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On the Trends of Autonomous Unmanned Systems Research

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Engineering 2022年第5期8卷 20-23页

作者： ben m.chen Department of mechanical and Automation Engineering The Chinese University of Hong KongHong Kong 999077China

In recent decades,academia and industry have put increasing attention and investment into the research and development of autonomous unmanned systems.An autonomous unmanned vehi-cle is a machine equipped with necessary data-processing units,sophisticated sensors,environment perception,automatic control,motion planning,task planning,mission management,and com-munication systems.

关键词： autonomous systems equipped

mODELING AND FORECASTING OF STOCK mARKETS UNDER A SYSTEm ADAPTATION FRAmEWORK

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Journal of Systems Science & Complexity 2012年第4期25卷 641-674页

作者： Xiaolian ZHENG ben m.chen The Department of Electrical & Computer Engineering The National University of Singapore

这份报纸采用动态反馈系统的概念明确地为金融市场，或更多的行为建模，从一个动态系统观点的证券市场。基于一个反馈改编计划，作者在由一个内部动态模型和一个适应过滤器构成的一个框架以内为一个证券市场索引的运动建模。而适应过滤... 详细信息

这份报纸采用动态反馈系统的概念明确地为金融市场，或更多的行为建模，从一个动态系统观点的证券市场。基于一个反馈改编计划，作者在由一个内部动态模型和一个适应过滤器构成的一个框架以内为一个证券市场索引的运动建模。而适应过滤器是有仪器的变量的一个变化时间的州的空间模型，产量错误模特儿作为内部模型被收养。它的输入产量行为，和内部以及外部的力量然后被识别。特殊注意被作为一个例子检验道·琼斯工业一般水准(DJIA ) 的运动说明建议框架的优点也对最近的金融危机给予了。由变化时间的诱发性测试，从经济的五个有影响的因素和情绪方面支持了作为这个框架的输入被介绍。严峻的结果证明建议框架比存在方法有好一些的预言表演，特别处于复杂经济状况。这个框架的应用也与预报市场趋势的转弯的时期的焦点被介绍。当外部力量开始在它的频率回答展出清楚的模式时，认识到一个市场趋势就要变化，作者开发一套规则认出这种清楚的模式。这些规则从美国，中国和新加坡为股票指数工作很好。

关键词： A股市场预测性能框架自适应滤波器建模反馈系统输出误差模型状态空间模型

Online schedule for autonomy of multiple unmanned aerial vehicles

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Science China(Information Sciences) 2017年第7期60卷 217-229页

作者： Kemao PENG Feng LIN ben m.chen Temasek Laboratories National University of Singapore Department of Electrical and Computer Engineering National University of Singapore

An online rectangle based scheduling algorithm(RSA) is developed to improve autonomy of multiple unmanned aerial vehicles(UAVs) to search a field of forest together. The purposes of RSA are to online decide the number of the UAVs to be assigned and to schedule the path for the assigned UAVs to search the missed areas resulted from the previous search. The main ideas of RSA are to cover each separated zone of the missed areas with a rectangle and then to schedule the path to search the rectangles. Thus, RSA is robust against the unknown shapes and sizes of the missed areas. The forest search is applied to verify the online RSA in simulation. The simulation results demonstrate that the online RSA is successful to decide the number of the UAVs to be assigned and to schedule the path for the assigned UAVs to search the missed areas.

关键词： online schedule mission planning autonomy of UAVs multiple UAVs algorithms

Autonomous reconfigurable hybrid tail-sitter UAV U-Lion

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Science China(Information Sciences) 2017年第3期60卷 202-217页

作者： Kangli WANG Yijie KE ben m.chen Unmanned Systems Research Group 4 Engineering Drive 3 National University of Singapore

We present in this work the development of a novel hybrid unmanned aircraft platform, U-Lion,which has both vertical take-off and landing(VTOL) and cruising flight capabilities. Our design is in tail-sitter structure with reconfigurable wings, which combines the advantages of a fixed-wing plane and a rotor helicopter effectively. This allows it to transit from vertical take-off to hovering, before flying in cruise mode for efficient long duration flight. The propulsion comes from two coaxial contra-rotating motors fixed on a gimbal mechanism,which can change the direction of the motors for the required thrust. This thrust-vectored propulsion system primarily provides control in the VTOL mode but also enhances flight capabilities in the cruise mode. The hybrid aircraft is equipped with GPS and airspeed sensors, and has an onboard avionic system with advanced flight control algorithms to perform fully autonomous VTOL and cruising flights, in addition to transiting effectively between VTOL and cruising flight modes. The overall design has been successfully verified by actual flight experiments.

