检索结果-内蒙古大学图书馆

Adaptive-triggered H∞ sliding-mode optimal control for nonlinear input-limited systems

Communications in Nonlinear science and Numerical Simulation 2025年 149卷

作者： Zhang, Hongxu Wang, Honggui Department of Applied Mathematics Harbin University of Science and Technology Harbin150080 China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin150080 China

This paper concentrates on the H∞ sliding mode optimal control (SMOC) problem for nonlinear systems with mismatched interference and constrained input. Firstly, an adaptive-triggered strategy for the discontinuous control part is employed, which can suppress input interference and the separated matched disturbances. Also, the system trajectories are guaranteed to converge to the sliding manifold. Moreover, the adaptive-triggered strategy is optimized into self-triggered strategy with the aim to avoid the real-time measurement of triggered conditions, and the minimum time interval is obtained to prevent Zeno phenomenon. Subsequently, the optimal H∞ control problem of sliding motion turns into a two-person ZS game issue. To derive the solutions of event-trigger HJI equation, an adaptive dynamic programming (ADP) algorithm with critic-only structure is implemented to obtain the optimal control online. Furthermore, by utilizing the Lyapunov technique, the uniformly ultimately bounded (UUB) conditions about system state and the weight estimation error are obtained. At last, simulation outcomes are analyzed to validate the effectiveness of the control strategy. © 2025 Elsevier B.V.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Morphing-Aided Maneuver control of Morphing Aircraft with Variable Wing Span and Sweep Angle

Morphing-Aided Maneuver Control of Morphing Aircraft with Va...

引用

International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Wang, Zijian Hou, Mingzhe Hao, Mingrui Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811966125

This paper presents a longitudinal morphing-aided maneuver control model of an aircraft which could change wing span and change sweep angle, and solved the morphing aircraft control problem of parameter uncertainty and external disturbance by a robust composite control strategy with nonlinear control allocation. Based on DATCOM simulation software and nonlinear least square interpolation, the aerodynamic model is obtained, and established the longitudinal morphing-aided maneuver control model of morphing aircraft. To ensure the maneuverability of the morphing aircraft, a nominal controller which could converge in finite time is designed. The integral sliding mode disturbance observer with super screw control is designed to eliminate the tremor, and the uncertainties and external disturbances are observed and compensated. Then the obtained control signals are assigned to each control inputs through nonlinear control allocation. The simulation result show the effectiveness of the scheme, and prove that the aircraft has good tracking performance by independently changing the shape to assist the traditional control surface. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft control

来源：评论

学校读者我要写书评

暂无评论

Status and Application of Artificial Intelligence-Based Cooperative Positioning and Navigation technology for UAV Clusters 1

引用

3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Sheng, Danting Cheng, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Intelligent Science and Technology Academy Limited of CASIC Beijing100041 China

ISBN: (数字)9789819710911

ISBN: (纸本)9789819710904

Aiming at the UAV cluster cooperative navigation, this paper tries to summarize the development experience and existing results on two issues, namely, the application of filtering and artificial intelligence in UAV cluster cooperative navigation. The application of filtering in UAV cluster cooperative navigation briefly describes the application of Kalman filtering and extended Kalman filtering, traceless Kalman filtering and other nonlinear filters, intelligent optimization algorithms combined with particle filtering in cooperative navigation. Artificial Intelligence Methods in Cooperative Navigation of UAV Clusters describes the application of deep feed-forward networks, brain-like information fusion methods based on integrated learning, multivariate interpolation of radial-based neural networks and Kalman filtering combined in the field of cooperative navigation. The results of existing applications of filtering and artificial intelligence in UAV cluster cooperative navigation are analyzed and summarized, and the future development of the field is outlooked. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Improved ICCP Algorithm and Its Application in Gravity Matching Aided Inertial Navigation system 33

Improved ICCP Algorithm and Its Application in Gravity Match...

引用

第三十三届中国控制会议

作者： LIU Meiqi WANG Bo DENG Zhihong FU Mengyin School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563842

Considering two disadvantages in traditional gravity matching aided inertial navigation system,low matching accuracy and error accumulation,we propose an improved gravity matching algorithm and aided method for inertial navigation *** of using the sequence sampling,the single point sampling is applied to improve the structure of proposed algorithm,enhancing the matching speed and *** the aided navigation system method,we use combination of Sage-Husa adaptive filter and strong-tracked Kalman filter to make further optimal estimation of the matching *** results show the effectiveness of the real-time ICCP algorithm and the combined filter *** to the traditional methods,proposed method provides higher matching and navigation accuracy.

关键词： gravity aided navigation,single-point sampling,combined filter

来源：评论

学校读者我要写书评

暂无评论

Target-Focused Video Stabilization for Human Computer Interaction 29

Target-Focused Video Stabilization for Human Computer Intera...

引用

第29届中国控制与决策会议

作者： Hao Zhu Qing You Wenjie Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781509046584

As an important task of video enhancement,a lot of video stabilization methods have been *** in many real-world applications,especially the systems with human-computer interactions,existing methods only remove camera motion in stabilized frames,the remaining object motion will also lead to deviations in manual *** this paper,we collect practical hand drawn bounding boxes which have been shown to contain serious *** we propose a target-focused video stabilization method consisting of a proposal-based detection component and a trackingbased motion estimation *** experiments demonstrate our method can remove camera jitter and target motion simultaneously,and also offer users a friendly and effective way to draw accurate target regions.

关键词： Video Stabilization Human-computer Interactive Object Proposal

来源：评论

学校读者我要写书评

暂无评论

A Regional Necessity Based Multi-agent Target Search Strategy for Post-earthquake Rescue 41

A Regional Necessity Based Multi-agent Target Search Strateg...

