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第三十四届中国控制会议

作者： HU Jinchang Zhang Honghua Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory

ISBN: (纸本)9789881563897

We propose a new smooth attitude controller for rigid body in the presence of input saturation and external *** controller is composed of three parts,i.e.,the quaternion part,the saturated velocity part,and the bounded disturbance compensation *** disturbance compensation part is derived from disturbance *** main contribution of the study is that the constructed observers can globally asymptotically track the external disturbances,given the disturbances are twice differentiable with bounded *** are conducted to validate the effectiveness of the proposed controllers.

关键词： attitude control disturbance observers disturbance rejection saturated controller

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Approach and Landing Guidance Based on Sliding Mode control and Input-to-State Stability 34

Approach and Landing Guidance Based on Sliding Mode Control ...

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第三十四届中国控制会议

作者： YAN Han TAN Shuping Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering

ISBN: (纸本)9781467374439

This paper presents a new guidance law based on sliding-mode control and input-to-state stability(ISS) for approach and landing of a reusable launch vehicle(RLV). According to the idea of reference-trajectory guidance, the sliding mode surface is chosen to be a linear combination of the reference-trajectory tracking error and its rate, and a guidance law is designed to make the dynamics of the sliding mode surface be ISS with respect to bounded uncertainties. Then, by introducing class KL-like function, it is proved that the influence of uncertainties on reference-trajectory tracking error can be close to zero by adjusting the guidance parameters. The numerical simulation confirms the effectiveness of the proposed design approach.

关键词： Reusable launch vehicles Approach and landing phase Guidance law Reference trajectory Input-to-state stability Robustness

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Autonomous optical navigation approach aided by radio beacon for deep space spacecraft 28

Autonomous optical navigation approach aided by radio beacon...

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28th Chinese control and Decision Conference, CCDC 2016

作者： Yan, Jing Shengying, Zhu Lina, Wang School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education Beijing100081 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

ISBN: (纸本)9781467397148

According to task requests of deep space exploration approach phase such as autonomy, real-time and so on, we did a research into the problem of autonomous navigation at this approach phase and put forward an autonomous navigation project which made use of radio beacon and navigation camera to determine relative position and velocity of the spacecraft. The radio beacon could measure its distance to the spacecraft and the navigation camera could acquire the line-of-sight vector to the target. With Kalman filter we could get the spacecraft's state information. The observability degree of the navigation system was increased by importing a new observation. In order to verify the performance of this autonomous navigation system, Simulink tests based on the practical data of Deep Impact mission were carried on. The results show that the presented method can not only meet navigation requests of approach phase but also gain the navigation system observability degree. © 2016 IEEE.

关键词： deep space explorer Kalman filter optical navigation radio ranging

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Actuators Coupled Design Based Adaptive Backstepping control of Air-breathing Hypersonic Vehicle

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IFAC-PapersOnLine 2015年第28期48卷 508-513页

作者： Li, Gongjun Meng, Bin Beijing Institute of Control Engineering Beijing100190 China Science and Technology on Space Intelligent Control Laboratory Beijing100190 China

In this paper, we study the robust design of the flight control system for the longitudinal dynamics of air-breathing hypersonic vehicles. First, the longitudinal dynamics model is divided into the velocity subsystem and the altitude subsystem. An adaptive controller is developed based on dynamic inversion method for the former subsystem, and an adaptive backstepping controller is proposed with coupled elevator and canard actuators for the latter, where the coupled design idea makes the control efficiency optimization. Then, the stability analysis shows that the closed system is asymptotically stable under certain conditions, and all the states of the closed-loop system are within a given flight envelope, which means that we realize the restriction control of the states of the vehicles. Finally, simulation illustrates the proposed method. Our designs differ with the published results in 4 aspects. Besides the couples actuators design, we give the specific controller solvers and control parameters selection approaches, and the controller designed doesn't contain the uncertain parameters which are cancelled adaptively. © 2015

