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Hierarchical controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization

IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2082-2098页

作者： Wei Ren Zhuo-Rui Pan Weiguo Xia Xi-Ming Sun the Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology the School of Control Science and Engineering Dalian University of TechnologyDalian 116024China

Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a *** this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL *** on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis ***,we develop a dynamic quantization based approach to verify the realization of the accepting *** realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller ***,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control *** abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational *** each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing ***,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.

关键词： Abstraction-based control design dynamic quantization formal methods linear temporal logic(LTL)

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Optimal crater landmark selection based on optical navigation performance factors for planetary landing

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Chinese Journal of Aeronautics 2023年第3期36卷 254-270页

作者： Yi XIU Shengying ZHU Rui XU Maodeng LI School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information TechnologyBeijing 100081China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of EducationBeijing 100081China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100091China

Planetary craters are natural navigation landmarks that widely exist and are easily *** navigation based on crater landmarks has become an important autonomous navigation method for planetary *** to the increase in observed crater landmarks and the limitation of onboard computation,the selection of good crater landmarks has gradually become a research hotspot in the field of landmark-based optical *** paper designs a fast crater landmark selection method,which not only considers the configuration observability of crater subsets but also focuses on the influence on navigation performance arising from the measurement uncertainty and the matching confidence of craters,which is different from other landmark selection *** factor of measurement uncertainty,which is anisotropic,correlated and nonidentically distributed,is quantified and integrated into selection based on crater pairing detection and localization error *** addition,the concept of the crater matching confidence factor is introduced,which reflects the possibility of 2D projection measurements corresponding to 3D *** with the configuration observability factor,the crater landmark selection indicator is ***,the effectiveness of the proposed method is verified by Monte Carlo simulations.

关键词： Crater-based optical navigation Crater landmark selection Crater matching Measurement uncertainty Planetary landing

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An improved high-fidelity adaptive model for integrated inlet-engine-nozzle based on mechanismdata fusion

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Chinese Journal of Aeronautics 2024年第8期37卷 190-207页

作者： Chen WANG Ziyang YU Xian DU Ximing SUN School of Control Science and Engineering Dalian University of TechnologyDalian 116024China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of EducationDalian University of TechnologyDalian 116024China

Nowadays,there has been an increasing focus on integrated flight propulsion control and the inlet-exhaust design for the aero-propulsion *** component-level models are inadequate due to installed performance deviations and mismatches between the real engine and the model,failing to meet the accuracy requirements of supersonic *** paper establishes a quasi-one-dimensional model for the inlet-exhaust system and conducts experimental ***,a mechanism-data fusion adaptive modeling scheme using an Extreme Learning Machine based on the Salp Swarm Algorithm(SSA-ELM)is *** study reveals the inlet model’s efficacy in reflecting installed performance,flow matching,and mitigating pressure distortion,while the nozzle model accurately predicts flow coefficients and thrust coefficients,and identifies various operational *** model’s output closely aligns with typical experimental *** combining offline optimization and online adaptive correction,the mechanismdata fusion adaptive model substantially reduces output errors during regular flights and varying levels of degradation,and effectively handles gradual degradation within a single flight ***,the mechanism-data fusion adaptive model holistically addresses total pressure errors within the inlet-exhaust system and normal shock location *** approach significantly curbs performance deviations in supersonic *** example,at Ma=2.0,the system error impressively drops from 34.17%to merely 6.54%,while errors for other flight conditions consistently stay below the 2.95%*** findings underscore the clear superiority of the proposed method.

关键词： Aero-propulsion system Integrated inlet-enginenozzle Component-level model On-board adaptive model Mechanism-data fusion Extreme learning machine

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Aeroengine thrust estimation and embedded verification based on improved temporal convolutional network

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Chinese Journal of Aeronautics 2024年第1期37卷 106-117页

作者： Wanzhi MENG Zhuorui PAN Sixin WEN Pan QIN Ximing SUN Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of TechnologyDalian 116024China School of Control Science and Engineering Dalian University of TechnologyDalian 116024China

Thrust estimation is a significant part of aeroengine thrust control *** traditional estimation methods are either low in accuracy or large in *** further improve the estimation effect,a thrust estimator based on Multi-layer Residual Temporal Convolutional Network(M-RTCN)is *** solve the problem of dead Rectified Linear Unit(ReLU),the proposed method uses the Gaussian Error Linear Unit(GELU)activation function instead of ReLU in residual *** the overall architecture of the multi-layer convolutional network is adjusted by using residual connections,so that the network thrust estimation effect and memory consumption are further ***,the comparison with seven other methods shows that the proposed method has the advantages of higher estimation accuracy and faster convergence ***,six neural network models are deployed in the embedded controller of the micro-turbojet *** Hardware-in-the-Loop(HIL)testing results demonstrate the superiority of M-RTCN in terms of estimation accuracy,memory occupation and running ***,an ignition verification is conducted to confirm the expected thrust estimation and real-time performance.

