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第三十四届中国控制会议

作者： CHEN Chen WANG Yun TIAN Zhimin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Mechanical Equipment

ISBN: (纸本)9781467374439

Launch equipment hydraulic system plays a vital role in completion of mission due to its stability and accuracy. This paper built an effectiveness evaluation index system based on comprehensive analysis of launch equipment hydraulic system, compared weighting factor determination mechanisms, and integrated independence factor into weight determination by combining the strong coupling feature of launch equipment hydraulic system indexes. The final weight was integrated and determined in four aspects, including importance weight, information weight, independence weight and credibility weight. Then, the paper obtained the system effectiveness evaluation results by utilizing system operation data, and provided theoretical and data reference for equipment selection and effectiveness improvement.

关键词： launch equipment,hydraulic system,effectiveness evaluation,indexes coupling,integration weights

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UAV Typical Index Evaluation Method Based on Improving Evidence Theory

UAV Typical Index Evaluation Method Based on Improving Evide...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Geng, Huapin Suo, Bin Tong, Jiahui Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9789811694912

It is an effective way to get more accurate results of UAV performance evaluation by fusing the data of infield test and outfield test. The common Bayes multi-source data fusion method can make comprehensive use of multiple information types while ensuring the decision risk as small as possible, but there are some risks, such as insufficient data utilization and small sample data being "submerged" by large sample data in the fusion. Due to the different scale and credibility of multi-source data, a non-uniform distribution probability sampling method is proposed based on evidence theory for the same sample space to avoid the risk of small sample data being "drowned" by large sample data;meanwhile, for the situation that the fusion weight mainly depends on the evaluation of experts is not objective enough, a comprehensive weight confirmation method of multi-source test data is proposed based on credibility measurement so as to realize the comprehensive evaluation of performance indicators based on multi-source data. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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An adaptive hybrid optimizer based on particle swarm and differential evolution for global optimization

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science China(Information sciences) 2010年第5期53卷 980-989页

作者： XIN Bin 1,2 ? , CHEN Jie 1,2* , PENG ZhiHong 1,2 & PAN Feng 1,2 1 School of Automation, Beijing Institute of technology, Beijing 100081, China 2 Key Laboratory of complex system intelligent control and Decision, Ministry of Education, Beijing 100081, China 1. School of Automation Beijing Institute of Technology Beijing 100081 China2. Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This paper presents extensive experiments on a hybrid optimization algorithm (DEPSO) we recently developed by combining the advantages of two powerful population-based metaheuristics—differential evolution (DE) and particle swarm optimization (PSO). The hybrid optimizer achieves on-the-fly adaptation of evolution methods for individuals in a statistical learning way. Two primary parameters for the novel algorithm including its learning period and population size are empirically analyzed. The dynamics of the hybrid optimizer is revealed by tracking and analyzing the relative success ratio of PSO versus DE in the optimization of several typical problems. The comparison between the proposed DEPSO and its competitors involved in our previous research is enriched by using multiple rotated functions. Benchmark tests involving scalability test validate that the DEPSO is competent for the global optimization of numerical functions due to its high optimization quality and wide applicability.

关键词： global optimization statistical learning differential evolution particle swarm optimization hybridization adaptation rotated function

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Autonomous Tracking control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit

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Journal of Beijing Institute of technology 2020年第4期29卷 466-473页

作者： Jing Li Qingbin Wu Junzheng Wang Hui Qin Jiehao Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of TechnologyBeijing 100081China

Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent *** this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering *** on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are *** the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference *** experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.

关键词： autonomous tracking control four-wheel independent steering robot pure pursuit lateral error

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Overview of Anti-jamming Strategy for UAV Radar in Naval Battlefields 7th

Overview of Anti-jamming Strategy for UAV Radar in Naval Bat...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Li, Wen Pei, Hu-Cheng Qu, Guang-Zhou Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China

ISBN: (纸本)9789819733316

In modern naval battlefields, the use of limited jamming resources by ships has become increasingly flexible and variable, which greatly increased the difficulty of unmanned aerial vehicle (UAV) radar countermeasures. In order to further improve the anti-jamming ability of UAV radar, radar also needs to find strategic countermeasures. From the perspective of tactical use, this paper combs the general use strategy of typical jamming in naval battlefields, studies the corresponding anti-jamming strategy of radar, focuses on the role of radar target selection strategy in anti-jamming and the current situation of the application of game theory in anti-jamming, and regards the game between radar and ship as a real-time strategic countermeasure problem, Thus, the development direction of radar intelligent anti-jamming is put forward. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Game theory

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Angle Tracking control Strategy for Steering-by-Wire system with Dual Steering Actuator Motors 41

Angle Tracking Control Strategy for Steering-by-Wire System ...

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第41届中国控制会议

作者： Xuhang Zhang Linhui Zhao Guohuang Ji Zhiyuan Liu Department of Control Science and Engineering Harbin Institute of Technology Intelligent Power System Co. Ltd.

