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Near minimum-time feedback attitude control with multiple saturation constraints for agile satellites

Chinese Journal of Aeronautics 2016年第3期29卷 722-737页

作者： Liu Xiangdong Xin Xing Li Zhen Chen Zhen Sheng Yongzhi School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Agile satellites are of importance in modern aerospace applications, but high mobility of the satellites may cause them vulnerable to saturation during attitude maneuvers due to limited rating of actuators, This paper proposes a near minimum-time feedback control law for the agile satellite attitude control system. The feedback controller is formed by specially designed cascaded sub-units. The rapid dynamic response of the modified Bang Bang control logic achieves the near optimal property and ensures the non-saturation properties on three-axis. To improve the dynamic performance, a model reference control strategy is proposed, in which the oniline near optimal attitude maneuver path is generated by the cascade controller and is then tracked by a nonlinear back-stepping controller. Furthermore, the accuracy and the robustness of the control system are achieved by momentum-based on-line inertial identification. The rapid attitude maneuvering can be applied for tasks including the move to move case. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy in terms of the saturation-free property and rapidness.

关键词： Actuator saturation Attitude control Identification Momentum transfer Satellites

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Trajectory synchronization of multi-cylinder electrohydraulic lift system with huge load

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Journal of Beijing Institute of technology 2013年第2期22卷 228-234页

作者：何玉东王军政李静赵江波 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchronization method with load force and synchronization error feedback had been proposed to solve the synchronization problem encountered when realizing the needed roll and pitch attitude of the lift system. In this paper, mathematic model of asymmetric hydraulic cylinder was es- tablished and the lift system had been simplified to a dual-cylinder system. By incorporating the load force and the displacement of each cylinder, a cross-coupled synchronized control method was pro- posed to fit each cylinder＇ s tracking performance and multi-cylinder＇ s trajectory synchronization property. The proposed method not only solved the synchronization problem when multi-cylinder had a same trajectory, but also could fit the coordinated synchronization need when different trajectories of multi-cylinder were desired. Simulations and experiments on a four DOF electrohydraulic lift sys- tem with load of 100 tons verified the effectiveness of the proposed method.

关键词： hydraulic cylinder lift system trajectory synchronization

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Motion Planning Method for Obstacle Avoidance of 6-DOF Manipulator Based on Improved A* Algorithm

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Journal of Donghua University(English Edition) 2015年第1期32卷 79-85页

作者：汪首坤朱磊 Key Laboratory of Intelligent Control and Decision for Complex System Beijing Institute of Technology

The conventional A* algorithm may suffer from the infinite loop and a large number of search data in the process of motion planning for manipulator. To solve the problem,an improved A* algorithm is proposed in this paper by the means of selecting middle points and applying variable step segments searching during the searching process. In addition,a new method is proposed for collision detection in the workspace. In this paper,the MOTOMAN MH6 manipulator with 6-DOF is applied for motion plan. The algorithm is based on the basis of the simplification for the manipulator and obstacles by cylinder enveloping. Based on the analysis of collision detection,the free space can be achieved which makes it possible for the entire body to avoid collisions with obstacles. Compared with the Conventional A*,the improved algorithm deals with less searching points and performs more efficiently. The simulation developed in VC + + with OpenGL and the actual system experiments prove effectiveness and feasibility of this improved method.

关键词： manipulator collision detection A* algorithm variable step segments searching OpenGL

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Effective approach for outdoor obstacle detection by clustering LIDAR data context

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Journal of Beijing Institute of technology 2016年第4期25卷 483-490页

作者：王军政乔佳楠李静 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.

关键词： context modeling clustering algorithm based on fast search and discovery of densitypeaks（CBFD） Hull algorithm obstacle detection obstacle fusion

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Evasion strategies of a three-player lifeline game

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science China(Information sciences) 2018年第11期61卷 144-154页

作者： Fan ZHANG Wenzhong ZHA School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Information Science Academy China Electronics Technology Group Corporation

This study examines a multi-player pursuit-evasion game, more specifically, a three-player lifeline game in a planar environment, where a single evader is tasked with reaching a lifeline prior to capture. A decomposition method based on an explicit policy is proposed to address the game qualitatively from two main aspects:(1) the evader's position distribution to guarantee winning the game(i.e., the escape zone),which is based on the premise of knowing the pursuers' positions initially, and(2) evasion strategies in the escape zone. First, this study decomposes the three-player lifeline game into two two-player sub-games and obtains an analytic expression of the escape zone by constructing a barrier, which is an integration of the solutions of two sub-games. This study then explicitly partitions the escape zone into several regions and derives an evasion strategy for each region. In particular, this study provides a resultant force method for the evader to balance the active goal of reaching the lifeline and the passive goal of avoiding capture. Finally,some examples from a lifeline game involving more than one pursuer are used to verify the effectiveness and scalability of the evasion strategies.

关键词： lifeline game three-player pursuit-evasion game barrier evasion strategy game of kind

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Design and Flight Test of a Compact and Rapidly-Deployable Air-Launched Inflatable-Winged Aircraft

Design and Flight Test of a Compact and Rapidly-Deployable A...

