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Dynamic Event-Triggered Consensus control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 649-660页

作者： Meilin Li Yue Long Tieshan Li Hongjing Liang C.L.Philip Chen the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China IEEE the Yangtze Delta Region Institute University of Electronic Science and Technology of ChinaHuzhou 313000 the Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing 100089China the School of Computer Science and Engineering South China University of TechnologyGuangzhou 510006

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first ***,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale *** is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event *** addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable ***,the results are extended to regional consensus of the MASs with the bounded control *** simulations show the effectiveness of the proposed approach.

关键词： Constrained input designable minimum inter-event time directed communication topology dynamic event-triggered mechanism MASs consensus control

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Three-Dimensional Cooperative Guidance Against Aerial Target for Unpowered Glide Vehicle

Three-Dimensional Cooperative Guidance Against Aerial Target...

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2024 China Automation Congress, CAC 2024

作者： Li, Bocun Li, Ling Zhang, Huaming Zhu, Yichuan National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China Committee of Science and Technology Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9798350368604

This paper investigates the spatial-temporal guidance problem for multiple unpowered High-speed Glid Vehicles (HGV). First, a 3D vector guidance law is given by extending the traditional 2D guidance law to 3D scenario, in which the terminal angle constraint and time-coordination of multiple HGVs are satisfied. Then, the time-to-go estimation problem considering moving target for HGV without active velocity control is addressed by numerical integration, and from which predictive intercepting point (PIP) is gained, thus the problem of intercepting a moving target simultaneously is simplified as guiding multiple HGVs to hit a fixed point along different directions at same time. Taking into account that aerial target can evade threats through terminal maneuvering, an extended state observer is used to estimate the acceleration of target. Accordingly, a sliding mode terminal guidance law designed in the framework of Line-of-Sight (LOS), which is different from the previous guidance law, is used to compensate the disturbance caused by the maneuvering target. Unlike similar existing results, the proposed guidance strategy for HGV can satisfy spatial-temporal constraints when the target is moving or maneuvering, and the guidance law designed in this paper is appropriate for unpowered vehicles without constant velocity. Numerical simulations are provided to show the effectiveness of the proposed cooperative guidance law. © 2024 IEEE.

关键词： State estimation

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TRNet: Two-Tier Recursion Network for Co-Salient Object Detection

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IEEE Transactions on Circuits and Systems for Video technology 2025年第6期35卷 5844-5857页

作者： Cong, Runmin Yang, Ning Liu, Hongyu Zhang, Dingwen Huang, Qingming Kwong, Sam Zhang, Wei Shandong University School of Control Science and Engineering Jinan250061 China Ministry of Education Key Laboratory of Machine Intelligence and System Control Jinan250061 China Beijing Jiaotong University Institute of Information Science Beijing100044 China Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing100044 China Northwestern Polytechnical University Brain and Artificial Intelligence Laboratory School of Automation Xi'an710129 China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing101408 China Lingnan University Hong Kong

Co-salient object detection (CoSOD) is to find the salient and recurring objects from a series of relevant images, where modeling inter-image relationships plays a crucial role. Different from the commonly used direct learning structure that inputs all the intra-image features into some well-designed modules to represent the inter-image relationship, we resort to adopting a recursive structure for inter-image modeling, and propose a two-tier recursion network (TRNet) to achieve CoSOD in this paper. The two-tier recursive structure of the proposed TRNet is embodied in two stages of inter-image extraction and distribution. On the one hand, considering the task adaptability and inter-image correlation, we design an inter-image exploration with recursive reinforcement module to learn the local and global inter-image correspondences, guaranteeing the validity and discriminativeness of the information in the step-by-step propagation. On the other hand, we design a dynamic recursion distribution module to fully exploit the role of inter-image correspondences in a recursive structure, adaptively assigning common attributes to each individual image through an improved semi-dynamic convolution. Experimental results on five prevailing CoSOD benchmarks demonstrate that our TRNet outperforms other competitors in terms of various evaluation metrics. The code and results of our method are available at https://***/rmcong/TRNetTCSVT2025. © 1991-2012 IEEE.

关键词： HTTP

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An End-to-end Campus Fire Detection Algorithm Incorporating Priori Features 6

An End-to-end Campus Fire Detection Algorithm Incorporating ...