关键词： unmanned aerial vehicle vertical take-off and landing hybrid platform aircraft platform design flight control system

Smooth quadrotor trajectory generation for tracking a moving target in cluttered environments

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Science China(Information Sciences) 2021年第7期64卷 132-147页

作者： Lele XI Zhihong PENG Lei JIAO ben m.chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Peng cheng Laboratory Department of mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments. Compared to existing methods, safe flying zone,vehicle physical limits, and smoothness are fully considered to guarantee flight safety, kinodynamic feasibility, and tracking performance. To tackle the cluttered environments, a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible, with consideration of the target’s future state as well as obstacles to trade off the tracking performance and flight safety. Then, a sequential motion planning method, considering the above constraints, is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach. The feasibility and effectiveness of the proposed method are verified by numerical simulations.

关键词： quadrotor target tracking trajectory generation B-spline convex optimization

Complex system and intelligent control: theories and applications

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 1-3页

作者： Jie chen ben m.chen Jian SUN School of Automation Beijing Institute of Technology Tongji University Department of mechanical and Automation Engineering Chinese University of Hong Kong Department of Electrical and Computer Engineering National University of Singapore

Complex systems are the systems that consist of a great many diverse and autonomous but interacting and interdependent components whose aggregate behaviors are nonlinear. As phased by Aristotle,'the whole is more than the sum of its parts;' properties of complex systems are not a simple summation of their individual parts.Complex systems are widespread. Typical examplesofcomplexsystemscanbefoundinthehuman brain,flocking formation of migrating birds,power grid,transportation systems,autonomous vehicles,social networks, and communication networks.

关键词： Complex system and intelligent control theories and applications UAV

Semi-global leader-following output consensus of heterogeneous systems subject to actuator position and rate saturation

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Autonomous Intelligent Systems 2021年第1期1卷 91-103页

作者： Panpan Zhou ben m.chen Department of mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong Kong

We study in this paper a semi-global leader-following output consensus problem for multiple heterogeneous linear systems in the presence of actuator position and rate saturation over a directed topology.For each follower,via the low gain feedback design technique and output regulation theory,both a state feedback consensus protocol and an output feedback consensus protocol are constructed.In the output feedback case,different distributed observers are designed for the informed followers and uninformed followers to estimate the state of the leader and the follower itself.We show that the semi-global leader-following output consensus of heterogeneous linear systems can be achieved by the two consensus protocols if each follower is reachable from the leader in the directed communication topology.

关键词： multi-agent system Output consensus Low gain feedback

Safe navigation of quadrotors with jerk limited trajectory

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 107-119页

作者： Shu-peng LAI meng-lu LAN Ya-xuan LI ben m.chen Department of Electrical and Computer Engineering National University of Singapore Graduate School for Integrative Science & Engineering National University of Singapore School of Control Science and Engineering Shandong University Department of mechanical and Automation Engineering Chinese University of Hong Kong

many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications, for which computational efficiency is crucial. In this study, we present a safe flying corridor navigation method, which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 μs, which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily oriented.The jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.

关键词： Quadrotor Unmanned aerial vehicle motion planning

An overview on development of miniature unmanned rotorcraft systems

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Frontiers of Electrical and Electronic Engineering in China 2010年第1期5卷 1-14页

作者： Guowei CAI ben m.chen Tong H.LEE Department of Electrical and Computer Engineering National University of SingaporeSingapore 117576Singapore

In this article,we attempt to document a technical overview on modern miniature unmanned rotorcraft systems.We first give a brief review on the historical development of the rotorcraft unmanned aerial vehicles(UAVs),and then move on to present a fairly detailed and general overview on the hardware configuration,software integration,aerodynamic modeling and automatic flight control system involved in constructing the unmanned system.The applications of the emerging technology in the military and civilian domains are also highlighted.

关键词： unmanned aerial vehicle(UAV) rotorcraft aerodynamic modeling avionic systems flight control systems