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IEEE International Conference on Unmanned systems (ICUS)

作者： Zhuo Zhang Mingrui Hao School of Electronics and Information Northwestern Polytechnical University Xian China Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137933

The unmanned aerial vehicle(UAV) power system consists of components that provide flight power for the UAV, which mainly includes three parts: motor, electronic speed controller(ESC), and battery. Since the UAV always operates in the open air, which requires high stability of the power system, the failure mode and effects analysis(FMEA) is particularly significant and it has been widely used to examine potential failures in systems or components. However, the traditional FMEA method has many unreasonable points. In order to better deal with the uncertainty and improve the stability of the UAV power system, we propose a FMEA method which is based on the generalized Dempster-Shafer structures, the failure modes are comprehensively analyzed and the risks are ranked by combining the characteristic information of risk factors with the generalized evidence theory. The new method can not only deal with the uncertainty of risk assessment, but also further improve the reliability of effects analysis. In addition, the FMEA experiment of the UAV power system is carried out in this paper. The experimental results show that the method is effective for practical applications.

关键词： Failure mode and effects analysis Generalized dempster-Shafer stucture Fuzzy set theory Unmanned aerial vehicle power system Failure Mode and Effect Analysis Unmanned Aerial Vehicle drone honey bees Fuzzy Set Theory FAILURE MODES power systems Power system stability

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Application of Neutrosophic Multiple Criteria Decision Making in Unmanned system

Application of Neutrosophic Multiple Criteria Decision Makin...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yu Zhong Jiajia Zhao School of Electronics and Information Northwestern Polytechnical University Xi’an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Bejing China

ISBN: (纸本)9781728137933

The multiple criteria decision making (MCDM) is universal and applicable for plenty of unmanned systems which are widely concerned in civil and military fields due to their adaptability and safety. The contributing factors of decision making in unmanned systems are complicated due to the inhomogeneity and nondeterminacy of environment and the relative importance of criteria. Consequently, these critical factors fail to be considered felicitously in many traditional methods. In this paper, a neutrosophic MCDM approach is proposed to mitigate this matter. The neutrosophic set generated from collected information of multiple sources would be fused by the aggregation operator to obtain the decision matrix, then the weights of criteria would be obtained via the proposed method based on the decision matrix, and the decision results could be determined by the aggregation operator and defuzzification method of aggregated neutrosophic set. The application of neutrosophic set can handle numerous uncertain matters in unmanned systems. Finally, an example was provided to illustrate the reasonableness and stability of the proposed approach.

关键词： Decision making Correlation Uncertainty Nonhomogeneous media Stability criteria Space vehicles

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Suppression of Actuator Nonlinearities Based on the Cascade Active Disturbance Rejection Approach

Suppression of Actuator Nonlinearities Based on the Cascade ...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Wei Mingjun Xu Cheng Hu Wanhai Ji Hua Gao Feng Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory The Beijing Electro-Mechanical Engineering Institute Beijing China Aviation Institute of Technology of CASIC Beijing China

ISBN: (纸本)9781728137933

In this paper, influences of actuator nonlinearities and their suppression methods are studied. Firstly, the influences of the dead zone and backlash characteristics of the actuator on the control performance of statically unstable missiles are analyzed in detail. Then based on the cascade control method and the active disturbance rejection control (ADRC) theory, a nonlinear "double-layer compensation" suppression method for the actuator nonlinearities is proposed. Finally, the simulation verification is carried out. Simulation results show that the "double-layer compensation" suppression method based on the cascade ADRC approach can significantly suppress the adverse effects such as system self-sustaining oscillation caused by actuator nonlinearities, and effectively improve the control performance of the statically unstable missile.

关键词： Actuators Missiles Disturbance observers Nonlinear control systems control nonlinearities

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Distributed simulation system hierarchical design model based on quotient space granular computation

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Zidonghua Xuebao/Acta Automatica Sinica 2010年第7期36卷 923-930页

作者： Chen, Jie Wu, Di Zhang, Juan Department of Automation Beijing Institute of Technology Beijing 100081 China Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China VALORIA Laboratory Department of Computer Science and Technology University of South Brittany Vannes Cedex 56017 France

To answer the problem of ambiguous design levels for large-scale distributed simulation systems, this paper proposes a hierarchical system model based on the quotient space theory. This model consists of a system global design level, an architecture level, and a execution structure level to solve the problem of diverse levels on system design. Furthermore, we deeply analyze the relationship between the granules of different levels in both horizontal and vertical directions, and integratedly consider simulation tasks, resources and services. Finally, the model is verified based on a real simulation system design example, and the results illustrate that the flexibility and reusability of the system can be improved with the application of the hierarchical design model. Copyright © 2010 Acta Automatica Sinica. All rights reserved.

关键词： systems analysis

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Event Trigger Mechanism-Based Robust control for Cyber-Physical systems under DoS Attack

Event Trigger Mechanism-Based Robust Control for Cyber-Physi...