引用

AIAA science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ge, Hang Xu, Yixiang Sun, Donglei Chen, Xinmin Chen, Boyang School of Aerospace Faculty of Science and Engineering University of Nottingham Ningbo China Zhejiang Ningbo315100 China Department of Mechanical Materials and Manufacturing Engineering UNNC-NFTZ Blockchain Laboratory University of Nottingham Ningbo China Zhejiang Ningbo315100 China Advanced Intelligent Manufacturing Research Group Control System Lab University of Nottingham Ningbo China Zhejiang Ningbo315100 China Zhejiang Provincial Engineering Research Center of Special Aircraft Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Zhejiang Ningbo315100 China

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this research, a high-altitude, compact and rapidly deployable, air-launched, inflatablewinged aircraft is designed, developed, and flight-tested to investigate the flight characteristics of inflatable-winged aircraft as well as the in-flight inflation and dynamic deployment properties when launched from various carriers. To start with, two types of inflatable wings employing different materials have been designed, fabricated, and tested, the tests including structural characteristics tests, inflation properties tests, and low-Reynolds-number wind-tunnel tests. A full-scale 30-kilogram prototype unmanned aerial vehicle with inflatable wings was then designed, assembled and tested with some basic low-altitude flights to verify the feasibility of the aerodynamic layout and the trim and stability and control characteristics. Finally, low- and high-altitude in-flight launches will be conducted to study the dynamic deployment properties and high-altitude flight characteristics of this design. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Wind tunnels

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Joint Secure and Covert Communications for Active STAR-RIS Assisted ISAC systems

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IEEE Transactions on Wireless Communications 2025年

作者： Guo, Liang Jia, Jie Mu, Xidong Liu, Yuanwei Chen, Jian Wang, Xingwei Northeastern University School of Computer Science and Engineering China Northeastern University Engineering Research Center of Security Technology of Complex Network System Ministry of Education China Northeastern University Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Shenyang110819 China BelfastBT3 9DT United Kingdom Department of Electrical and Electronic Engineering China

This paper investigates the design of jointly supporting physical layer security (PLS) and covert communications (CCs) in an active simultaneously transmitting and reflecting reconfigurable intelligent surface (a-STAR-RIS) assisted integrated sensing and communication (ISAC) system. Due to the unified waveform design of ISAC signals, we consider a challenging scenario with two targets being suspicious attackers, where one warden target potentially detects the confidential transmission behavior of covert users and another eavesdropper target attempts to intercept the broadcasted confidential information of security users. We investigate the joint beamforming design at the base station (BS) and the a-STAR-RIS to achieve a high-quality sensing beampattern while meeting covertness and security communication requirements. (1) For the ideal scenario with perfect channel state information (CSI) and precise target locations, we propose an alternative optimization (AO) method to address the optimization problem involving highly coupled variables. Specifically, the optimal beamforming design at the BS is handled using the semi-definite relaxation (SDR) technique, while the beamforming design at the a-STAR-RIS is addressed through a penalty-based iterative algorithm. (2) A more practical case with uncertain target locations and imperfect CSI is considered to achieve a robust beamforming design, where the non-deterministic outage probability constraints are effectively transformed by employing the Bernstein-type inequality. Numerical results demonstrate the superiority of the a-STAR-RIS over the baseline cases and certify that the proposed algorithms can effectively balance the tradeoff among the sensing quality, covert and secure communication requirements. Besides, results also show that the proposed robust beamforming scheme can construct adequate sensing beampattern, even with imperfect CSI and uncertain target locations. © 2002-2012 IEEE.

关键词： Beamforming

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InGaAlAs/InP MQW transistor lasers based on step-ridge waveguides

IEEE Electron Device Letters

引用

IEEE Electron Device Letters 2025年

作者： Liu, Yijia Qiao, Lijun Tang, Xin Liang, Song Zhang, Mingjiang Taiyuan University of Technology College of Physics and Optoelectronics Taiyuan030024 China Ministry of Education Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Shanxi Taiyuan030024 China Chinese Academy of Sciences Key Laboratory of Optoelectronic Materials and Devices Beijing100083 China University of Chinese Academy of Sciences Center of Materials Science and Optoelectronics Engineering Beijing100049 China

We propose and numerically investigate a new step-ridge-waveguide InGaAlAs/InP multi-quantum well (MQW) transistor laser (TL). The carrier nonradiative recombination centers caused by the exposed deep-ridge waveguide sidewall significantly degrade the optoelectronic performance of the TLs. The step-ridge-waveguide structure guides carriers through the center portion of the ridge waveguide, thereby effectively mitigating the effect of the nonradiative recombination defects. Simulation results show that the optoelectronic characteristics of the step-ridge TL are far better than those of the conventional deep-ridge TL, and the current amplification factor of the step-ridge TL is not affected by the laser excitation. This structure provides a new option for the simultaneous enhancement of the optoelectronic performance of TLs. © 1980-2012 IEEE.

关键词： Laser excitation

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Safe Reinforcement Learning for Social Motor Coordination in Two Dimensional Space

Safe Reinforcement Learning for Social Motor Coordination in...

引用

IEEE International Conference on Industrial technology (ICIT)

作者： Fan Yang Yuening Huang Chao Zhai Hehong Zhang China University of Geosciences Wuhan Campus School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing Houston Texas United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints.

关键词： Autism Filters Reinforcement learning Games Variable speed drives Motors Trajectory Safety Mirrors Motion control

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A cluster positioning architecture and relative positioning algorithm based on pigeon fock bionics

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Satellite Navigation 2023年第1期4卷 92-112,I0004页

作者： Zhongliang Deng Hang Qi Chengfeng Wu Enwen Hu Runmin Wang Beijing University of Posts and Telecommunications Beijing 100876China Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing 100074China.

Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned *** positioning is important for ensuring the normal operation of unmanned *** existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over *** the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative *** on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon *** divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster *** at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation *** the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)*** cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the *** designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent *** with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of *** also has higher relative positioning accuracy

关键词： Cluster positioning architecture Cluster relative positioning Multidimensional scaling Multiple objective particle swarm optimization Unmanned aerial vehicles positioning Localizability analysis Rigid graph

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