关键词： Thrust estimation Temporal convolutional network Embedded deployment Hardware-in-the-loop testing Ignition verification

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Identification and compensation of suspension disturbance for magnetically levitated rotary joints 18

Identification and compensation of suspension disturbance fo...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Wang, Yingguang Zhang, Jiyang Fan, Yahong Lu, Ming Luo, Ruizhi Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory Beijing China

ISBN: (纸本)9798350312201

For the multi-degree-of-freedom harmonic disturbance force/moment of the magnetically levitated rotor, a harmonic disturbance/disturbance force suppression method based on the eigenfrequency disturbance observer is proposed in this paper. First, a multi-freedom harmonic disturbance force/moment mechanism analysis is performed and its source is located. Then, a multi-degree-of-freedom eigenfrequency disturbance observer based on an adaptive discriminator is designed for closed-loop identification of the eigenfrequency disturbance forces of the magnetically levitated rotor by controlling its steady speed rotation. Then, the open-loop compensation current of each channel magnetic bearing is solved according to the multi-degree-of-freedom eigenfrequency perturbation observation results, so that the open-loop compensation electromagnetic force/moment and the perturbation force/moment form a balanced force/moment. Finally, tests were conducted on the rotating joint products, and the test results showed that the method can reduce the amount of magnetic levitation rotor levitation control fluctuation by more than 90% and improve the levitation stability by one order of magnitude. © 2023 IEEE.

关键词： Magnetic levitation

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A Multi-constraint Attitude control Scheme for Micro-nano Satellite During On-Orbit Standby 11th

A Multi-constraint Attitude Control Scheme for Micro-nano Sa...

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11th International Conference on Signal and Information Processing, Network and Computers, ICSINC 2023

作者： Li, Mingqun Lei, Yongjun Wang, Shuyi Beijing Institute of Control Engineering Beijing100194 China Science and Technology on Space Intelligent Control Laboratory Beijing100194 China

ISBN: (纸本)9789819721153

In this paper, the attitude control problem of a class of micro-nano satellites in low Earth orbit without solar array driving mechanism is studied. Firstly, based on the attitude dynamics, a three-axis decoupled attitude control law is proposed so that each channel can be designed independently. Then, various constraints in satellite attitude design during on-orbit standby were analyzed. Under the constraints of energy security, a satellite attitude maneuver was proposed to ensure the sun orientation of the solar array. During the design process, multiple constraints such as attitude reference guarantee and thermal control condition guarantee were introduced. For different orbital characteristics, methods were proposed to determine the orientation attitude towards the sun by combining the geocentric vector, orbital normal vector, and solar vector, as well as the on-orbit standby control strategy of sun orientation in the sun light area with earth orientation in the shadow area. Then the optimal maneuver strategy and angular velocity planning method was proposed in the aspect of large angle attitude maneuver, which makes the attitude control of satellites safe and stable during on-orbit standby. The mathematical simulation results show that the scheme proposed in this paper is applicable to low Earth orbit micro-nano satellites with various inclinations, which verifies the effectiveness of the method proposed in this paper. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Attitude control

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A PSO-LSTM-based Method for Spatial Target Orbit Phase Prediction 4

A PSO-LSTM-based Method for Spatial Target Orbit Phase Predi...

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4th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2023

作者： Qu, Zonghua Wei, Chunling Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory Beijing China

ISBN: (纸本)9798350326444

As space becomes increasingly crowded and the orbital space environment gradually deteriorates, countries have gradually begun to pay attention to the in-orbit security of spacecraft. The timely and accurate sensing of space threats can effectively guarantee the in-orbit safety of our spacecraft. The orbital phase prediction for space targets is an important problem in the field of space situational awareness. In this paper, we propose a PSO-LSTM-based orbital prediction method for space targets, which has an accuracy rate of over 88.7% for different phases of orbital prediction. © 2023 IEEE.