引用

第41届中国控制会议

作者： Xi Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The damage caused by the earthquake is *** the purpose of post-earthquake rescue is to reduce *** it is necessary to improve the efficiency of rescue as much as *** paper focuses on multi-agent cooperative target search in the post-earthquake rescue and how to exploit the prior information of post-disaster building to improve the searching efficiency.A regional necessity based searching strategy is proposed which utilizes pre-disaster building information and adapts to dynamic ***,the target probability map is estimated according to the distribution information of pre-disaster ***,the regional necessity map is constructed by integrating the target probability map and the perception of the environment during the search ***,the search strategy is proposed based on the regional necessity map and the particle swarm optimization *** the gradient direction of regional necessity and local optimal velocity,the agent dynamically selects the search *** comparing with other search strategies in simulation experiments,the proposed strategy could shorten the searching time and improve the searching efficiency in the small and medium-scale task ***,the search strategy can adapt to the post-earthquake dynamic environment,which is confirmed by dynamic experiments.

关键词： multi-agent cooperative target search post-earthquake rescue regional necessity particle swarm optimization

来源：评论

学校读者我要写书评

暂无评论

Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding

引用

science China(Technological sciences) 2023年第7期66卷 1928-1936页

作者： HAN FengTao TAM SikYuen CAO ZhiHong ZHAO XingWei TAO Bo DING Han State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing System Technology for Complex Products Beijing Institute of Electronic System EngineeringBeijing 100854China ROKAE(Beijing)Technology Co. Ltd.Beijing 100193China

Stiffness adjustment is an important feature of human arm *** adaptive variable impedance control can adapt to the robotic stiffness,but may result in a large *** this paper,nonlinear impedance control is proposed for collaborative robotic grinding,where nonlinear force feedback is designed to compensate for the nonlinear stiffness of the ***,the interaction system can be linearization to ensure the system ***,a target trajectory adaptation strategy is studied to ensure the force tracking ***,switching law between trajectory tracking and force tracking is proposed when the robot performs a complex grinding *** stability of the switch control as well as the trajectory adaptation law is *** are conducted in a robotic grinding test rig,where the robot is used to grind a turbine *** results show that the nonlinear impedance control can obtain stable grinding force,and have better grinding quality than the linear impedance control.

关键词： impedance control robotic grinding trajectory adaptation force tracking

来源：评论

学校读者我要写书评

暂无评论

Dynamic Scheduling for Airport Special Vehicles Based on a Multi-strategy Hybrid Algorithm 41

Dynamic Scheduling for Airport Special Vehicles Based on a M...

引用

第41届中国控制会议

作者： Wei Quan Chen Chen Zhuang Shao Kai Meng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

When arriving at the airport,flight needs to be served by special *** at the dynamic time window scheduling problem of airport refueling vehicles,this paper establishes a vehicle routing problem model with time window to minimize the operating ***,a multi-strategy genetic algorithm is designed to gain the solve time window scheduling problem,which employs the crossover based on particle swarm optimization to accelerate the early search capability,and the local search method based on simulated annealing to increase the local optimization *** aiming at dynamically adjusting vehicle routes on the basis of static scheduling,a local replanning strategy based on a dynamic time window is introduced,which uses the original route matching and rescheduling *** results show that the multi-strategy hybrid algorithm can effectively reduce the number of routes and vehicles the airport *** different scales' dynamic changes of time windows,the algorithm could enable vehicles to still meet time constraints and effectively minimize the change of routes.

关键词： vehicle scheduling multi-strategy genetic algorithm dynamic scheduling local replanning strategy

来源：评论

学校读者我要写书评

暂无评论

Low-frequency Periodic Error Identification and Compensation for Star Tracker Attitude Measurement

引用

Chinese Journal of Aeronautics 2012年第4期25卷 615-621页

作者： WANG Jiongqi XIONG Kai ZHOU Haiyin Department of Mathematics and System Science National University of Defense Technology Changsha 410073 China National Laboratory of Space Intelligent Control Beijing 100048 China

The low-frequency periodic error of star tracker is one of the most critical problems for high-accuracy satellite attitude *** this paper an approach is proposed to identify and compensate the low-frequency periodic error for star tracker in attitude *** analytical expression between the estimated gyro drift and the low-frequency periodic error of star tracker is derived *** then the low-frequency periodic error,which can be expressed by Fourier series,is identified by the frequency spectrum of the estimated gyro drift according to the solution of the first ***,the compensated model of the low-frequency periodic error is established based on the identified parameters to improve the attitude determination ***,promising simulated experimental results demonstrate the validity and effectiveness of the proposed *** periodic error for attitude determination is eliminated basically and the estimation precision is improved greatly.

关键词： star trackers attitude determination low-frequency periodic error gyro drift precision analysis

来源：评论

学校读者我要写书评

暂无评论

Research on Novel Fountain code for UAV Formation Flight control in UV Communication 7

Research on Novel Fountain code for UAV Formation Flight Con...

引用

2017 7th IEEE International Symposium on Microwave, Antenna, Propagation, and EMC Technologies

作者： Tai-fei Zhao YingXie XueLiu Peng Song Information Processing Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Xi'an University of Technology

ISBN: (纸本)9781509059300;9781509059294

Research of Unmanned Aerial Vehicle(UAV) formation is a hot spot in the field of UAV applications. Based on the fountain code, an encoding communication scheme using unequal level coding Lu by Transform(ULC-LT) code and stepwise unequal error protection Lu by Transform(SUEP-LT) code are proposed for the UAV formation communication. Simulation results reveal that the proposed coding scheme can reduce the decoding bit error rate and provide strong unequal error protection property across sources.

关键词： UAV Ultraviolet communication Fountain code Unequal Error Protection

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：