关键词： Adaptive control systems Actuators Backstepping Closed loop systems controllers Flight control systems Flight envelopes Hypersonic aerodynamics Hypersonic vehicles Identification (control systems) Uncertainty analysis Adaptive back stepping Adaptive backstepping control Adaptive control Adaptive controllers Asymptotically stable Back stepping controls Constrained controls Longitudinal dynamics

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Design of online water quality monitoring system and prediction based on probabilistic neural network

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International Journal of Wireless and Mobile Computing 2016年第4期10卷 371-377页

作者： Dai, Lu Chen, Xiong Intelligent Control Research Laboratory School of Information Science and Technology Fudan University Shanghai China

Online water quality monitoring systems have many significant benefits in fields such as source water protection, water treatment, and wastewater discharge, and in accidental or deliberate event of water contamination. It is also used to provide proofs and early warning for companies that discharge industrial wastewater. A typical online water quality monitoring system can collect data about specified factors automatically and continuously, analyse data, present data, store data and transfer data. This paper introduces the authors' application in BASF Shanghai Coatings Co., Ltd, a scalable online water quality monitoring system that focuses on rain drainage. The hardware platform of this system is based on an ARM processor and embedded Linux operating system;the software platform of this system is SOA (Service-Oriented Architecture). Owing to the generic designed hardware and software platform structure, this system is also competent for other environment protection monitoring applications if the user modifies the software settings as he needs. Meanwhile, this paper suggests a method using a probabilistic neural network to predict COD (Chemical Oxygen Demand) value. pH (Hydrogen Ion Concentration), temperature, water drainage traffic flow, humidity and light intensity were used as five input variables, while COD was used as the output variable. © 2016 Inderscience Enterprises Ltd.

关键词： Water quality

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Generalised Error Functions from the Kerr Metric

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Chinese Physics Letters 2016年第3期33卷 12-16页

作者：唐文林罗子人刘润球 Science and Technology on Aerospace Flight Dynamics Laboratory Beijing Aerospace Control Center Department of Aerospace Guidance Navigation and Control School of AstronauticsBeihang University QUEST Center of Quantum Engineering and Space-Time Research Leibniz Universitt Hannover Max Planck Institute for Gravitational Physics(Albert Einstein Institute) Institute of Applied Mathematics Morningside Center of Mathematics and LESCInstitute of Computational MathematicsAcademy of Mathematics and System ScienceChinese Academy of Sciences

Motivated by the effort to understand the mathematical structure underlying the Teukolsky equations in a Kerr metric background, a homogeneous integral equation related to the prolate spheroidal function is studied. From the consideration of the Fredholm determinant of the integral equation, a family of generalized error function is defined, with which the Fredholm determinant of the sinc kernel is also evaluated. An analytic solution of a special ease of the fifth Painlev~ transcendent is then worked out explicitly.

关键词： of is exp in Generalised Error Functions from the Kerr Metric from

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Fuel-Optimal Trajectory Optimization for Lunar Soft Landing via Enhanced Simultaneous Dynamic Optimization Approach

Fuel-Optimal Trajectory Optimization for Lunar Soft Landing ...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Lin Ma Zhengyu Song Zhijiang Shao College of Control Science and Engineering Zhejiang University National Key Laboratory of Science and Technology on Aerospace Intelligent Control

ISBN: (纸本)9781467383196

In this study,the fuel-optimal trajectory optimization problem of lunar soft landing using variable-thrust propulsion is ***,we formulate the trajectory optimization problem of lunar soft landing with three-dimensional kinematics and dynamics,boundary constraints,and path constraints strictly *** formulated trajectory optimization problem is then solved by the simultaneous dynamic optimization *** bounds imposed on the magnitude of the engine thrust,the optimal thrust profile typically has a "bang-bang" *** general simultaneous dynamic optimization approach has difficulty handling breakpoints of control profiles.A novel adaptive mesh refinement strategy based on a constant Hamiltonian profile is proposed to address the difficulty of locating breakpoints of the thrust *** results show that the enhanced simultaneous dynamic optimization approach with the adaptive mesh refinement strategy can effectively capture breakpoints of the optimal thrust profile and obtain more refined optimal solutions,compared with the general simultaneous dynamic optimization approach.