关键词： Orbits

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Elliptical Orbit Guidance Scheme Research for Far-Range Rendezvous in Lunar Mission 11th

Elliptical Orbit Guidance Scheme Research for Far-Range Rend...

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11th International Conference on Signal and Information Processing, Network and Computers, ICSINC 2023

作者： Wang, Gaoyang Hu, Haixia Xie, Yongchun Beijing Institute of Control Engineering Beijing100190 China Science and Technology on Space Intelligent Control Laboratory Beijing100094 China

ISBN: (纸本)9789819721191

The application of nearly-circular deviation equations in far-range rendezvous between spaceship and lunar module in elliptical orbit guidance scheme for manned lunar missions is researched. A four-pulse far-range rendezvous guidance scheme is designed, in which the out-of-plane parameters of orbit are corrected by a vertical pulse and the far-range rendezvous is realized by three in-plane phasing pulses. First, the positions of the first two phasing pulses are fixed. Then, in order to obtain the optimal solution of the total velocity increment, the position of the third in-plane pulse and three velocity increments of in-plane pulses are solved by the sequential quadratic programming algorithm with the total velocity increment transformed into the objective function. The correctness of the scheme is verified by scenario simulation, and the effective solution interval of the scheme with different initial positions and orbital eccentricity of the lunar module is analyzed. The simulation shows that different initial positions and orbital eccentricity of the lunar module have significant effects on effective phase angles between spaceship and lunar module which are able to be solved successfully by nearly-circular deviation equations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Quadratic programming

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Capture and Visual Tracking control of Early Warning spacecraft Based on a Two-Axis Turntable 11th

Capture and Visual Tracking Control of Early Warning Spacecr...

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11th International Conference on Signal and Information Processing, Network and Computers, ICSINC 2023

作者： Wang, Lijiao Tao, Jiawei Ren, Bin Wang, Shuyi Lei, Yongjun Beijing Institute of Control Engineering Beijing100190 China Science and Technology on Space Intelligent Control Laboratory Beijing100190 China

ISBN: (纸本)9789819721153

In this work, we deal with the pointing control problem for the whole tracking process of a non-cooperative object via a two-axis turntable-based early warning satellite, where the initial target acquisition process and the subsequent visual tracking process are addressed respectively. First, to conquer the capture error caused by the camera assemble error and the inconsistency of the center of the viewing field for multiple channels of the camera, a high-accuracy capture protocol with bias compensation is devised by utilizing the image kinematics of the turntable and the satellite. Second, an image-based nonlinear visual servoing controller via a novel velocity estimator is developed, where the angular rate of the turntable and the satellite is involved to predict the image velocity. In addition, the planning scenario for the expected image trajectory is introduced to improve the performance of the transient period. Finally, on-board experiment is performed to testify the effectiveness of our methodology. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： controllers

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A Multi-source Data Fusion Navigation Method of spacecraft with Limited GNSS Signals 14th

A Multi-source Data Fusion Navigation Method of Spacecraft w...

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14th China Satellite Navigation Conference, CSNC 2024

作者： Li, Leyao Chang, Jiansong Guo, Jianxin Beijing Institute of Control Engineering Beijing100094 China Science and Technology On Space Intelligent Control Laboratory Beijing100094 China

ISBN: (纸本)9789819969272

Global Navigation Satellite system (GNSS) is initially designed to provide services to objects on the earth surfaces, or in the earth-orbits with altitude below 3000 km. However, previous researches show that GNSS receivers mounted on GEO satellites can receive GNSS signals and generate positioning and navigation results as well. Considering that in some harsh situations, such as bad observation geometry, weak signal acquisition, etc., the on-board GNSS receivers can only transfer pseudo-range data to GEO satellites, this paper proposed an autonomous navigation method in which the information from GNSS receiver, optical attitude sensors, and inter-satellite links are fused together: at first, the extended state equation and measurement equation of a GEO satellite with optical sensor’s errors are deduced;then, an extended Kalman filter is designed to evaluate and compensate optical sensor’s errors via constructed earth-centered vector bias;later, a sequential correction is carried out using inter-satellite link measurements;finally, the performance of proposed method is analyzed through Monte-Carlo simulation. It shows that the average distance and velocity evaluation errors of proposed method are around 0.2 km and 0.05 m/s individually;the performance can meet the requirements of survivability of a class of high-orbit, long-life and high-value satellites. © 2024, Aerospace Information Research Institute.

关键词： Errors

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