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6th International Conference on Robotics, Intelligent control and Artificial intelligence, RICAI 2024

作者： Liang, Yu Xie, Xinlin Liu, Xuan Wang, Jie Shanxi Key Laboratory of Advanced Control and Industrial Intelligence Intelligence School of Electronic Information Engineering Taiyuan University of Science and Technology Taiyuan China

ISBN: (纸本)9798331541699

To address the imbalance in detection speed and accuracy caused by smoke, flame, and background confusion in campus video surveillance scenarios, an end-to-end campus fire detection algorithm incorporating priori features is proposed. First, a feature pyramid fusion module guided by priori features is constructed to cascade the multi-scale feature fusion module. The priori features are individually pre-trained by Convolutional Neural Network (CNN) classification network. The feature complementarity between the two is utilized to improve the feature representation of the detection network. Second, a lightweight set prediction detection head is designed. The head does not require manually designed anchors and post-processing strategies, enabling end-to-end detection while balancing speed and accuracy. Finally, a joint loss function that integrates the losses of categorical and bipartite matching is proposed. Focus on the drawbacks of the slow convergence associated with bipartite matching, both classification information and bipartite bit matching are considered in the detection results. Experimental results on the fire detection dataset demonstrate that the proposed algorithm improved average accuracy by 7.8% while maintaining detection speed, effectively balancing speed and accuracy in fire detection. © 2024 IEEE.

关键词： Convolutional neural networks

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Identification and compensation of suspension disturbance for magnetically levitated rotary joints 18

Identification and compensation of suspension disturbance fo...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Wang, Yingguang Zhang, Jiyang Fan, Yahong Lu, Ming Luo, Ruizhi Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory Beijing China

ISBN: (纸本)9798350312201

For the multi-degree-of-freedom harmonic disturbance force/moment of the magnetically levitated rotor, a harmonic disturbance/disturbance force suppression method based on the eigenfrequency disturbance observer is proposed in this paper. First, a multi-freedom harmonic disturbance force/moment mechanism analysis is performed and its source is located. Then, a multi-degree-of-freedom eigenfrequency disturbance observer based on an adaptive discriminator is designed for closed-loop identification of the eigenfrequency disturbance forces of the magnetically levitated rotor by controlling its steady speed rotation. Then, the open-loop compensation current of each channel magnetic bearing is solved according to the multi-degree-of-freedom eigenfrequency perturbation observation results, so that the open-loop compensation electromagnetic force/moment and the perturbation force/moment form a balanced force/moment. Finally, tests were conducted on the rotating joint products, and the test results showed that the method can reduce the amount of magnetic levitation rotor levitation control fluctuation by more than 90% and improve the levitation stability by one order of magnitude. © 2023 IEEE.

关键词： Magnetic levitation

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A Multi-constraint Attitude control Scheme for Micro-nano Satellite During On-Orbit Standby 11th

A Multi-constraint Attitude Control Scheme for Micro-nano Sa...

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11th International Conference on Signal and Information Processing, Network and Computers, ICSINC 2023

作者： Li, Mingqun Lei, Yongjun Wang, Shuyi Beijing Institute of Control Engineering Beijing100194 China Science and Technology on Space Intelligent Control Laboratory Beijing100194 China

ISBN: (纸本)9789819721153

In this paper, the attitude control problem of a class of micro-nano satellites in low Earth orbit without solar array driving mechanism is studied. Firstly, based on the attitude dynamics, a three-axis decoupled attitude control law is proposed so that each channel can be designed independently. Then, various constraints in satellite attitude design during on-orbit standby were analyzed. Under the constraints of energy security, a satellite attitude maneuver was proposed to ensure the sun orientation of the solar array. During the design process, multiple constraints such as attitude reference guarantee and thermal control condition guarantee were introduced. For different orbital characteristics, methods were proposed to determine the orientation attitude towards the sun by combining the geocentric vector, orbital normal vector, and solar vector, as well as the on-orbit standby control strategy of sun orientation in the sun light area with earth orientation in the shadow area. Then the optimal maneuver strategy and angular velocity planning method was proposed in the aspect of large angle attitude maneuver, which makes the attitude control of satellites safe and stable during on-orbit standby. The mathematical simulation results show that the scheme proposed in this paper is applicable to low Earth orbit micro-nano satellites with various inclinations, which verifies the effectiveness of the method proposed in this paper. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Attitude control

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A PSO-LSTM-based Method for Spatial Target Orbit Phase Prediction 4

A PSO-LSTM-based Method for Spatial Target Orbit Phase Predi...