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Steering-by-wire(SBW) is a key technology to realize angle tracking for autonomous vehicles,and it directly affects the performance of active *** reliability performance of SBW system can be greatly improved by adopting dual motor steering ***,the dual-motor SBW vehicle often loses its stability due to the external interference,and the asynchronous response between the dual steering actuator motors will further deteriorate the stability of the *** purpose of this paper is to establish a method of angle tracking for the dual-motor steering by wire ***,the model of SB W was established and its validity was proofed by comparing the steering performance between the SBW and the traditional mechanical steering ***,by considering parameters uncertainties and difference of wheel load torque of the dual steering actuator motors,the steering angle tracking control strategy of dual motor SBW was *** paper established methods for the synchronization control of dual motor and closed-loop control of angle *** the angle synchronization error was decreased by current compensation *** validation results show that the proposed control strategy can decrease the synchronization error of dual motor and ensure the reliability of angle tracking.

关键词： Steering-by-wire Dual-motor Angle tracking Synchronization control

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Minimal Curvature and Range Path Connecting Two Oriented Points

Minimal Curvature and Range Path Connecting Two Oriented Poi...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Guo, Kun Xu, Cheng Wei, Zhenyan Xu, Heng Beijing Institute of Mechanical and Electrical Engineering Beijing100074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Bejing100074 China

ISBN: (纸本)9789811694912

Time and acceleration constraints have been extensively considered in flight vehicle path planning area. However, the limits of the required acceleration guaranteeing the existence of a path has not been fully studied yet. This paper presents an algebraic proof of the minimax curvature path connecting two oriented points with one inflection point, and then the minimal required acceleration and flight time are analyzed for all planar scenarios. It is revealed that for some geometry conditions, there exists a specific combination of curvature and range limits, while for other conditions, this combination can change continuously by increasing one and decreasing another. For all cases, the optimal paths are concatenations of circular arcs of equivalent radii in different forms, which means that to reduce the acceleration and flight time to the utmost, the overload should be evenly distributed along the whole path. The results in this paper can support fast on-line path planning in the presence of incident direction constraint with limited maneuverability and fuel. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Research on Multi-target Association Tracking Algorithm Based on IMM

Research on Multi-target Association Tracking Algorithm Base...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Siting, Peng Lei, Li Yichao, Ma Jun, Ren Beijing Electro-Mechanical Engineering Institute Beijing100074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811694912

Radar sensors are important detection and tracking equipment in national defense work. There are multiple targets in actual combat scenarios. It is necessary to quickly and accurately capture suspicious targets in the reconnaissance area and track them in real time. complex electromagnetic interference conditions and multi-target tracking requirements pose a great challenge to track correlation. This paper establishes a multi-target maneuver scenario and uses a joint probabilistic data interconnection algorithm based on interactive multi-model (IMM) to perform multi-target tracking. Correlation tracking, simulation results show that the algorithm is used to correlate the target maneuver and measurement information with good accuracy. Interactive multi-model filtering can mix the estimation results of each filter to generate a fused state estimation result. The description of the model is more accurate, which improves the tracking accuracy and tracking stability of the algorithm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Kalman filters

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Remote Sensing Image Object Detection Algorithm Based on Receptive Field Enhancement

Remote Sensing Image Object Detection Algorithm Based on Rec...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： MingJun, Liu Yun, Zhang Rui, Zhang Cheng, Xu Beijing Electro-Mechanical Engineering Institute Beijing10074 China Science and Technology on Complex System Control and Intelligent Agent Corporation Laboratory Beijing10074 China

ISBN: (纸本)9789811694912

Small object detection algorithm is always a difficult research topic in remote sensing images. A remote sensing image object detection algorithm which is based on receptive field enhancement is proposed in this paper. Firstly, the backbone network is the SSD net. In order to form the feature map pyramid, the receptive field enhanced convolution module is added in feature extraction. Then, the feature maps of the low-level and the high-level are spliced, so he output feature map retains the rich context information. Because it contains the information in the low-level feature map and the high-level feature map, which are location information and semantic information, respectively. Finally, based on the idea of dilated convolution, the receptive field enhancement module is designed to make the receptive field of the feature map larger. And the feature information is filtered to reduce the aliasing effect when the feature map is spliced. After the experimental result on remote sensing image dataset NWPU vhr-10, the average detection accuracy of the algorithm is 90%, which improves the object detection accuracy, especially the detection accuracy of the small objects. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolution

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Parameter Dynamic Selection Method of Multi-UAV Cooperative Search Based on Expert system

Parameter Dynamic Selection Method of Multi-UAV Cooperative ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Liu, Zhenchang Hao, Mingrui Wei, Donghui Liu, Yuting Zhao, Hongyin Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China

ISBN: (纸本)9789811966125

The cooperative search strategy is designed with the distributed model predictive method in this paper. For the rationality of decision-making of UAV swarm in different stages of the cooperative search, a dynamic parameter selection method based on the expert system is proposed. The weight of the objective function is adjusted online through the expert system so that the result of the search decision is more in line with the task requirements. Besides, a jump grid method is proposed for grid selection in cooperative search so that the UAV can select non-adjacent grids as the search point for the next time. The UAV's search frequency and trajectory maneuverability can be changed by adjusting the number of jump grids through the expert system. The simulation shows that the UAV with the expert system can dynamically adjust the search interval and search requirements, making the UAV swarm able to quickly discover targets, explore unknown areas, ensure collision avoidance, and meet the boundary constraints. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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