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Sliding-Mode-control Based Robust Guidance Algorithm Using Only Line-of-Sight Rate Measurement

Journal of Systems science & Complexity 2016年第6期29卷 1485-1504页

作者： CHEN Jian TIAN Yuan LI Peng LI Qingdong REN Zhang College of Engineering China Agricultural UniversityBeijing 100083China Beijing Institute of Space Long March Vehicle Beijing 100076China Halliburton Energy Services Inc. Houston 77032USA Science and Technology on Aircraft Control Laboratory Beijing University of Aeronautics and AstronauticsBeijing 100191China

Robust guidance algorithm using only line-of-sight rate measurement is proposed for the interceptor with passive *** initial relative distance,initial closing velocity and their error boundaries are employed to obtain their estimations according to the interceptor-target relative kinematics.A robust guidance law based on sliding mode control is formulated,in which the boundary of target maneuver is needed and the chattering phenomenon inevitably *** order to address the defects above,an estimation to the boundary of the target acceleration is proposed to improve the robust guidance law and the Lyapunov stability analysis is *** main feature of the robust guidance algorithm is that it reduces the influence of the relative distance,the closing velocity and the target maneuver on the interception and enhances the effect of line-of-sight *** two worst conditions of initial measured distance and initial measured closing velocity,performances of the proposed guidance laws are verified via numerical simulations against different target maneuvers.

关键词： Boundary of target maneuver line-of-sight rate Lyapunov stability robust guidancealgorithm sliding mode control.

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Damage Detection for SMC Benchmark Problem: A Subspace-Based Approach

Damage Detection for SMC Benchmark Problem: A Subspace-Based...

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作者： Zhou, Wensong Li, Shunlong Li, Hui Key Laboratory of Structures Dynamic Behavior and Control of the Ministry of Education Harbin Institute of Technology Harbin150090 China School of Transportation Science and Engineering Harbin Institute of Technology Harbin150090 China Key Laboratory of Advanced Material and Intelligent Control Technology on Transportation Safety Harbin Institute of Technology Harbin150090 China

A full-scale bridge benchmark problem was issued by the Center of Structural Monitoring and control at the Harbin Institute of technology. The data used in this problem were collected by an in situ structural health monitoring system implemented into a full-scale cable-stayed bridge before and after the bridge was damaged, which is very rare in structural health monitoring field. This benchmark problem will help to verify and/or make comparison of the condition assessment and the damage detection methods, which are usually validated by numerical simulation and/or laboratory testing of small-scale structures with assumed deterioration models and artificial damage. With respect to damage detection of girder, one of the benchmark problems, using the monitored and field testing acceleration data, this paper describes a damage detection method, based on a residual generated from a subspace-based covariance-driven identification method, to detect the damage, and give relative quantitative damage indexes. This method was applied on both two parts of the given benchmark problem, and then detailed discussions and results on this problem are reported in this paper. © 2016 World Scientific Publishing Company.

关键词： Damage detection

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H∞-Optimal Actuator Placement with a Class of Nonlinear Constraints

H∞-Optimal Actuator Placement with a Class of Nonlinear Con...

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第35届中国控制会议

作者： Xuhui Lu Yingmin Jia Dayi Wang Chengrui Liu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory

ISBN: (纸本)9781509009107

This paper focuses on actuator placement joint with a state feedback controller, to minimize the H norm of the closed-loop system. The actuator placement is even subject to a class of nonlinear constraints. This actuator selection problem is first formulated to be a non-convex optimization problem. Then to overcome these non-convex constraints, several procedures are provided to convert the problem into a sequential convex optimization problem, and correspondingly an optimization algorithm is given. Thruster location selection of an earth-pointing satellite is illustrated to verify the effectiveness of the proposed algorithm.

关键词： Actuator Placement Nonlinear Constraints H∞ control Sequential Convex Optimization

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Optimal Innovation-Based Deception Attack on Remote State Estimation

Optimal Innovation-Based Deception Attack on Remote State Es...

