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control technology and Applications (CCTA),

作者： Yijun Feng Wanchun Chen Liang Yang Donghui Wei School of Astronautics Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

In this paper, we present a numerical method for two-dimensional terrain following (TF) optimal trajectory regeneration. This method corrects the planned optimal trajectory to avoid collision with previously unknown obstacles. Firstly, an optimal TF trajectory is acquired using Hp-adaptive Gaussian quadrature collocation method. Then, a neighboring optimum feedback law is presented for trajectory regeneration using a backward sweep method. Numerical simulations are provided to validate the effectiveness and demonstrate the features of the problem.

关键词： Trajectory History Vehicle dynamics Mathematical model Optimal control Aircraft Aerodynamics

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Monocular visual based obstacle distance estimation method for ultra-low altitude flight

Monocular visual based obstacle distance estimation method f...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Jin Cheng Donghui Wei Wanchun Chen Wang Gao Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China School of Astronautics Beihang University Beijing China

ISBN: (纸本)9781728137933

This paper focuses on the problem of ultra-low-altitude flight obstacle distance estimation for monocular vision-assisted aircraft. First, the basic error model of distance estimation using sequence images is derived and the phenomenon of "epipole dead zone" is revealed. Then the distance estimation algorithm based on pairs of coplanar points is proposed as well as its error model. This algorithm is proved to be a solution of the "epipole dead zone" problem theoretically. Finally, numerical simulations show that the proposed distance estimation algorithm can effectively improve the accuracy of distance estimation in the "epipole dead zone".

关键词： Ultra-low altitude flight Monocular vision Distance estimation Monocular Vision error model flight altitude flight Death Dead

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Optimal Terrain Following Trajectory Regeneration Using Linear Gauss Pseudo-Spectral Method

Optimal Terrain Following Trajectory Regeneration Using Line...

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IEEE International Conference on Unmanned systems (ICUS)

ISBN: (纸本)9781728137933

A numerical method for two-dimensional terrain following optimal trajectory regeneration is proposed in this paper, which corrects the planned optimal trajectory to avoid collision with previously unknown obstacles. The neighboring extremal problem is established near the optimal terrain following trajectory, which can be regarded as a two-point boundary-value problem (TPBVP) and solved using Linear Gauss Pseudo-Spectral (LGP) method. Compared with the classical backward sweep method for solving TPBVPs, LGP method is much faster in obtaining approximate results. Numerical simulations are provided to validate the effectiveness and demonstrate the features of the problem.

关键词： Terrain following Optimal control Neighboring extremal Linear gauss pseudo-Spectral terrain following Optimal control Numerical methods trajectory Gauss

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Distributed cooperative guidance for maneuvering targets with directed conmunication topologies

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2020年 41卷

作者： Dong, Xiaofei Ren, Zhang Chi, Qingxi Li, Qingdong School of Automation Science and Electrical Engineering Beihang University Beijing100083 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100083 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100083 China

This paper studies the distributed cooperative guidance for maneuvering targets with directed communication topologies. First, a guidance system model is established based on the geometric relationship between the aircraft and the target, in which the nonlinear problem is solved by feedback linearization. In this design, the unknown maneuver of the target is observed by the extended state observer, and the estimation of the unknown maneuver of the target is applied to the design of the guidance law. In this process, the influence of the target maneuvering on the time-to-go is eliminated by means of direct compensation. Then, the designed guidance law is brought into the guidance model, transforming the problem of cooperative guidance into the problem of consensus. Next, the necessary and sufficient conditions for the convergence of the designed cooperative guidance law are obtained by conducting the pole analysis. Finally, the designed cooperative guidance law and the method of the parameter selection are analyzed by adopting the simulation analysis. © 2020, Beihang University Aerospace Knowledge Press. All right reserved.