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4th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2023

作者： Qu, Zonghua Wei, Chunling Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory Beijing China

ISBN: (纸本)9798350326444

As space becomes increasingly crowded and the orbital space environment gradually deteriorates, countries have gradually begun to pay attention to the in-orbit security of spacecraft. The timely and accurate sensing of space threats can effectively guarantee the in-orbit safety of our spacecraft. The orbital phase prediction for space targets is an important problem in the field of space situational awareness. In this paper, we propose a PSO-LSTM-based orbital prediction method for space targets, which has an accuracy rate of over 88.7% for different phases of orbital prediction. © 2023 IEEE.

关键词： Orbits

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Capture and Visual Tracking control of Early Warning spacecraft Based on a Two-Axis Turntable 11th

Capture and Visual Tracking Control of Early Warning Spacecr...

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11th International Conference on Signal and Information Processing, Network and Computers, ICSINC 2023

作者： Wang, Lijiao Tao, Jiawei Ren, Bin Wang, Shuyi Lei, Yongjun Beijing Institute of Control Engineering Beijing100190 China Science and Technology on Space Intelligent Control Laboratory Beijing100190 China

ISBN: (纸本)9789819721153

In this work, we deal with the pointing control problem for the whole tracking process of a non-cooperative object via a two-axis turntable-based early warning satellite, where the initial target acquisition process and the subsequent visual tracking process are addressed respectively. First, to conquer the capture error caused by the camera assemble error and the inconsistency of the center of the viewing field for multiple channels of the camera, a high-accuracy capture protocol with bias compensation is devised by utilizing the image kinematics of the turntable and the satellite. Second, an image-based nonlinear visual servoing controller via a novel velocity estimator is developed, where the angular rate of the turntable and the satellite is involved to predict the image velocity. In addition, the planning scenario for the expected image trajectory is introduced to improve the performance of the transient period. Finally, on-board experiment is performed to testify the effectiveness of our methodology. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： controllers

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Elliptical Orbit Guidance Scheme Research for Far-Range Rendezvous in Lunar Mission 11th

Elliptical Orbit Guidance Scheme Research for Far-Range Rend...

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11th International Conference on Signal and Information Processing, Network and Computers, ICSINC 2023

作者： Wang, Gaoyang Hu, Haixia Xie, Yongchun Beijing Institute of Control Engineering Beijing100190 China Science and Technology on Space Intelligent Control Laboratory Beijing100094 China

ISBN: (纸本)9789819721191

The application of nearly-circular deviation equations in far-range rendezvous between spaceship and lunar module in elliptical orbit guidance scheme for manned lunar missions is researched. A four-pulse far-range rendezvous guidance scheme is designed, in which the out-of-plane parameters of orbit are corrected by a vertical pulse and the far-range rendezvous is realized by three in-plane phasing pulses. First, the positions of the first two phasing pulses are fixed. Then, in order to obtain the optimal solution of the total velocity increment, the position of the third in-plane pulse and three velocity increments of in-plane pulses are solved by the sequential quadratic programming algorithm with the total velocity increment transformed into the objective function. The correctness of the scheme is verified by scenario simulation, and the effective solution interval of the scheme with different initial positions and orbital eccentricity of the lunar module is analyzed. The simulation shows that different initial positions and orbital eccentricity of the lunar module have significant effects on effective phase angles between spaceship and lunar module which are able to be solved successfully by nearly-circular deviation equations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Quadratic programming

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Research on Intelligent Collaborative Perception of space Non-cooperative Targets Based on AOCS Platform 1

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

作者： Du, Hang Hu, Haixia Zhang, Haibo Beijing Institute of Control Engineering Beijing China National Key Laboratory of Science and Technology On Space Intelligent Control Beijing China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

This article provides a detailed introduction to the space non-cooperative targets intelligent collaborative perception module, whose main function is to improve the system’s understanding of the target and task environment through recognition, judgment, learning, and other processes, based on the target model containing multidimensional information obtained from target reconstruction, as well as data resources such as target model characteristic test data and target feature digital volume library. Module includes a space target feature dataset, a space target intelligent cooperative perception algorithm interaction environment, space target model feature clustering and recognition software, space target model matching and situation association software, space target position and attitude measurement software, and a parallel computing module. The dataset is used to train the space target model feature clustering and recognition software to obtain the model parameters of the recognition algorithm, which is used for the recognition of space target identity information and local feature information;the space target model matching and situation association software further associates the recognition information of the local features of the space target. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Association reactions

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