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American control Conference

作者： Shuang Wu Ziyang Guo Dawei Shi Karl Henrik Johansson Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 China ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781509045839

The security issue in cyber-physical systems has attracted growing interests in the last decades. This paper considers how false data injection attack can degrade the estimation quality of a remote state estimation system. In this system, smart sensors measure a dynamic process and send preprocessed data through a communication network to a remote estimator to estimate the process. It is assumed that there are malicious attackers in the communication network, who are able to obtain and falsify all the data sent by the sensors. It is common that the remote estimator is equipped with a residue-based detector to detect potential attacks. We propose a class of deception attack and analyze its feasibility. We show that the proposed attack enables the attacker to inject false data into the remote estimator without being detected. We derive a criterion to judge the optimality of performance of this type of attack in the sense of maximizing the estimation error covariance. Furthermore, we find that a simple linear attack strategy, which flips the sign of intercepted signal, satisfies the optimality criterion. We present numerical examples to illustrate our theoretical results.

关键词： Cyber-physical systems (CPS) deception attack remote state estimation

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Robust order scheduling in the fashion industry: A multi-objective optimization approach

arXiv

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arXiv 2017年

作者： Du, Wei Tang, Yang Leung, Sunney Yung Sun Tong, Le Vasilakos, Athanasios V. Qian, Feng Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Institute of Textile and Clothing Hong Kong Polytechnic University Hong Kong Hong Kong Department of Computer Science Electrical and Space Engineering Lulea University of Technology Lulea97187 Sweden

—In the fashion industry, order scheduling focuses on the assignment of production orders to appropriate production lines. In reality, before a new order can be put into production, a series of activities known as pre-production events need to be completed. In addition, in real production process, owing to various uncertainties, the daily production quantity of each order is not always as expected. In this research, by considering the pre-production events and the uncertainties in the daily production quantity, robust order scheduling problems in the fashion industry are investigated with the aid of a multi-objective evolutionary algorithm (MOEA) called nondominated sorting adaptive differential evolution (NSJADE). The experimental results illustrate that it is of paramount importance to consider pre-production events in order scheduling problems in the fashion industry. We also unveil that the existence of the uncertainties in the daily production quantity heavily affects the order scheduling. Copyright © 2017, The Authors. All rights reserved.

关键词： Multiobjective optimization

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Vision-aided navigation system for reusable rocket upright landing 67

Vision-aided navigation system for reusable rocket upright l...

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67th International Astronautical Congress, IAC 2016

作者： Gao, Shibo Gao, Lei Xiao, Liping Cheng, Yongmei Yao, Shun Li, Shaojun Tang, Bo Beijing Aerospace Automatic Control Institute Beijing100854 China College of Automation Northwestern Polytechnical University Xi'an710072 China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing100854 China

At the moment, space rockets are one-shot machines. After boosting their payload to the required speed and altitude, they fall back to Earth and often break up in the atmosphere on the way. That is one reason why space flight is so expensive. Reusable rocket has been developed over a number of years to facilitate full and rapid reusability of space launch vehicles, which will provide the possibility of low cost and highly reliable access to space. One of the most important techniques in reusable rocket precise and safe return is upright landing. For reusable rocket autonomous landing, the exact position and attitude of rocket relative to the landing pad is very important for landing. In order to conquer the limitations of GPS and inertial measurement unit (IMU), a vision-based position and attitude estimation method for rocket navigation is described. The designed scheme of vision-aided precision-guided contains landing navigation camera mounted on the vehicle, cooperative targets in the landing area, an image processing module and a vision relative position/attitude solution unit. The navigation camera consists of four oblique view navigation cameras and four downward view navigation cameras, all of them are near-infrared imaging sensor. The cooperative marks are one landing cooperative mark on landing pad and four assistant cooperative marks arranged as circular distribution around the landing pad. The ground images of landing area captured by near-infrared imaging sensor are thrown into the image processing module. If the detection result is effective, the relative position and attitude is calculated using the image using vision relative position/attitude solution unit. And the solution method of vehicle's position and attitude estimation using images is presented in detail. The preliminary experimental results on the simulated images verify that the proposed project of vision-aided precision guidance is able to achieve the navigation objectives to some extent. I

关键词： Reusability

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Identification of Nonlinear State-space Models Using Joint State Particle Smoothing 35

Identification of Nonlinear State-Space Models Using Joint S...

