dynamics

Off-Policy Reinforcement Learning for Optimal Preview Tracki...

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Chinese Automation Congress (CAC)

作者： Chao-Ran Wang Huai-Ning Wu The Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

In this paper., an off-policy reinforcement learning (RL) algorithm is presented to solve the optimal preview tracking control of discrete time systems with unknown dynamics. Firstly., an augmented state-space system that includes the available preview knowledge as a part of the state vector is constructed to cast the preview tracking control problem as a standard linear quadratic regulator (LQR) one. Secondly., the reinforcement learning technique is utilized to solve the algebraic Riccati equation (ARE) using online measurable data without requiring the a priori knowledge of the system matrices. Compared with the existing off-policy RL algorithm., the proposed scheme solves a preview tracking control problem. A numerical simulation example is given to verify the effectiveness of the proposed control scheme.

关键词： Discrete-time systems Reinforcement learning Heuristic algorithms Mathematical model Symmetric matrices Optimal control System dynamics

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Application of an Adapted Genetic Algorithm on Task Allocation Problem of Multiple UAVs

Application of an Adapted Genetic Algorithm on Task Allocati...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Yu Qiu Hong Jiang Qingdong Li Xiwang Dong Zhang Ren Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

This paper discusses the application of an adapted genetic algorithm (GA) to the allocation of UAVs in multi-task assignment problem. Genetic algorithm is known for its good performances in large scale combinatorial optimization problem. In this paper, the usual methods for solving task allocation problem will be shortly introduced, then the general ideas about genetic algorithm will be presented and the tasks assignment problem of multiple UAVs will be mathematically abstracted into a model. After, a genetic algorithm with a new crossover scheme will be proposed and how the algorithm is applied to solve this problem will be shown. At the end, the simulation results demonstrate that the algorithm is capable of solving multi-task assignment problem of UAVs and its performance is satisfying.

关键词： Task analysis Genetic algorithms Biological cells Resource management Optimization Sociology Statistics

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Adaptive Strategy for Commercial aircraft with OFC Fault

Adaptive Strategy for Commercial Aircraft with OFC Fault

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Jiaqi Xiang Shijie Zhang Yishi Liu Zhang Ren Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

If a fault occurs in flight control system of commercial aircraft, it will lead to a catastrophic consequence. So, it is necessary to establish an effective fault tolerant control(FTC). In this paper, an adaptive FTC was proposed. First, we built a fault aircraft model with actuator faults and introduced the Oscillatory Failure Case(OFC) fault. Then an adaptive FTC was designed which applied the method of model reference adaptive control. Finally, we established a commercial aircraft model of B747 and verified the performance of the adaptive strategy through simulation.

关键词： Adaptation models Atmospheric modeling Actuators aircraft Fault tolerance Fault tolerant systems Aerospace control

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Linear Active Disturbance Rejection control Based on UKF Identification

Linear Active Disturbance Rejection Control Based on UKF Ide...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Zhennan YAO Biao WANG Jialiang XU Chaoying TANG Science and Technology on Aircraft Control Laboratory Nanhang University Nanjing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

To improve the estimation result of the linear extended state observer (LESO), we propose a linear active disturbance rejection control strategy based on the UKF identification. We use the UKF identification method to identify the unknown parameters of the system model and the controller gain b 0 of the linear active disturbance rejection control (LADRC), thereby reducing the uncertain factors of the controlled system and improving the ability of the LESO to estimate the generalized disturbance of the system. The proposed control strategy is applied to the rotor-driving system. The simulation results show that the proposed method has better control effect compared with the traditional LADRC, and the estimation ability of the linear extended state observer is stronger.

关键词： Systems modelling Observers Robust control Linear Unknown parameter control strategy Authentication controller gain control effect Simulation results

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Robust Adaptive Back-stepping Attitude control for Hypersonic Reentry Vehicles

Robust Adaptive Back-stepping Attitude Control for Hypersoni...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Tiancai Wu Honglun Wang Na Li Yue Yu Jianfa Wu School of Automation Science and Electrical Engineering & Shenyuan Honors College Beihang University Beijing China School of Automation Science and Electrical Engineering & Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Unmanned Systems Research Institute Beihang University Beijing China Beijing Aerospace Automatic Control Institute Beijing China

In this paper, a robust adaptive back-stepping attitude controller is investigated for hypersonic reentry vehicle under unknown parameters and external disturbances. Firstly, the affine nonlinear system of HRV is established in the form of a cascade structure. Secondly, the robust attitude controller based on linear extended state observer, back-stepping method and adaptive control technique is proposed. An adaptive strategy is applied to identify the unknown parameters. Linear extended state observer is applied to observe and compensate the intricate external disturbances. control law and parameter adaptive law can be obtained, and the stability of closed-loop control system can be guaranteed by choosing the appropriate Lyapunov function. Finally, simulation results and discussions are presented to verify the effectiveness of the proposed control strategy.

关键词： Heart rate variability Attitude control Adaptation models Robustness Mathematical model Adaptive systems Observers

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