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第27届中国控制与决策会议

作者： Mashood Anwar Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781479970186

In this paper,we propose a time division multiple access(TDMA) based protocol that works on slightly modified IEEE 802.15.4 network in star topology for low latency deterministic networked control *** end device in network transmits its data frame after certain time delay in response to periodic request from network *** time delay is optimized for channel bandwidth utilization and reliable data frame *** this TDMA based protocol eliminates the risk of frame collisions to great extent,MAC sub-layer modifications reduces the non-determinism of the network and increases its bandwidth *** were conducted to evaluate the suggested *** upon these experiments results,the proposed protocol is a feasible solution for control systems with real time constraints.

关键词： IEEE 802154 Networked control system Low latency deterministic networks(LLDN) Medium access control(MAC) Real time systems TDMA

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Optimal Distributed Fusion for state Estimation in Multirate Wireless Sensor Networks

Optimal Distributed Fusion for State Estimation in Multirate...

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第三十四届中国控制会议

作者： Lu Jiang Liping Yan Yuanqing Xia Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

This paper is concerned with the distributed fusion estimation problem for linear system observed by multirate sensors in the environment of wireless sensor networks(WSNs). Rates of the sampling, estimation, transmission in the WSNs are different. The distributed fusion estimation is composed of two stages. At the first stage, every sensor in the WSNs collects measurements of its own to generate a local estimation, then the local estimations from the neighboring sensors and the neighbour's neighbor sensors are further collected to form the fusion estimation at the second stage. The main result is that a distributed fusion estimation algorithm is presented which is simple and low energy consumption. The performance, namely, the effectiveness and the stability of the algorithm under multiple sensors, is analyzed. A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： state estimation,distributed fusion,multirate multisensor,Kalman filter,wireless sensor networks

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Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

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Journal of Central South University 2014年第8期21卷 3079-3091页

作者：张兴陈杰辛斌 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is *** take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of *** on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole ***,in view of the impact of wind on UAVs' paths,the notion of virtual target is *** application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental ***,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of ***,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational *** results exhibit that the proposed algorithm can produce high quality solutions to the problem.

关键词： unmanned aerial vehicle path planning in wind field Dubins traveling salesman problem terminal heading relaxation differential evolution

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Near Minimum-Time Feedback Attitude control with Multiple Saturation Constraints for Satellites

Near Minimum-Time Feedback Attitude Control with Multiple Sa...

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第三十四届中国控制会议

作者： Xing Xin Zhen Li Xiangdong Liu Zhen Chen School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

A near minimum time feedback control law is proposed for the agile satellite attitude control system. The real time controller is formed by specially designed cascaded subunits. Based on this, the rapid attitude maneuvering can be applied in tasks including the move to move case. The near optimal property of that is guaranteed by the rapid dynamic response with a modified bang-bang control logic while simultaneously ensuring non-saturation properties on 3-Axis. The near optimal method is utilized for an online attitude planning, and the generated attitude maneuver path in real time is tracked by a nonlinear back-stepping controller with its improved dynamic performance and by which the united closed loop control is *** simulations are conducted to verify the effectiveness of the proposed control strategy.

关键词： Attitude control,agile satellites,saturation control,back-stepping

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Sliding mode control based guidance law with impact angle constraint

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Chinese Journal of Aeronautics 2014年第1期27卷 145-152页

作者： Zhao Yao Sheng Yongzhi Liu Xiangdong School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

The terminal guidance problem for an unpowered lifting reentry vehicle against a sta- tionary target is considered. In addition to attacking the target with high accuracy, the vehicle is also expected to achieve a desired impact angle. In this paper, a sliding mode control （SMC）-based guidance law is developed to satisfy the terminal angle constraint. Firstly, a specific sliding mode function is designed, and the terminal requirements can be achieved by enforcing both the sliding mode function and its derivative to zero at the end of the flight. Then, a backstepping approach is used to ensure the finite-time reaching phase of the sliding mode and the analytic expression of the control effort can be obtained. The trajectories generated by this method only depend on the initial and terminal conditions of the terminal phase and the instantaneous states of the vehicle. In order to test the performance of the proposed guidance law in practical application, numerical simulations are carried out by taking all the aerodynamic parameters into consideration. The effec- tiveness of the proposed guidance law is verified by the simulation results in various scenarios.

关键词： Backstepping Impact angle Sliding mode control Terminal guidance Unpowered lifting reentryvehicle

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Parameter-Dependent H2 state Estimation for Nonlinear systems

Parameter-Dependent H2 State Estimation for Nonlinear System...