关键词： State estimation

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SmartPV-AIoT: an AIoT-integrated framework for fault diagnosis and remote monitoring in photovoltaic systems

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Energy Conversion and Management: X 2025年

作者： Ehtisham Lodhi Xiaoli Liu Gang Xiong M. Adil Khan Zeeshan Lodhi Tahir Nawaz Adil Dilawar Sasu Tarkoma Feiyue Wang Zhejiang University-University of Illinois Urbana-Champaign Institute International Campus Haining 314400 China The SKL for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Computer Science University of Helsinki Helsinki 00560 Finland School of Transportation Fujian University of Technology Fuzhou China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Computer Science COMSATS University Islamabad Abbottabad Campus 22060 Pakistan Department of Electronics Technology University of Technology Nowshera 24100 Pakistan Department of Mechatronics Engineering National University of Sciences and Technology H-12 Islamabad 44000 Pakistan The SKL of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources Research Chinese Academy of Sciences Beijing 100101 China The Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing 100190 China

This paper presents SmartPV-AIoT, a cost-effective and edge-computing-based framework for real-time fault detection and environmental monitoring in photovoltaic (PV) systems. Addressing the challenges faced in remote or intermittently connected environments, the proposed system integrates electrical and environmental sensor data using a Raspberry Pi 4 and NodeMCU microcontroller. A lightweight Res-BiLSTM model, combining residual learning and bidirectional long short-term memory (BiLSTM) layers, is deployed at the edge to perform local fault classification by analyzing seven key parameters derived from I to V curve measurements and ambient conditions. Additionally, the framework employs multi-sensor data fusion by integrating voltage, current, irradiance, and temperature measurements to support comprehensive fault detection and predictive maintenance. The framework was validated on a 4.56  kW PV installation using a dataset of 2400 labeled samples representing normal operation, open-circuit, short-circuit, and partial shading conditions. The classifier achieved a fault detection accuracy of 96.67 %, with a maximum inference latency of 290  ms and low power overhead, making it suitable for real-time, on-site diagnostics. The system supports offline operation with automatic data synchronization upon connectivity restoration and includes mobile-based monitoring for remote accessibility. The proposed framework is designed for modular deployment and scales linearly with array size. Overall, SmartPV-AIoT offers a scalable, resilient, and practical solution for intelligent PV monitoring, particularly in resource-constrained or off-grid environments.

关键词： Photovoltaic (PV) Artificial Intelligence of Things (AIoT) Green energy resources Deep learning Fault detection Fault classification Monitoring system Edge intelligence

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A strategy of multi-UAV cooperative path planning based on CCPSO

A strategy of multi-UAV cooperative path planning based on C...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yuanna Liu Hao Lu dept. School of Electronics and Information Northwestern Polytechnical University Xi’an China dept. Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137933

Multi-UAV cooperative formation flying has significant advantages in broadening the scope of UAV operations and improving combat effectiveness. How to realize the cooperative path planning of multi-UAV is an open issue. In order to solve the search performance degradation as dimension increases, a strategy of multi-UAV cooperative path planning based on Cooperative Coevolution Particle Swarm Optimization (CCPSO) is proposed in this paper. Firstly, the initial Dubins path is generated for each UAV in the formation, of which the longest one is selected as the reference path. Intermediate waypoints are designed to modify the initial paths to avoid collisions with obstacles. Then, CCPSO algorithm is applied to optimize path parameters and adjust the path length to be equal to the reference path to ensure time coordination. Collision avoidance between UAVs is achieved in the collaborative evaluation phase. Finally, an formation rendezvous example and comparison with CCGA are given to explain the validity and excellent search ability of the proposed method.

关键词： Path planning Optimization Particle swarm optimization Safety Unmanned aerial vehicles Collision avoidance Planning

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Study on Scattering Signature Signal Modeling Method of Sea-surface Target for Bi-static Synthetic Aperture Radar

Study on Scattering Signature Signal Modeling Method of Sea-...

