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Time-varying Formation Tracking control for Multi-agent Systems with Input Saturation 36

Time-varying Formation Tracking Control for Multi-agent Syst...

引用

第36届中国控制会议

作者： Xiaoduo Li Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

This paper investigates the problem of formation control for multi-agent systems with general linear dynamics and input *** time-varying formation tracking this paper deal with is required to be piecewise ***,a time-varying formation control protocol is *** an algorithm consisting of 3 steps to design the formation control protocol is *** follows,it is proven that under the designed formation control protocol,the multi-agent systems with input saturation can achieve the desired time-varying formation tracking which belongs to the feasible formation ***,numerical simulations are presented to verify the effectiveness of the proposed algorithms.

关键词： Time-varying formation multi-agent system input saturation general linear dynamics

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Practical time-varying formation tracking control for second-order nonlinear multi-agent systems based on the distributed extend state observer 36

Practical time-varying formation tracking control for second...

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第36届中国控制会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Practical time-varying formation tracking analysis and design problems for second-order nonlinear multi-agent systems are investigated by using a novel distributed extended state observer,where the formation tracking error can be arbitrarily *** from the previous work on formation tracking problems,the states of followers form a predefined time-varying formation while tracking the state of the leader with unknown but derivative-bounded control ***,the dynamics of each agent has heterogeneous ***,a novel distributed extended state observer is constructed by using only neighboring relative information,which can process not only the heterogeneous nonlinearity of each follower,but also the unknown control input of the ***,a practical time-varying formation tracking control protocol with the distributed extended state observer is ***,the stability of the closed-loop multi-agent system under the protocol is proven by using the Lyapunov ***,an approach is derived to design the control parameters in the practical time-varying formation tracking protocol by solving a linear matrix ***,simulation results are given to illustrate the effectiveness of the obtained theoretical results.

关键词： Practical time-varying formation tracking Second-order nonlinear dynamics Unknown control input Multi-agent systems Distributed extended state observer

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Robust adaptive time-varying formation control for high-order linear uncertain multi-agent systems 36

Robust adaptive time-varying formation control for high-orde...

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第36届中国控制会议

作者： Yongzhao Hua Xiwang Dong Qingdong Li Zhang Ren Yuan Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are ***,using the adaptive updating mechanism,a fully distributed timevarying formation control protocol is *** protocol is determined by each agent in a fully distributed form and does not need any global information about the interaction ***,time-varying formation feasible conditions and an approach to expand the feasible formation set are ***,the stability of the proposed approach is proved based on the Lyapunov ***,a simulation example is given to verify the effectiveness of the theoretical results.

关键词： Time-varying formation Adaptive control Robust control Multi-agent system

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Guidance Information Estimation of the Semi-strapdown Infrared Imaging Seeker 36

Guidance Information Estimation of the Semi-strapdown Infrar...

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第36届中国控制会议

作者： Yingrong Yu Ke Yi Qingdong Li Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Advanced homing missile’s guidance law for highly maneuvering targets,requires the information of both inertial Line of Sight（LOS） angular rate and maneuvering target ***,the semi-strapdown seeker is not able to measure the LOS angular rate directly and the differential operations commonly used in traditional methods will amplify sensor’s measurement errors,causing poor calculation accuracy of the LOS angular *** analyzing the mathematical relationship between the missile-to-target relative motion and the angle tracking system,an integrated relative motion and angle tracking filter model is proposed in this *** overcome the disadvantage of infrared seeker that it cannot measure the missile-totarget relative distance directly,this paper puts forward a new relative distance estimation method based on infrared imaging principle to enhance the observability of the integrated filter *** simulation results demonstrate the validity and stability of the proposed method.

关键词： Guidance information semi-strapdown infrared imaging seeker target tracking integrated filter

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Weighted Average Consensus-Based Cubature Information Filtering for Mobile Sensor Networks with Intermittent Observations 36

Weighted Average Consensus-Based Cubature Information Filter...

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第36届中国控制会议

作者： Qingke Tan Xiwang Dong Fei Liu Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

The problem of distributed state estimation for nonlinear systems with intermittent observations is considered in this paper and the algorithm of weighted average consensus-based cubature information filtering for mobile sensor networks is proposed by combining the advantages of the cubature information filtering and consensus *** nodes with observation packet losses can obtain the information contribution from neighbors in the sensor network and get the state ***,the stochastic stability of the algorithm is analyzed for nonlinear ***,a numerical example of target tracking case studv is Drovided to verify the effectiveness of the proposed filter.

关键词： Distributed Estimation Weighted Average Consensus Cubature Information Filtering Mobile Sensor Network Intermittent Observations

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Time-varying group formation control for second-order multi-agent systems with switching directed topologies 36

Time-varying group formation control for second-order multi-...

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第36届中国控制会议

作者： Yangfan Li Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Time-varying group formation control problems for second-order multi-agent systems with switching directed topologies are studied in this *** agents in the multi-agent system are divided into subgroups to form pre-defined time-varying sub-formations and the directed topology can be switching which means that group formation and switching topologies are considered ***,a time-varying group formation protocol with switching directed topologies is proposed using local relative state information of each agent and its *** an algorithm to design the protocol is *** on the piecewise Lyapunov function theory,sufficient conditions for second-order multi-agent systems to achieve time-varying group formation with switching directed topologies are derived together with the time-varying group formation feasibility constraints and the threshold for the dwell ***,a numerical simulation with two subgroups is provided to demonstrate the effectiveness of the obtained theoretical results.