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第35届中国控制会议

作者： GENG Li-Hui NINNESS Brett Tianjin Key Laboratory of Information Sensing and Intelligent Control School of Automation and Electrical Engineering Tianjin University of Technology and Education School of Electrical Engineering and Computer Science The University of Newcastle

ISBN: (纸本)9781509009107

On the basis of a previous expectation maximization(EM) algorithm, this paper applies the particle Markov chain Monte Carlo(MCMC) technique to estimate nonlinear state-space models(SSMs). The smoothed simultaneous particles for joint states are generated by importance resampling(IR) and are directly used to compute a log-likelihood function and its Jacobian vector and Hessian matrix. As a result, a relatively less computational load can thus be obtained, which is crucial to practical applications of the particle MCMC. In addition, the SSM parameters can be recursively iterated by the more efficient Newton method, in which an optimal step length for parameter update in each iteration is optimized by a 1-D search method. This presented identification method has a good global parameter convergence in case iteration parameters are initialized from quite large intervals of their respective true values. Finally, a numerical simulation for identification of a classical SSM is used to show the effectiveness of the studied identification method.

关键词： Nonlinear state-space models Smoothed simultaneous particles Importance resampling Newton method

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Characteristic Model-based control of Robotic Manipulators with Dynamic Uncertainties 34

Characteristic Model-based Control of Robotic Manipulators w...

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第三十四届中国控制会议

作者： WANG LiJiao MENG Bin Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering

ISBN: (纸本)9781467374439

In this paper, we investigate the problem of the discrete-time adaptive control design of robotic manipulators by utilizing the characteristic model theory. Different from the traditional plants manipulated by the characteristic model-based control strategy, the Coriolis matrix in the robotic dynamics makes the bound of the characteristic model coefficients rely on the state information, proposing great challenge for the controller design and stability analysis. To conquer this problem, we develop a projection estimation algorithm depending on the state information, and propose an adaptive control law via introducing a discrete-time sliding vector. A new stability analysis framework is proposed by use of the recursive induction methodology, giving rise to the asymptotic convergence of joint positions. Simulations are performed to test the effectiveness of our *** design extends the characteristic model theory frame by proposing the control design and stability analysis methods for the the characteristic model with the state-relevance coefficients.

关键词： Robotic manipulators,Discrete-time,Characteristic model,State-relevance coefficient Adaptive control,Stability

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Characteristic Modeling Theory and its Applications in Rendezvous and Docking control 34

Characteristic Modeling Theory and its Applications in Rende...

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第三十四届中国控制会议

作者： XIE Yongchun Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering

ISBN: (纸本)9789881563897

In this talk, we give an introductory overview of characteristic modeling and characteristic model based control. First, we review its basic concept, key features, and underlying mechanism. Then, we overview the controller design process based on characteristic model. In order to demonstrate the practicability of characteristic model and the superior performance of the closed-loop control system under characteristic model based control, we introduce its successful applications in several engineering problems, and in particular we provide in detail its applications in the automatic rendezvous and docking between Shenzhou spacecraft(including Shenzhou-8, Shenzhou-9, and Shenzhou-10) and Tiangong-1. Thirdly, we review the existing theoretical results on characteristic modeling and characteristic model based control. At the end of this talk, we discuss several future research topics and prospects concerning characteristic modeling theory.

关键词： Characteristic modeling,golden-section adaptive control,stability,control requirement,rendezvous and docking

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Robustness of the Characteristic Model-based Golden-Section Adaptive control 34

Robustness of the Characteristic Model-based Golden-Section ...

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第三十四届中国控制会议

作者： Huang Huang Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory

ISBN: (纸本)9781467374439

The characteristic model-based golden-section adaptive control law(CM-GSAC) has been developed for over 20 years in China with a broad range of applications in various elds. This paper discusses the optimization of the control coef cients l1 and l2 such that the closed-loop system can tolerate the largest parameter estimation error. The Vinnicombe distance is introduced as a metric to evaluate the distance between the true CM and the estimated CM. According to the simulation results, system with CM-GSAC shows better tracking performance than that of the well known model-reference adaptive control and the multiple model adaptive control.

关键词： Multiple model,adaptive control,Vinnicombe distance

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