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Hypersonic Re-entry Vehicle Fault-Tolerant control Against Actuator Failure via Integral Sliding Mode

Journal of Beijing Institute of Technology (English Edition) 2021年第ZK期30卷 111-120页

作者： Guo, Fuhui Lu, Pingli School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

A fault-tolerant control (FTC) scheme is proposed based on integral sliding mode(ISM) for attitude control of hypersonic re-entry vehicle (HRV) under partial loss of actuator effectiveness. First, the inner/outer loop mathematical model of HRV in the present of actuator failure is given with specific analysis on torque. Then prescribed performance approach is introduced to the ISM controller design by error transformation. Specifically, the transformation error rather than tracking error is chosen as the sliding variable to establish the sliding mode surface and reaching law. As a result, the attitude tracking error of HRV is limited into the expected range. Meanwhile, the transient process and the steady state behavior are both considered. Considering that the unknown fault information of actuator can cause adverse effect on HRV, an extended state observer(ESO) is adopted to estimate the unknown actuator failure. Thus the observer result is served as compensation for the loss of the controlled system performance. Simulation results show that the proposed scheme can fulfil the tracking task with prescribed performance. © 2020 Journal of Beijing Institute of Technology

关键词： Actuators

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Construction of Multilayer Porous Scaffold Based on Magnetically Guided Assembly of Microfiber

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Journal of systems Science & complexity 2018年第3期31卷 581-595页

作者： LI Xingfu WANG Huaping SHI Qing SUN Tao HUANG Qiang FUKUDA Toshio Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing 100816 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper proposes a novel method of magnetically guided assembly to construct multi- layer porous scaffold for three-dimensional cell culture by apply magnetic microfibers. Microfibers are composed of biocompatible and biodegradable alginate solution with homogeneous magnetic nanopar- ticles, which are continuously spun from a microfluidic device by precise pressure control of the syringe pump. Magnetic nanoparticles enable the control of magnetic field on microfibers. Meanwhile, mag- netized device combining with a round permanent magnet are utilized to guide the distribution of spouted microfibers. The device is composed by pure iron wire arrays and wax, which stimulates pow- erful magnetic flux density and magnetic field gradients for the capture and assembly of microfibers. Thus, magnetic microfibers are spun on desired places of the magnetized device by motion control of the micromanipulation robot, and precise locations are adjusted by magnetic force couple with the assist of glass micropipette. Afterwards, microfibers are spatially organized by periodic magnetic force and crossed layer-by-layer to form micro-pore structure with both length and width of 650μm. Finally, the authors construct a multilayer microfiber-based scaffold with high porosity to provide a satisfactory environment for long-term cell culture. The experimental results demonstrate the effectiveness of the proposed method.

关键词： Magnetically guided assembly magnetic microfiber magnetized device periodic magneticforce multilayer porous scaffold.

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Modeling of hysteresis in piezoelectric actuator using linear play operator adaptive filter

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key Engineering Materials 2015年 645卷 957-962页

作者： Xiong, Rui Liu, Xiangdong Shan, Fengmin Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Automation College Beijing Institute of Technology Beijing China

Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear play operators (LPO) adaptive hysteresis model is introduced in this paper. LPO operators are used to replace delay operators of adaptive transversal filter to compose a new serial structure of adaptive transversal filter model, and LMS (Least Mean Square) algorithm is used to adjust the weight values. As hysteresis loop of piezoelectric actuator is asymmetric and LPO operator is symmetric, a modified LPO (MLPO) adaptive filter is proposed for asymmetric hysteresis effect. At last, the two LPO filters are applied to model hysteresis characteristic of Piezoelectric actuator, and the modeling effect is verified via a micro-positioning system experiment platform based on Piezoelectric actuator. Experimental results show that the modified LPO filters can achieve better accurate hysteresis modeling. © (2015) Trans Tech Publications, Switzerland.

关键词： Hysteresis

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

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The effect of waist twisting on walking speed of an amphibious salamander like robot

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Acta Mechanica Sinica 2016年第3期32卷 546-550页

作者： Xin-Yan Yin Li-Chao Jia Chen Wang Guang-Ming Xie Intelligent Control Laboratory College of EngineeringPeking University Key State Laboratory for Turbulence & Complex Systems College of Engineering Peking University

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.

关键词： Terrestrial locomotion Step length Waist twisting Walking speed

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control of Bilateral Teleoperation with Time Delay Considering Operator Force Sending 34

Control of Bilateral Teleoperation with Time Delay Consideri...

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第三十四届中国控制会议

作者： QIN Yongming XIA Yuanqing School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.

关键词： bilateral teleoperation,time delay,force sending,position tracking,contact force

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Multi-sensor optimal distributed weighted Kalman filter fusion over unreliable networks 35

Multi-sensor optimal distributed weighted Kalman filter fusi...

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第35届中国控制会议

作者： XING Zirui XIA Yuqing Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.

关键词： Multi-sensor unreliable networked systems Distributed weighted Kalman filter fusion Network delay Buffers

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A Mobility Based Clustering Algorithm in MANETs Utilizing Learning Automata

A Mobility Based Clustering Algorithm in MANETs Utilizing Le...

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第三十二届中国控制会议

作者： GAO Xun School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479900305

There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.

关键词： Ad Hoc clustering mobility Learning Automata

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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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A Composite controller Strategy for Electromechanical Actuator Using a Permanent-Magnet Synchronous Motor 33

A Composite Controller Strategy for Electromechanical Actuat...

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第三十三届中国控制会议

作者： WANG Chenyi GAN Minggang QIAO Zhi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Electromechanical Actuator,PMSM,Non-Singular Terminal Sliding Mode,Extended state Observer,hinge moment

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