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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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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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Overview of Research on Transformation of Multi-AUV Formations

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complex system Modeling and Simulation 2021年第1期1卷 1-14页

作者： Bin Xin Junxi Zhang Jie Chen Qing Wang Yun Qu School of Automation and the State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of TechnologyBeijing 100081China

Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.

关键词： autonomous underwater vehicle multi-AUV formation formation transformation formation control

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Iterative search with emulating nodes' local movement on range-free sensor network localization 34

Iterative search with emulating nodes' local movement on ran...

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第三十四届中国控制会议

作者： QIAO Dapeng GUO Zongben MA Hongwei SHI Shuguang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Aerospace Control Devices

ISBN: (纸本)9781467374439

This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between the solution quality and computation cost. When sensor network localization in range-free scenario is considered as a constraint satisfaction problem, localization will reach the highest accuracy but with huge computation complexity. To solve the constraint satisfaction, some characteristics that only exist in range-free localization problem are utilized as heuristics in the search of nodes' positions. They are summarized as simple and complex movement to emulate nodes' local movement, and proved to be effective to find a suitable searching direction and jump out of local-minimums existing in the localization. Those emulations are then included in each iteration of a two-objective evolutionary algorithm minimizing the number of node-pairs with violated connectivity, as well as the value quantitating how worse of the violations. Simulation results show that the proposed algorithm can greatly decrease the reach high-accurate positions within limited iterations.

关键词： Wireless sensor network,Localization,Local movement,Evolutionary algorithm,Non-convex,Connectivity

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Approach and landing guidance design for reusable launch vehicle using multiple sliding surfaces technique

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Chinese Journal of Aeronautics 2017年第4期30卷 1582-1591页

作者： Xiangdong LIU Fengdi ZHANG Zhen LI Yao ZHAO School of Automation Beijing Institute of Technology Beijing 100081 China National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China China Academy of Launch Vehicle Technology Beijing 100076 China

An autonomous approach and landing（A＆L） guidance law is presented in this paper for landing an unpowered reusable launch vehicle（RLV） at the designated runway touchdown. Considering the full nonlinear point-mass dynamics, a guidance scheme is developed in threedimensional space. In order to guarantee a successful A＆L movement, the multiple sliding surfaces guidance（MSSG） technique is applied to derive the closed-loop guidance law, which stems from higher order sliding mode control theory and has advantage in the finite time reaching *** global stability of the proposed guidance approach is proved by the Lyapunov-based *** designed guidance law can generate new trajectories on-line without any specific requirement on off-line analysis except for the information on the boundary conditions of the A＆L phase and instantaneous states of the RLV. Therefore, the designed guidance law is flexible enough to target different touchdown points on the runway and is capable of dealing with large initial condition errors resulted from the previous flight phase. Finally, simulation results show the effectiveness of the proposed guidance law in different scenarios.

关键词： Finite time control Landing guidance Lyapunov stability Reusable launch vehicle Sliding mode control

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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET intelligent Transport systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET intelligent Transport systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： Autonomous vehicles

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An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

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Journal of control and decision 2015年第1期2卷 64-85页

作者： Jie Huang Jie Chen Hao Fang Lihua Dou School of Automation Beijing Institute of TechnologyBeijingChina State Key Laboratory of Intelligent Control and Decision of Complex Systems BeijingChina Fujian Institute of Education FuzhouChina

This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system *** controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,*** important definitions,lemmas,theorems and dynamics are *** the consensus and formation control problems for networked nonholonomic chained systems are ***,some open questions are proposed.

关键词： distributed coordination multi-agent system nonholonomic system chained system high-order

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Speed sensorless control with neuron MRAS estimator of an induction machine

Speed sensorless control with neuron MRAS estimator of an in...

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7th International Conference on Power Electronics and Drive systems, PEDS 2007

作者： Lei, Dong Dong, Yang Xiaozhong, Liao Department of Automatic Control Engineering Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)1424406455

In the high speed range, vector control of rotor flux orientation of an induction machine implements good performance. However, the performance in low speed rang deteriorates because of the inaccurate estimation of rotor flux and speed. In this paper, modified voltage model for rotor flux estimation and neuron model-reference adaptive system (MRAS) for speed estimation are used to improve the performance of speed sensorless vector control. To improve the accuracy of rotor flux estimation, the stator resistance is identified on-line. The experimental results show that the proposed scheme yields improved performance in low speed range. © 2007 IEEE.

关键词： Induction machine

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Intersection Scan Model and Probability Inference for Vision Based Small-scale Urban Intersection Detection 28

Intersection Scan Model and Probability Inference for Vision...

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IEEE intelligent Vehicles Symposium

作者： Yang Yi Li Hao Zhu Hao Shang Songtian Lyu Ningyi Song Wenjie School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509048052

Large-scale intersections stamped on maps have diverse visual features for detection, while small-scale urban intersections are hard to be identified especially when GPS signals are missing. In this paper, we propose a Hidden Markov Model (HMM) based small-scale intersection detection method utilizing monocular vision. We extract visual cues of road transformations and dynamic vehicles' tracks, and then design an Intersection Scan Model to obtain the potential traversable direction of the current road, which is the primary criterion of the intersection estimation. For better performances, we take the detections of consecutive frames into consideration and finally integrate them into HMM to estimate the probabilities of intersections. Results from KITTI datasets and real-world experiments have shown the functionality of the presented approach.

关键词： Hidden Markov models Roads Global Positioning system Vehicle dynamics Semantics Image segmentation Feature extraction

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Differential Evolution Based Receding Horizon control for UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期35卷 107-114页

作者： ZHANG Xing School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Decision and Cognitive Sciences Research Centre Manchester Business School University of Manchester Manchester M15 6PB UK

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词：无人机在线运动规划动态约束目标函数

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