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State and parameter identification of linearized water wave equation via adjoint method

Science China(Information Sciences) 2024年第10期67卷 283-297页

作者： Yang YU Cheng-Zhong XU Hai-Long PEI Jinpeng YU School of Automation Qingdao University LAGEP Batiment CPE University Claude Bernard-Lyon 1 School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked ControlMinistry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle SystemSouth China University of Technology

In this paper, we focus on the state and parameter identification problem of a hydrodynamical system. This system is modeled as a linearized water wave equation(LWWE), a hyperbolic state-space model coupled with a Laplace equation. We assume that the wave elevation at two distinct points is the only measurement of water waves. We show that the state and water depth can be reconstructed from this point measurement records. The identification problem is recast as an optimization problem over an infinite-dimensional space. We propose the adjoint method-based identification algorithm to generate an estimated state and water depth. We then performed a numerical simulation to show the effectiveness of our designed algorithm by comparing it with existing studies.

关键词： linearized water wave equation (LWWE) point observation state estimation parameter identification adjoint method numerical simulation

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Neural network control using composite learning for USVs with output error constraints

Neural network control using composite learning for USVs wit...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Xu, Puyong Yang, Chenguang Dai, Shi-Lu Mao, Zhaoyong Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9781728158594

In this paper, by focusing on trajectory tracking control of unmanned surface vessel (USV), we present a control method considering uncertain dynamics and output error constrains. Firstly, by using the properties of tan-type barrier Lyapunov function (BLF), the output tracking error can be constrained. Secondly, we use radical basis function neural network (RBF NN) to approximate the uncertain dynamics. Considering that the estimated parameters convergence cannot be achieved in the absence of persistent excitation (PE) conditions, the composite learning update law of the weight matrix in the NN is adopted to guarantee the parameters convergence under interval excitation (IE) conditions which is easier to reach. In simulation studies, it is proven that the USV have good ability to follow the pre-designed trajectory with small tracking error and the parameters convergence can be ensured. © 2019 IEEE.

关键词： Lyapunov functions

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VFH∗ Based Local Path Planning for Mobile Robot 2

VFH∗ Based Local Path Planning for Mobile Robot

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2nd China Symposium on Cognitive Computing and Hybrid Intelligence, CCHI 2019

作者： Chen, Wenqiang Wang, Ning Liu, Xiaofeng Yang, Chenguang Key Laboratory of Autonomous System and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou510640 China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom Changzhou Key Laboratory of Robotics and Intelligent Technology College of Internet of Things Engineering Hohai University Changzhou213022 China

ISBN: (纸本)9781728140919

Vector Field Histogram(VFH) and its variants are effective obstacles avoidance method for mobile robots. Under the more consideration of realistic, we proposed a new local path planning method for mobile robot in this paper. The proposed method takes global path point generated by the A∗ algorithm as temporary target point and adopts the basic concepts of the VFH∗ algorithm, the difference is mainly lies in the representation of vector magnitude of the obstacles, the determination of the threshold, the selection of the candidate direction, and the definition of the node cost function in search tree. Besides, according to the optimal obstacle avoidance direction obtained in the above steps, we also give a speed control method to control the movement of the omnidirectional mobile robot to the target point. Simulation and experiment results shows that the proposed method is suited for mobile robot moving in realistic situation. © 2019 IEEE.

关键词： Mobile robots

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Neural Network control Using Composite Learning for USVs with Output Error Constraints

Neural Network Control Using Composite Learning for USVs wit...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Puyong Xu Chenguang Yang Shi-Lu Dai Zhaoyong Mao Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

关键词： unmanned surface vessel (USV) barrier Lyapunov function neural network composite learning Unmanned Surface Vessel Neural network outlet error network control control Methods neural network control follow error Converge Learning

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Dynamic Characteristics Analysis of Cruise Missile controlled by Grid Fin 28

Dynamic Characteristics Analysis of Cruise Missile Controlle...