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2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019

作者： Guijier, DIao Hong, Ni Yajing, Zhang Tianming, Zhan Xiaojian, Xu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Datang Mobile Communication Equipment Co. Ltd. Datang Telecom Group Beijing China Beijing Aerospace Smart Manufacturing Technology Development Co.Ltd. Beijing China Electronic Information Engineering College Beihang University Beijing China

ISBN: (纸本)9781728123455

Based on the coupling scattering mechanism between the ship and sea surface, a scattering signature modeling method of sea-surface target for bi-static imaging radar is proposed, considering the modulation effects of sea-surface forcing to ship targets. The bi-static scattering signature signal for sea-surface target is modeled, in conjunction with high frequency asymptotic techniques for electromagnetic (EM) scattering calculation, the multi-path EM scattering model, the time-evolving complex reflection coefficient model and the ship motion dynamics. The time-varying scattering signatures for a typical ship on time-evolving sea-surface are simulated and analyzed. © 2019 IEEE.

关键词： Radar imaging

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Preliminary research on modeling and simulation technology of artificial intelligence system 3

Preliminary research on modeling and simulation technology o...

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2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering, IMMAEE 2018

作者： Li, Kaiyue Liu, Lei Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China

The complex system of large-scale intelligent, concurrent and polymorphic organizational structure is a hot topic in the field of simulation. Qualitative and quantitative research on such systems requires integration of related technologies in the fields of computer simulation, system theory, and artificial intelligence. Mufti-agent simulation uses system theory and Mufti-agent system modelling method to build a system high-level model, and uses the system computing model established for the simulation software and hardware support technology based on the agent model to realize the simulation. Because it can effectively deal with the interlinear, interactivity and emergence of complex systems, it is considered to be the most dynamic and breakthrough methodology for complex system simulation. Based on this paper, the concept, theoretical method, technology and application of intelligent system engineering are mainly discussed. The application of artificial intelligence in modelling and simulation is analysed with examples. © 2018 Published under licence by IOP Publishing Ltd.

关键词： system theory

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Aeromagnetic Compensation Based on Tikhonov Regularization with Limited L-Curve Parameter-Choice Algorithm 37

Aeromagnetic Compensation Based on Tikhonov Regularization w...

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37th Chinese control Conference, CCC 2018

作者： Mengyin, Fu Jie, Li Tailin, Wu Tong, Liu Meiling, Wang Kai, Wang Jiapeng, Kang Beijing Institute of Technology Beijing100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing100081 China Nanjing University of Science and Technology Nanjing210094 China

ISBN: (纸本)9789881563941

Magnetic anomaly detection has great application value to national economic development and national defense construction, while the presence of various interference magnetic fields on the aircraft will affect the detection of magnetic anomaly. Therefore, it is very important to compensate the aircraft interference magnetic field. In order to solve the problem that the accuracy of the parameters is poor by using ridge estimation in the process of solving the parameters of aircraft interference magnetic field model, we propose a method based on Tikhonov Regularization (TR). Firstly, the optimal regularization parameter is obtained by the limited L-curve method in our work. Secondly, the aircraft interference magnetic field model parameters are obtained by using the TR method. Finally, we use the model parameters to calculate the aircraft interference magnetic field in the real flight, and complete the compensation. The effectiveness of this method is validated by simulation experiments. The results show that the method proposed in this paper has the advantages of high precision and convenient application, so it can be used to compensate the aircraft interference magnetic field effectively. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Parameter estimation

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A Study on The Modified Proportional Guidance of LOS Angle Acceleration

A Study on The Modified Proportional Guidance of LOS Angle A...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Xingan Li Cheng Xu Di Zhang Wenxing Fu Meiyun Zheng Xiaofei Chang School of Astronautics Northwestern Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Shanghai Academy of Spaceflight Technology Shanghai China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China School of Marine Science and Technology Northwestern Polytechnical University Xi'an China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

Because of the increasing mobility of air targets and the trend of heavy using of UAV in the future, the paper analyzes the parameters and ballistic characteristics of the proportional guidance method based on the revised idea of proportional guidance. The method has certain defects in the face of high maneuvering targets, so we have derived a kind of modified proportional guidance law, and designed a new modified proportional guidance law which can effectively overcome the target maneuvering interference. The digital simulation results show that the modified guidance law can effectively overcome the interference factors such as target maneuvering, and it is easy to implement in engineering.

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