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Chinese Automation Congress (CAC)

作者： Peng Tian Huiling Xu Jiajia Zhao Lewei Dong School of Mathematics and Statistics Nanjing University of Science and Technology Nanjing P-R-China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing P.R.China

In this paper, the event trigger mechanism-based robust control problem is investigated for cyber-physical systems under denial of service attacks and disturbances. The effects of DoS attacks are regarded as a type of data packet loss. An event trigger mechanism is introduced into the control scheme design to effectively compensate the packet loss data. The robust attenuation technology is composited into control scheme to reduce the impact of disterbances. Then, by modeling the cyber-physical systems under denial of service(DoS) attack as a class of bounded sequential switching system, and constructing the corresponding Lyapunov function, the stability of the system is verified and analyzed. Finally, simulation experiments are given to verify the correctness of the above theoretical results.

关键词： Robust control Automation Switching systems Packet loss Switches Cyber-physical systems control systems

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Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surface Vehicle in Marine Environment

Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surf...

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Information technology,Big Data and Artificial Intelligence (ICIBA), International Conference on IEEE International Conference on

作者： Xianzhi Qi Wenxing Fu Pei An Bingli Wu Jie Ma National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728152240

ISBN: (纸本)9781728152257

Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a novel data preprocessing method on 3D LiDAR data for the unmanned surface vehicle in the marine environment. It consists of two tasks: outlier removal and wake filtering. As the spatial resolution of LiDAR changes with distance, we exploit distance normalization on statistical outlier filter for robust outlier removal. Considering the gradient difference between wave wake and obstacle surface near the water, we define and calculate the vertical state of point cloud on the range image to obtain the pre-filtering point set, and then use the RANSAC method to filter out the wake points. Experiments on real data has demonstrated the effectiveness of the proposed algorithm both in terms of feasibility and accuracy.

关键词： Three-dimensional displays Laser radar Filtering Filtering algorithms Spatial resolution Task analysis Measurement by laser beam

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Effective distributed algorithm for solving linear matrix equations

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science China(Information sciences) 2023年第8期66卷 265-266页

作者： Songsong CHENG Jinlong LEI Xianlin ZENG Yuan FAN Yiguang HONG Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Department of Control Science and Engineering Tongji University Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Dear editor,Solving linear matrix equations is a basic and important problem in many fields such as the computation of generalized inverses of matrices and(generalized) Sylvester equations. Also, the linear algebraic ...

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Distributed differential evolution algorithm with adaptive parameters

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Kongzhi yu Juece/control and Decision 2014年第4期29卷 701-706页

作者： Zhang, Chun-Mei Chen, Jie Xin, Bin School of Automation Ministry of Education Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China School of Electronic Information Engineering Taiyuan University of Science and Technology Taiyuan 030024 China

An adaptive distributed differential evolution algorithm is proposed based on the change of the individual's fitness value. Firstly, the initial population is divided into several subpopulations. When the migration condition is satisfied, the best individual in each subpopulation will replace the worst individual of its neighbor subpopulations according to the Von Neumann topology. The migration mechanism among subpopulations enables the information to be communicated in the whole population. Meanwhile, the adaptive mechanism of F and CR is presented for assigning different F and CR to each individual according to the individual's fitness. Numerical results show that, the proposed algorithm is beneficial to explore the solution space, which can avoid the premature convergence and search the excellent solutions.

关键词： Optimization

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Adaptive bat algorithm for coverage of wireless sensor network

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International Journal of Wireless and Mobile Computing 2015年第3期8卷 271-276页

作者： Cai, Xingjuan Wang, Lei Kang, Qi Wu, Qidi Department of Control Science and Engineering Tongji University Shanghai201804 China Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology Taiyuan030024 China Shanghai Key Laboratory of Financial Information Technology Shanghai200433 China

Bat algorithm is a novel swarm intelligent algorithm inspired by the echolocation behaviour of bats. Pulse rate of emission is one important parameter, which is adjusted in an exponential manner in the standard version, however, this manner provides a fast convergent behaviour in the first several generations. With this manner, the exploitation capability is limited. In this paper, a new linear adjusted manner is employed to enhance the local search capability. To test the performance, it is applied to solve the optimal coverage problem of Wireless Sensor Network (WSN). Simulation results show it is effective when compared with the standard version of bat algorithm. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： Wireless sensor networks

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GPIO Based Iterative Learning control for Manipulators with Time-Varying Disturbances 42

GPIO Based Iterative Learning Control for Manipulators with ...

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42nd Chinese control Conference, CCC 2023

作者： Lu, Huangyuwei Wang, Zuo Sun, Jiankun Xiao, Xi Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Shenzhen Research Institute Southeast University Shenzhen518063 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing211106 China

ISBN: (纸本)9789887581543

To improve the disturbance rejection ability and repetitive tracking accuracy of manipulators, a composite iterative learning control (ILC) scheme via generalized proportional integral observer (GPIO) is proposed. A high-order polynomial is first employed to model the time-varying disturbances that include unmodeled dynamics, parameter uncertainties and load fluctuations. A GPIO is then designed to estimate the disturbances and high-order time derivatives. By introducing estimations into a PD-type ILC at each iteration, a composite control scheme is obtained, such that the undesirable influence of time-varying disturbances can be effectively attenuated in the repetitive tracking process of manipulators. In this paper, the rigorous stability analysis of the closed-loop system is presented to guarantee that the tracking error exponentially converges to zero as the iteration number tends to infinity. The effectiveness of the proposed control scheme is finally verified by simulation results. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Disturbance rejection

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