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Stochastic convergence analysis of cubature Kalman filter with intermittent observations

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Journal of Systems Engineering and Electronics 2018年第4期29卷 823-833页

作者： SHI Jie QI Guoqing LI Yinya sheng andong School of Automation Nanjing University of Science and TechnologyNanjing 210094China NARI Group Corporation/State Grid Electric Power Research Institute Nanjing 211000China

The stochastic convergence of the cubature Kalmanfilter with intermittent observations （CKFI） for general nonlinearstochastic systems is investigated. The Bernoulli distributed ran-dom variable is employed to describe the phenomenon of intermit-tent observations. According to the cubature sample principle, theestimation error and the error covariance matrix （ECM） of CKFIare derived by Taylor series expansion, respectively. Afterwards, itis theoretically proved that the ECM will be bounded if the obser-vation arrival probability exceeds a critical minimum observationarrival probability. Meanwhile, under proper assumption corre-sponding with real engineering situations, the stochastic stabilityof the estimation error can be guaranteed when the initial estima-tion error and the stochastic noise terms are sufficiently small. Thetheoretical conclusions are verified by numerical simulations fortwo illustrative examples; also by evaluating the tracking perfor-mance of the optical-electric target tracking system implementedby CKFI and unscented Kalman filter with intermittent observa-tions （UKFI） separately, it is demonstrated that the proposed CKFIslightly outperforms the UKFI with respect to tracking accuracy aswell as real time performance.

关键词： cubature Kalman filter (CKF) intermittent observation estimation error stochastic stability.

Precision attitude regulation of uncertain flexible spacecraft

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Control Theory and Technology 2023年第2期21卷 246-258页

作者： Haiwen Wu Xinghu Wang andong sheng Dabo Xu School of Automation Nanjing University of Science and TechnologyNanjing 210094JiangsuChina Department of Automation University of Science and Technology of ChinaHefei 230027AnhuiChina Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou 511442GuangdongChina

Consider the precision attitude regulation with vibration suppression for an uncertain and disturbed flexible *** disturbance at issue is typically any finite superposition of sinusoidal signals with unknown frequencies and step signals of unknown *** we show that the conventional mathematical model for flexible spacecrafts is transformable to a multi-input multi-output(MIMO)strict-feedback nonlinear normal *** it is strongly minimum-phase and has a well-defined uniform vector relative *** it enables us to develop an adaptive internal model-based controller in the framework of adaptive output regulation to solve the *** is proved that asymptotic stability can be guaranteed for the attitude regulation task and the vibration of flexible appendages vanishes ***,the present study explores a new idea for control of flexible spacecraft in virtue of its system structures.

关键词： Flexible spacecraft Disturbance rejection Internal model principle Attitude regulation

Event Based Design for Cooperative Output Regulation of A Class of Multi-agent Nonlinear Systems 36

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Event Based Design for Cooperative Output Regulation of A Cl...

第36届中国控制会议

作者： Jiaqi Wang Dabo Xu Zhiyong Chen Youfeng Su andong sheng School of Automation Nanjing University of Science and Technology Electrical Engineering and Computing The University of NewcastleCallaghan College of Mathematics and Computer Science Fuzhou University

ISBN: (纸本)9781538629185

This paper considers a cooperative output regulation design for a class of multi-agent nonlinear *** this problem under undirected communication topologies,the previous studies have shown that some internal model principle based smooth distributed control law can be *** this study,we show an attempt of an event-based protocol by a cooperative practical output regulation approach.

关键词： Event-triggered control nonlinear systems stabilization

Leader-Following Consensus of Singular Nonlinear Multi-Agent Systems with Unknown External Disturbances

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Leader-Following Consensus of Singular Nonlinear Multi-Agent...

第40届中国控制会议

作者： Tianya Liu andong sheng Guoqing Qi Yinya Li School of Automation Nanjing University of Science and Technology

This paper focuses on consensus control for singular multi-agent systems with unknown external disturbances. Each agent is modeled by nonlinear dynamics, and a leader-following system is considered. Then, to eliminate disturbance and achieve leader-following consensus of the studied system, an extended state observer-based distributed consensus protocol is proposed in this paper. By means of matrix analysis and Lyapunov theory, we establish sufficient conditions of leader-following consensus for singular nonlinear multi-agent systems. Finally, a numerical example is presented to show the feasibility of the proposed method.

关键词： Singular multi-agent systems Leader-following consensus Nonlinear dynamics Unknown external disturbances Extended state observer

Adaptive Dynamic Programming for A Nonlinear Single-Pursuer Single-Evader Differential Game

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Adaptive Dynamic Programming for A Nonlinear Single-Pursuer ...

第43届中国控制会议

作者： Yinglu Zhou Yinya Li andong sheng Guoqing Qi Nanjing University of Science and Technology

This paper investigates a single-pursuer single-evader(SPSE) differential game. Unlike traditional treatments, both the dynamics of the pursuer and the evader are nonlinear which makes the linear quadratic regulation can not be applicable. To solve this problem, this paper constructs the critic neural network(NN) framework to approximate the solution of the HamiltonJacobi-Isaacs(HJI) equations through the adaptive dynamic programming(ADP) method. The interception condition, i.e., the stability of the system is also analyzed via the Lyapunov theorem. A numerical example is presented to illustrate that and the results show that the critic NN weights estimation error and the system are uniformly ultimately bounded(UUB), i.e., the pursuer can successfully intercept the evader.