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第三十四届中国控制会议

作者： Yin Yu Zhen Li Xiangdong Liu Bing Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

The state estimation of general nonlinear systems is investigated through a parameter-dependent approach. This paper adopts the polytopic approximation for the nonlinear systems, which facilitates the application of analytical approaches for resultant convex-bounded linear systems into the given nonlinear systems. The design of a high performance H2 state estimator is firstly determined by solving a convex optimization problem constrained by relaxed linear matrix inequalities(LMIs). The tensor product(TP) model transformation is then adopted to obtain the polytopic linearization. Specifically, A new process is presented to correct the result of the TP model transformation such that a necessary condition to solve the state estimation problem is assured. Finally, a numerical simulation is performed to illustrate the design process and verify the performance.

关键词： Nonlinear state estimation,parameter-dependent H2 filter,linear matrix inequalities(LMIs),tensor product(TP) model transformation

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High-order sliding mode attitude controller design for reentry flight

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Journal of systems Engineering and Electronics 2014年第5期25卷 848-858页

作者： Liang Wang Yongzhi Sheng Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and accurate tracking of the aerodynamic angle commands with the finite time convergence. The proposed control strategy is developed on the basis of integral sliding mode philosophy, which combines conventional sliding mode control and a linear quadratic regulator over a finite time interval with a free-final-state and allows the finite-time establishment of a high-order sliding mode. Firstly, a second-order sliding mode attitude controller is designed in the proposed high-order siding mode control framework. Then, to address the control chattering problem, a virtual control is introduced in the control design and hence a third-order sliding mode attitude controller is developed, leading to the chattering reduction as well as the control accuracy improvement. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results.

关键词： reentry vehicle attitude control high-order sliding mode control integral sliding mode.

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Finite-time sliding mode attitude control for a reentry vehicle with blended aerodynamic surfaces and a reaction control system

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Chinese Journal of Aeronautics 2014年第4期27卷 964-976页

作者： Geng Jie Sheng Yongzhi Liu Xiangdong Key Laboratory for Intelligent Control&Decision of Complex Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology

This paper proposes a finite-time robust flight controller, targeting for a reentry vehicle with blended aerodynamic surfaces and a reaction control system（RCS）. Firstly, a novel finite-time attitude controller is pointed out with the introduction of a nonsingular finite-time sliding mode manifold. The attitude tracking errors are mathematically proved to converge to zero within finite time which can be estimated. In order to improve the performance, a second-order finite-time sliding mode controller is further developed to effectively alleviate chattering without any deterioration of robustness and accuracy. Moreover, an optimization control allocation algorithm, using linear programming and a pulse-width pulse-frequency（PWPF） modulator, is designed to allocate torque commands for all the aerodynamic surface deflections and on–off switching-states of RCS *** are provided for the reentry vehicle considering uncertain parameters and external disturbances for practical purposes, and the results demonstrate the effectiveness and robustness of the attitude control system.

关键词： Chattering alleviation control allocation Finite-time convergence Flight control systems Second-order sliding mode Singularity elimination Sliding mode control

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Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism

Design, modeling and control of a novel amphibious robot wit...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Yang Yi Zhou Geng Zhang Jianqing Cheng Siyuan Fu Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm.

关键词： Wheels Legged locomotion Propulsion DC motors Force

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On Finite-Horizon Optimal control of First-Order Plus Time Delay systems

On Finite-Horizon Optimal Control of First-Order Plus Time D...

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第27届中国控制与决策会议

作者： Dawei Shi Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Alberta

In this work,a finite-horizon optimal control problem for first-order plus time delay(FOPTD) processes is *** show that if the control horizon is greater than three and the prediction horizon is great than the control horizon plus the time delay in discrete time,the optimal controller is not affected by either of the two ***,under these conditions,the controller parameters are explicitly calculated,the closed-loop system is shown to be stable,and the controller is *** problem considered is related to the results on linear quadratic regulation of linear systems with time delays;however,the detailed parameterization of the state-space model introduced by the FOPTD process provides an additional opportunity to investigate the exact controller structure and properties(e.g.,the locations of the closed-loop poles),which are also the major difficulties encountered and overcome in this *** problem is motivated from phenomena experienced in designing industrial model predictive control(MPC) tuning algorithms,and extensive numerical examples indicate that the proposed results speed up the MPC autotuning algorithms by 70%.

关键词： Optimal control First-order plus time delay process Performance visualization MPC tuning

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