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Trajectory reshaping based guidance with impact time and angle constraints

Chinese Journal of Aeronautics 2016年第4期29卷 984-994页

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

This study presents a novel impact time and angle constrained guidance law for homing missiles. The guidance law is first developed with the prior-assumption of a stationary target, which is followed by the practical extension to a maneuvering target scenario. To derive the closed-form guidance law, the trajectory reshaping technique is utilized and it results in defining a specific polynomial function with two unknown coefficients. These coefficients are determined to satisfy the impact time and angle constraints as well as the zero miss distance. Furthermore, the proposed guidance law has three additional guidance gains as design parameters which make it possible to adjust the guided trajectory according to the operational conditions and missile's capability. Numerical simulations are presented to validate the effectiveness of the proposed guidance law. (C) 2016 Chinese Society of Aeronautics and Astronautics. Production and hosting by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license.

关键词： Guidance Homing missiles Impact angle Impact time Trajectory reshaping

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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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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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The Detection of Typical Targets under the Background of Land War 29

The Detection of Typical Targets under the Background of Lan...

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第29届中国控制与决策会议

作者： Xiaowen Wu Wenjie Chen Yingying Qin State Key Laboratory of Intelligent Control and Decision Complex System Beijing Institute of Technology

ISBN: (纸本)9781509046584

This paper investigates whether advanced neural network techniques can be applied to the detection and identification of typical targets in the context of land warfare. We collected 13 typical targets and built a detection data set. Based on the Faster R-CNN framework, we improve the detection accuracy by two ways. First, we design a neural network model with strong local modeling capabilities. Second, we combine middle layers and the last layer of feature maps as the detection features to enhance the detection ability and improve the detection accuracy.

关键词： Deep Learning Convolutional Neural Network Local Modeling Capability Object Detection

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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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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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A Noise-Excitation Generative Adversarial Network for Actuator Fault Diagnosis of Multi-legged Robot

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无人系统（英文） 2023年第2期11卷 159-173页

作者： Liling Ma Jian Guo Jiehao Li Junzheng Wang State Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China

This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.

关键词： Actuator fault diagnosis multi-legged robot generative adversarial network attention mechanism

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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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A-STC: auction-based spanning tree coverage algorithm for motion planning of cooperative robots

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 18-31页

作者： Guan-qiang GAO Bin XIN School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems

The multi-robot coverage motion planning(MCMP) problem in which every reachable area must be covered is common in multi-robot systems. To deal with the MCMP problem, we propose an efficient, complete, and off-line algorithm, named the "auction-based spanning tree coverage(A-STC)" algorithm. First, the configuration space is divided into mega cells whose size is twice the minimum coverage range of a robot. Based on connection relationships among mega cells, a graph structure can be obtained. A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory. Then, the proposed algorithm adopts an auction mechanism to construct one spanning tree for each robot. In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item from neighboring vertexes of its spanning tree by heuristic rules. A bidder robot submits a proper bid to the auctioneer according to the auction vertexes' relationships with the spanning tree of the robot and the estimated length of its trajectory. The estimated length is calculated based on vertexes and edges in the spanning tree. The bidder with the highest bid is selected as a winner to reduce the makespan of the coverage task. After auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm and the method for estimating trajectory lengths. The proposed algorithm is also compared with the state-of-the-art algorithms. The comparative results show that the A-STC algorithm has apparent advantages in terms of the running time and the makespan for large crowded configuration spaces.

关键词： Coverage motion planning Multi-robot system Auction algorithm Spanning tree coverage algorithm

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Dynamic image stabilization precision test system based on the Hessian matrix

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Science China(Information Sciences) 2012年第9期55卷 2056-2074页

作者： LI Jing ,WANG JunZheng,WANG ShouKun,MA LiLing & SHEN Wei key laboratory of complex system intelligent control and decision,School of Automation,Beijing Institute of Technology,Beijing 100081,China 1. Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

Dynamic image stabilization precision of an optical image-stable device is a key technical ***,a fast dynamic image stabilization precision test system for an optical image-stable device is developed.A large-aperture collimator with a designed cross divisional board is used to simulate the infinity *** image-stable device is installed on the motion simulator with six degrees of freedom which is used to simulate the moving state of the *** CCD camera installed behind the eyepiece lens of the image-stable device acquires images rapidly and in real *** local energy maxima center of the cross light spot can be acquired accurately through the proposed algorithm using the Hessian *** addition,to deal with the CCD non-uniformity,an adaptive non-uniformity correction algorithm based on bi-dimensional empirical mode decomposition is *** actual test results for the proposed method show that the test error of dynamic image stabilization is less than 0.7,and the time for the frame image acquisition and processing is less than 10 ms,which demonstrates the effectiveness of the test system.

关键词： image stabilization precision adaptive non-uniformity correction empirical mode decomposition local energy maxima Hessian matrix

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