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第28届中国控制与决策会议

作者： XU Zhaoqing Pei Hailong College of Automation Science and Engineering Key Laboratory of Autonomous System and Networked ControlMinistry of EducationSouth China University of Technology

ISBN: (纸本)9781467397155

The dynamic characteristics of certain cruise missile which is controlled by grid fin is analyzed in this *** aerodynamic force of grid fin is analyzed when the grid fin rotates in flying,then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory,the beginning state of the cruise is chosen as the feature point,and then the dynamical coefficient are calculated,then the longitudinal and lateral perturbation equations are *** dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation *** transfer functions and the dynamic responses under the step deflection of grid fin are *** results indicate that the grid fin can provide favorable stability,the maneuverability of Bank-to-turn is much larger than Skid-to-turn..

关键词： cruise missile grid fin dynamic characteristics dynamic response

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Satellite Formation control and Navigation Experiment Platform Based on UAVs 35

Satellite Formation Control and Navigation Experiment Platfo...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous System and Networked ControlMinistry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

In order to simulate the in-orbit movement of formation satellites,the unmanned helicopter is utilized to set up the microgravity environment relative navigation ground simulation *** platform can provide the movement of six degrees of freedom and can simulate the formation satellite flying in three-dimensional *** test platform includes host computer system,communication system,UAVs formation control system,satellite attitude simulation system,and so *** are equipped with laser radar and visible light *** control and navigation of multi-body can be achieved under complex network *** platform can be used for the test of satellite autonomous formation simulation,joint fleet navigation,and so *** algorithm of multi-body formation,multi-source and multi-target tracking based on sensor network,multi-body navigation and remote control can be verified on this platform.

关键词： formation satellites unmanned helicopter test platform

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An online identification method for small unmanned helicopter base on TVARMA model

An online identification method for small unmanned helicopte...

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2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016

作者： Liu, Zun Long, Pei Hai South China University of Technology Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China

ISBN: (纸本)9781509033645

This paper establishes an online identification algorithm which can provide the model status in real time base on TVARMA model for small unmanned helicopter. First, the TVARMA model used for describing the small unmanned helicopter is shown. After that, a recursive algorithm is elaborated to solve the parameters in the TVARMA model. Then a flight experiment data is used to identify the TVARMA model as an example, analysis and compare are made in the end to prove that the TVARMA model is accurate and this identification method is also effective. © 2016 IEEE.

关键词： Helicopters

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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An online identification method for small unmanned helicopter base on TVARMA model

An online identification method for small unmanned helicopte...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Liu Zun Pei Hai Long laboratory of Autonomous System and Networked Control Ministry of Education South China University of Technology Guangzhou Guangdong CN Key laboratory of Autonomous System and Networked Control Ministry of Education South China University of Technology Guangzhou China

关键词： Helicopters Autoregressive processes Data models Rotors Atmospheric modeling Analytical models Heuristic algorithms

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Satellite formation control and navigation experiment platform based on UAVs

Satellite formation control and navigation experiment platfo...

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Chinese control Conference (CCC)

作者： Zhaoqing Xu Hailong Pei College of Automation Science and Engineering Key Laboratory of Autonomous System and Networked Control South China University of Technology Guangzhou Guangdong CN

ISBN: (纸本)9781509009107

In order to simulate the in-orbit movement of formation satellites, the unmanned helicopter is utilized to set up the microgravity environment relative navigation ground simulation platform. The platform can provide the movement of six degrees of freedom and can simulate the formation satellite flying in three-dimensional space. The test platform includes host computer system, communication system, UAVs formation control system, satellite attitude simulation system, and so on. Sensors are equipped with laser radar and visible light cameras. Formation control and navigation of multi-body can be achieved under complex network environment. The platform can be used for the test of satellite autonomous formation simulation, joint fleet navigation, and so on. The algorithm of multi-body formation, multi-source and multi-target tracking based on sensor network, multi-body navigation and remote control can be verified on this platform.

关键词： Satellites Computers Attitude control Satellite navigation systems Satellite broadcasting Helicopters

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