关键词： Time-varying formation group formation second-order dynamics multi-agent system switching directed topology

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An Improved Evidence Combination Approach Based on Credibility of Evidence 36

An Improved Evidence Combination Approach Based on Credibili...

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第36届中国控制会议

作者： Yaozhong Yu Chen Yang Hong Jiang Qingdong Li Jie Xiang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

In this paper,an improved evidence combination method is proposed to address the paradox problem of Dempster-Shafer theory when dealing with highly conflict *** that the counter-intuitive combination result of Dempster's theory is related to both the unreliable evidence and the unreasonable distribution of the conflict evidences,the method combines the evidence preprocessing and conflict reassignment *** credibility of each evidence is firstly obtained based on Joussekne's *** then the original evidences are preprocessed by using the credibility degree as the discounting *** preprocessed evidences are lastly combined by the modified combination rule which distributes the conflict to each combining proposition,also taking the credibility of each evidence into *** numerical examples demonstrate that the modified method can solve the paradox problem dealing with evidence conflict and has high convergent speed.

关键词： Dempster-Shafer theory evidence conflict combination rule information fusion

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Reconfigurable Flight control System Design for Blended Wing Body UAV Based on control Allocation

Reconfigurable Flight Control System Design for Blended Wing...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Xiaobo Qu Jingping Shi Haijun Zhou Ling Zuo Yongxi Lyu Department of Automatic Control Northwestern Polytechnical University Xi’an China FACRI Science and Technology on Aircraft Control Laboratory Xi’an China

ISBN: (纸本)9781538670804;9788993215168

The aircraft control surface fault reconfigurable scheme based on control allocation is an active approach to achieve fault-tolerant in flight control. It has obvious advantages such as the structure and parameters of the control law does not need to be redesigned as deflector failures occurs. The attainable moment subset and allocation efficiency with typical control allocation algorithms are evaluated. A modular scheme reconfigurable flight control system (FCS) of a miniature tailless Blended Wing Body UAV is studied by utilizing weighted pseudo-inverse, direct control, and fixed-point control allocation methods. The performance of the reconfigurable FCS is tested and verified with the simulation including typical failure modes such as deflector floating, loss-of-effectiveness and lock-in-place. Results validate that the reconfigurable FCS based on control allocation has preferable ability to handle deflector failures, improve the safety and reliability of aircraft. And the modular scheme proposed in the article demonstrates a good application prospect in the field of aviation and aerospace engineering.

关键词： Resource management Aerospace control aircraft Aerodynamics Actuators Atmospheric modeling

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Reliable Kalman Filtering for Satellite Attitude Estimation under Gyroscope Partial Failure 2

Reliable Kalman Filtering for Satellite Attitude Estimation ...

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2nd IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2018

作者： Adnane, Akram Jiang, Hong Mohammed, Mohammed Arezki Si Bellar, Abdellatif Foitih, Zoubir Ahmed Beihang University Laboratory of Science Technology on Aircraft Control 100191 China Satellite Development Center Space Technology Research Division BP 4065 Ibn Rochd USTO Oran Algeria USTO University Laboratory of Power Systems Solar Energy and Automation BP 1505 El Mnaouar Bir Eldjir Oran Algeria

ISBN: (纸本)9781538618035

A147 estimation is one of the important aspects in Attitude Determination and control System (ADCS) of a satellite. Under normal working conditions, it is possible to achieve sufficiently a good attitude estimation using regular Kalman filtering. However, in the presence of sensor faults, the filter fails to provide the desired accuracy and may deteriorate the attitude estimation. To overcome this imperfection, a Fault Tolerant Extended Kalman Filter (FTEKF) is presented in this paper to improve the state estimation reliability even in the sensor fault situation. In accordance, a model of sensitivity factor is applied in the fault detection design of the filter to detect gyroscope sensor faults. Numerical comparison with Robust Extended Kalman Filter (REKF) is carried out for performance assessment. The proposed filter is approved to be robust against gyroscope faults with better filtering performance. © 2018 IEEE.

关键词： Satellites

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Nonlinear Attitude control of Tiltrotor aircraft Based on Dynamic Surface Adaptive Backstepping 29

Nonlinear Attitude Control of Tiltrotor Aircraft Based on Dy...

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第29届中国控制与决策会议

作者： Tingting Liang Weihong Wang Sentang Wu Ke Lu School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University Science and Technology on Rotorcraft Aeromechanics Laboratory

ISBN: (纸本)9781509046584

In this paper,the tiltrotor aircraft model is established based on the multi-body dynamics method,in order to further improve the modeling accuracy,an augmented Pitt-Peters dynamic inflow model was used to establish the induced velocity model of the *** on the presented model,aiming at the uncertainties of the nonlinear dynamics of aircraft,the dynamic surface adaptive backstepping control strategy is used to make the flight control system more adaptive and robust to the nonlinear,uncertain and unmodeled controlled objects with dynamic *** adaptive adjustment function is used to compensate the influence of system uncertainty,a robust term function is designed to solve the problem of approximation error,and the possible problem of controller singularity can be avoided by introducing projection *** the design of adaptive backstepping,the first-order filter is introduced to obtain the differentiation of the virtual control input by using the dynamic surface design method which eliminates the problem of "differential explosion" in the traditional backstepping *** Lyapunov stability theorem guarantees the error uniformly *** verification shows effectiveness of the design of attitude control.

关键词： tiltrotor aircraft aircraft model adaptive backstepping algorithm dynamic surface control attitude control

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