关键词： profile red Fuel-Optimal Trajectory Optimization for Lunar Soft Landing via Enhanced Simultaneous Dynamic Optimization Approach

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The Development of A Novel Servo Motor controller Based on EtherCAT and FPGA

The Development of A Novel Servo Motor Controller Based on E...

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第28届中国控制与决策会议

作者： Jianjun Liu Songlin Chen Guojiang Zhang Lei Shi Control and Simulation Center Harbin Institute of Technology Beijing Control Engineering Research Institute Key Laboratory of space intelligent control

ISBN: (纸本)9781467397155

This paper focuses on the design of a novel SMC(servo motor controller) based on EtherCAT in order to realize flexible networked multi-axis motion control with low cost and high *** is chosen as only kernel component of the SMC to improve the integration level of the *** with some necessary peripheral chips,those functions such as EtherCAT communication,encoder signal acquisition and processing,D/A conversion and logic I/O control can be executed independently and parallelly at high *** control algorithm is implemented to achieve the closed-loop control of a single motor by embedding Nios Ⅱ soft core in *** the application of multi-axis control,multiple SMCs as the EtherCAT slaves can be connected to an IPC(Industrial PC) as the EtherCAT master to establish a flexible networked multi-axis motion control *** on SOEM(Simple Open EtherCAT Master),the EtherCAT master program is developed in the form of dynamic link library,which can realize more advanced control algorithm to meet the needs of complex applications with the help of powerful computing ability of an *** general,the novel SMC is with the advantages of low cost,compact size,simple connection,high flexibility and good real-time performance,and expects a promising application prospect in the field of motion control.

关键词： Servo Motor Motion control EtherCAT FPGA Multi-Axis

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An evolutionary potential game theoretic approach for the K-COVER problem in multi-UAV sensor networks

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Zhongguo Kexue Jishu Kexue/Scientia Sinica Technologica 2016年第10期46卷 1016-1023页

作者： Sun, Changhao Duan, Haibin Bio-inspired Autonomous Flight Systems Research Group Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Qian Xuesen Laboratory of Space Technology China Academy of Space Technology Beijing100094 China

This paper focuses on the K-COVER problem in unmanned aerial vehicle (UAV) sensor networks and proposes a game theoretic approach based on the network potential game and Log-linear learning. After detailing the research progress at home and abroad, we firstly model the K-COVER problem in UAV networks as network potential game via appropriately designing of individual and global payoff functions. Secondly, a Log-linear learning based algorithm is proposed, whose convergence and optimality are proven using inhomogeneous Markov chain theory. Simulation results demonstrate the feasiblity, effectiveness, and superiority. © 2016, science Press. All right reserved.

关键词： Sensor networks

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Design of Distributed and Autonomous Test System Based on B/S Mode

Design of Distributed and Autonomous Test System Based on B/...

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2016 3rd International Conference on Engineering technology and Application（ICETA 2016）

作者： Juan Chen Yuan Li Wanguo Li Youwei Zhu Xiaojian Zhang Junwei Zhao Science and Technology on Aerospace Intelligent Control Laboratory Beijing University of Aeronautics and Astronautics

With the transformation of military tactic to informatization and networking and the need of rapid processing and measurement of mass of data,the measurement system of missile launch system is important to guarantee the operation to be *** order to reduce the complexity of the measurement and control system and the time of preparation before launching and increasing the level of combat,the authors build a distributed and autonomous measurement system based on B/S(Browser/Server) mode which combines the technology of virtual instrument,database,embedded system and various communications *** this system,the authors use general development tool Visual C++ to develop the background test program for underlying data collection,and use My Eclipse to design front pages to achieve remote monitoring,data display and output the analyzed statistical *** system satisfies the technical requirement after the performance testing and data acquisition *** provides a platform for the future study of data synchronization and parallel *** the same time,it is useful for the development of multi-testing nodes and large amount of data communication of complex distributed measurement system.

关键词： distributed measurement and control system B/S mode embedded system Ajax asynchronous interaction CGI Comment Gateway Interface

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