作者:
Zheng ZhiPeng ZhihongChen JieSchool of Automation
Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 School of Automation
Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081
This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model an...
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This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model and dynamics model, set the intersection of all the local perceptions as the region of interest (ROI). The MSN consists of sensors with first-order dynamics and second-order dynamics. Then, the authors design a control strategy to ensure that individuals aggregate at a point in the ROI relying on their local perceptions and the locations of neighbors within their communication scope. The authors describe this situation of aggregation as rendezvous. In addition, the authors introduce artificial potential field to make sensors deploy dispersedly in a bounded range near the ROI, which the authors call dispersed deployment. Finally, the authors prove the stability of the proposed strategies and validate the theoretical results by simulations. This research is applied for the cooperative deployment and data collection of mobile platforms with different dynamics under the condition of inaccurate perception.
This paper investigates the problem of observer-based output feedback control for networked controlsystems with non-uniform sampling and time-varying transmission delay. The sampling intervals are assumed to vary wit...
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This paper investigates the problem of observer-based output feedback control for networked controlsystems with non-uniform sampling and time-varying transmission delay. The sampling intervals are assumed to vary within a given interval. The transmission delay belongs to a known interval. A discrete-time model is first established, which contains time-varying delay and norm-bounded uncertainties coming from non-uniform sampling intervals. It is then converted to an interconnection of two subsystems in which the forward channel is delay-free. The scaled small gain theorem is used to derive the stability condition for the closed-loop system. Moreover, the observer-based output feedback controller design method is proposed by utilising a modified cone complementary linearisation algorithm. Finally, numerical examples illustrate the validity and superiority of the proposed method.
Kalman filter has been extensively applied in vast areas. However, the performance of Kalman filter rests on the accuracy of prior information such as model construction. In the integrated system of Strapdown Inertial...
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ISBN:
(纸本)9781538604915
Kalman filter has been extensively applied in vast areas. However, the performance of Kalman filter rests on the accuracy of prior information such as model construction. In the integrated system of Strapdown Inertial Navigation system (SINS)/Global Positioning system (GPS), the model construction is affected by a certain error sources. The most significant one is computational errors, which are caused by improper reference frame and the absence of true values. To solve the problem, this paper presents a modified system model which reduce the impact of computational errors by selecting computational frame as reference coordinate frame and removing all true values. Simulation results have demonstrated that modified system model effectively improves the performance of Kalman filter in SINS/GPS integrated system.
Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while...
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Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach.
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...
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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 controlsystem. 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 controlsystem 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.
In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corr...
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In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was *** system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic *** on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control *** experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.
In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed i...
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In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed in this ***,the foot trajectory is designated as the improved composite cycloid foot ***,the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the *** with the controllable landing angle of quadruped robot and a geometry method,the kinematic equation is derived in this ***,agait planning method of quadruped robot is proposed,a dynamic co-simulation is done with ADAMS and MATLAB,and practical experiments are *** validity of the proposed algorithm is confirmed through the co-simulation and *** results show that the robot can avoid sliding,reduce impingement,and trot stably in trot gait.
In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping (SLAM) algorithm, which uses a VoxelGrid filter to down sample the point cloud data, ...
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In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping (SLAM) algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points (ICP) algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles' importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles' poses, which would decrease particle numbers, increase algorithm speed and restrain particles' impoverishment. The calculation of particles' importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches.
In this paper, an optimal switching data integrity attack schedule method is presented. It is assumed that an attacker is able to inject false data to partial actuators of a healthy system at each instant. Optimal swi...
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ISBN:
(纸本)9781538629024
In this paper, an optimal switching data integrity attack schedule method is presented. It is assumed that an attacker is able to inject false data to partial actuators of a healthy system at each instant. Optimal switching attack represents a growing class of cyber-physical attacks that aim to damage a target system via a controlled switching of attacked units. A feedback attack law is proposed to maximize a weighted quadratic performance. Two switching conditions are designed to obtain the optimal sequence of the attacked actuators via the Maximum Principle. Finally, numerical results are provided to illustrate the effectiveness of the proposed method.
Chinese power grid enterprises are in need for development of digital asset management system. The characteristics of decentralization, self-trust and self-confidence, pave a promising technical path for power grid di...
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