关键词： Single-pursuer Single-evader Differential Game Adaptive Dynamic Programming Stackelberg Equilibrium

The Algorithm of Group Target Tracking Based on Bearing-only Measurements

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The Algorithm of Group Target Tracking Based on Bearing-only...

第43届中国控制会议

作者： Xiuling Zhang shengfu Chen Guoqing Qi Yinya Li andong sheng School of Automation Nanjing University of Science and Technology China Electronics Technology Group Corporation 20th Research Institute

A two-stage algorithm is proposed to address the nonlinear measurement problem in passive tracking of group targets,aiming to estimate the state and shape of the group target *** the first stage,a pseudo-linear target tracking model is established based on single-observer *** estimate the state of the group target,an adaptive instrumental variable pseudo-linear Kalman filtering algorithm(AIVKF) is *** the second stage,the centroid state and the extended shape of the group targets are further estimated by incorporating random matrix ***,simulation comparisons with active tracking demonstrate that the proposed method achieves a satisfactory group target tracking effect.

关键词： group target passive tracking bearing-only tracking pseudo-linear circumnavigation random matrix

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事件触发异步融合算法及在光电传感网的应用

兵器装备工程学报 2021年第10期42卷 182-186页

作者：陈烨盛安冬南京工程学院人工智能产业技术研究院南京211167 南京理工大学自动化学院南京210094

关于异步多传感器信息融合问题,已有状态估计方法可精确获知目标状态信息,但存在各异步传感器与融合中心间通信量过大的问题。作者提出了一种基于事件触发机制的多传感器异步估计框架,减少各传感器与融合中心间不必要的信息交互,推导了... 详细信息

关于异步多传感器信息融合问题,已有状态估计方法可精确获知目标状态信息,但存在各异步传感器与融合中心间通信量过大的问题。作者提出了一种基于事件触发机制的多传感器异步估计框架,减少各传感器与融合中心间不必要的信息交互,推导了所提出框架下的目标状态估计算法,给出了保证所提算法估计误差有界的条件。最后通过某异步光电探测网络中的应用,仿真验证了所提机制及算法的有效性及工程应用的可行性。

关键词：事件触发机制光电传感网异步信息融合估计误差有界降低通信量

A multi-group target tracking algorithm based on probabilistic multi-hypothesis tracking

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A multi-group target tracking algorithm based on probabilist...

第43届中国控制会议

作者： Hongwei Yang Zhongjian Sun Guoqing Qi Yinya Li andong sheng School of Automation Nanjing University of Science and Technology ZHIYUAN RESEARCH INSTITUTE

Aiming at the problem of tracking multi-group target with joint estimation of their motion state and shape,a multi-group target tracking algorithm based on probabilistic multi-hypothesis tracking(PMHT) and random hypersurface model(RHM) is *** algorithm views the group target as a whole,models the extended shape of the group target with RHM,and then uses PMHT to estimate the state of the group target with the maximum a posteriori *** algorithm addresses the challenge of accurately associating measurements with the group target and provides precise estimation of the complex shape of the group ***,it verifies the effectiveness of the algorithm through simulation experiments.

关键词： target tracking multi-group target probabilistic multi-hypothesis tracking random hypersurface model

不完全量测下基于信息一致性的分布式容积卡尔曼滤波算法

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兵工学报 2021年第11期42卷 2396-2408页

作者：王宁李银伢戚国庆盛安冬南京理工大学自动化学院江苏南京210094

针对不完全量测条件下分布式火控系统中的非线性目标跟踪问题,为提高跟踪系统的估计精度并保证各探测单元估计结果的一致性,提出一种基于信息一致性的分布式容积卡尔曼滤波(ICDCKF)算法。针对非线性系统,给出不完全量测下的改进容积卡... 详细信息

针对不完全量测条件下分布式火控系统中的非线性目标跟踪问题,为提高跟踪系统的估计精度并保证各探测单元估计结果的一致性,提出一种基于信息一致性的分布式容积卡尔曼滤波(ICDCKF)算法。针对非线性系统,给出不完全量测下的改进容积卡尔曼滤波。考虑到各探测单元间局部估计信息的相关性,该算法首次将协方差交叉方法应用于非线性一致性滤波算法,提高互协方差未知情形下分布式融合的估计精度。特别地,为确保算法的可行性,给出不完全量测情形下,ICDCKF算法估计结果收敛的条件,并从理论上严格证明在该条件下ICDCKF算法可以保证估计方差的有界性。ICDCKF算法应用于一类光电跟踪网络,与现有CKFI算法、CKF_CI算法、KCF_Me算法对比分析表明:ICDCKF算法在保证各探测单元估计结果一致性的同时,大幅度提高了跟踪系统的估计精度。

关键词：分布式估计不完全量测信息一致性协方差交叉容积卡尔曼滤波