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Adaptive fuzzy compensation based composite nonlinear feedback controller design for robot manipulators

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High Technology Letters 2019年第4期25卷 426-433页

作者： Jiang Yuan Gong Chenglong dai jiyang College of Information Engineering Nanchang Hangkong UniversityNanchang 330063P.R.China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049P.R.China

In order to suppress the influence of uncertain factors on robot system and enable an uncertain robot system to track the reference input accurately,a strategy of combining composite nonlinear feedback(CNF)control and adaptive fuzzy control is studied,and a robot CNF controller based on adaptive fuzzy compensation is *** key of this strategy is to use adaptive fuzzy control to approach the uncertainty of the system online,as the compensation term of the CNF controller,and make full use of the advantages of the two control methods to reduce the influence of uncertain factors on the performance of the *** convergence of the closed-loop system is proved by feedback linearization and Lyapunov *** final simulation results confirm the effectiveness of this plan.

关键词： robot uncertainty composite nonlinear feedback(CNF) adaptive fuzzy control system convergence

Research of Path Planning Method Based On the Improved Voronoi Diagram

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Research of Path Planning Method Based On the Improved Voron...

第25届中国控制与决策会议

作者： PENG Chen LU Xiaoqing dai jiyang YIN Linfei 660 Research Institute of Hongdu Aviation Industry Group School of Information Engineering Nanchang Hangkong University

ISBN: (纸本)9781467355339

Path planning for the aircraft is a highly challenging problem encountered in the feasibility of the path. A new approach is presented to obtain the optimal and feasible path. Firstly, the initial Voronoi diagram is generated based on the position of the threat points in the battlefield. The initial paths are planned based on the initial Voronoi diagram. Then, the initial paths are processed by the corner smooth method. And the optimal and feasible path is found by the Dijsktra search algorithm base on the processed paths. The threat and the distance of the optimal path are the minimum for the aircraft. Finally, the simulation results show the effectiveness of the proposed approach.

关键词： Improved Voronoi Diagram Dijsktra Search Algorithm Path Planning

Design of an Attitude and Disturbance Rejection Controller for Spacecraft

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Journal of Donghua University(English Edition) 2018年第3期35卷 232-236页

作者： JIA Fujin JIANG Yuan dai jiyang Key Laboratory of Nondestructive Testing Ministry of EducationNanchang 330063China School of Information Engineering Nanchang Hangkong UniversityNanchang 330063China

According to the Rodrigues parameter and the internal model principle,an adaptive state feedback control law is proposed for a rigid spacecraft with inertia uncertainty and exotic disturbances generated by an unknown nonlinear *** uncertainty of parameters is treated by an adaptive control *** a new internal model is proposed to estimate the exotic *** using the Lyapunov analysis method,the control law is designed to ensure that the system's state variables asymptotically converge to stable,and the disturbances can be completely ***,numerical simulations are included to demonstrate the performance of the presented controller.

关键词： Rodrigues parameter rigid spacecraft parametric uncertainties exotic disturbances internal model Lyapunov analysis

SURGE FORECAST FOR AERONAUTICAL ENGINES WITH EXTENDED KALMAN ESTIMATION

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Chinese Journal of Aeronautics 1994年第1期7卷 45-54页

作者： Chen Zheng dai jiyang(Dept.of Power Engineering, Nanfing Universityof Aeronautics and Astronautics,Nan jing,China,210016)

Abstract In this paper,the theory of extended Kalman estimation is applied to state estimate ofcompression system, for which a nonlinear model is developed by Greitzer.A criterion ofdetermining whether surge will occur in a turbine engine is *** combination ofstate estimation and the criterion of determining surge forms a surge prediction algorithm,which is the theoretical basis of designing a surge indicator for the turbine engine.

关键词： FORECAST SURGE FORECAST FOR AERONAUTICAL ENGINES WITH EXTENDED KALMAN ESTIMATION

Research on Consensus of UAV Formation Trajectory Planning Based on Improved Potential Field

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Research on Consensus of UAV Formation Trajectory Planning B...

第40届中国控制会议

作者： Ning Wang jiyang dai Jin Ying School of Information Engineering Nanchang Hangkong University Key Laboratory of Nondestructive Testing Nanchang Hangkong UniversityMinistry of Education

Aiming at the problems of distributed formation trajectory planning of multiple unmanned aerial vehicles（multi-UAV）in 3 D space, a consensus algorithm for distributed cooperative formation trajectory planning is proposed by combining improved artificial potential field（IAPF） and consensus theory. Firstly, the second-order system dynamic model of the UAV is ***, the attractive potential field function and the repulsive potential field function containing the distance term are defined,and the potential field function between the UAVs considering the influence of communication is designed to realize the control objectives of UAV collision avoidance, obstacle avoidance and smoothly reaching the target point. Then, a new consensus control protocol is designed by combining IAPF and consensus theory. UAVs can achieve convergence and consensus of relative distance and speed between the UAVs while maintaining the stability of the formation. Finally, the Lyapunov stability theory is used to prove the stability of the system, and simulations are carried out through the formation of four UAVs. The results show that this method can achieve the control objectives of collision avoidance, obstacle avoidance and the convergence of position and speed in the formation of trajectory planning.

关键词： Cooperative formation distributed control improved artificial potential field communication influence consensus protocol

Optimization Design and Experimental Study of Gmapping Algorithm

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Optimization Design and Experimental Study of Gmapping Algor...

第32届中国控制与决策会议

作者： Zhifeng Su Jiehua Zhou jiyang dai Yongguo Zhu School of Information Engineering Nanchang Hangkong University School of Aeronautical Manufacturing Engineering Nanchang Hangkong University

This paper aims at the issue of simultaneous localization and mapping of indoor mobile *** order to solve the defect of large computation and poor real-time performance of traditional particle filter algorithm,the Gmapping algorithm based on Rao-Blackwellized particle filter introduces the improved proposal distribution with high-precision lidar data and adaptive resampling measure to construct two dimensional grid *** the help of the robot operating system,the map construction of Gmapping algorithm under different parameters is realized in two dimensional robot *** performance of optimized Gmapping algorithm is verified on the platform of differential mobile ***,the fusion of multi-sensor information and optimization design of Gmapping algorithm are realized by calling the/imu/calibratemu service,updated and calibrated inertial measurement units data,and extended Kalman filter *** simulation and experimental results show that the robot system can construct high precision environment map under the optimal parameter configuration.

关键词： Simultaneous Localization and Mapping Gmapping Algorithm Optimization Design Robot Operating System

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基于改进势场的无人机编队恢复与一致性仿真

系统仿真学报 2022年第5期34卷 978-993页

作者：王宁代冀阳应进南昌航空大学信息工程学院江西南昌330063

针对多无人机编队防撞、编队恢复及位置和速度收敛一致性问题,提出以改进势场原理与一致性理论为基础的分布式协同编队控制算法。建立静态障碍物模型、无人机质点模型与二阶系统动态模型;定义含协调因子和通信权重的机间协调势场函数,... 详细信息

针对多无人机编队防撞、编队恢复及位置和速度收敛一致性问题,提出以改进势场原理与一致性理论为基础的分布式协同编队控制算法。建立静态障碍物模型、无人机质点模型与二阶系统动态模型;定义含协调因子和通信权重的机间协调势场函数,实现防撞和队形恢复的控制目标;在基本一致性协议中引入编队中心参考向量、期望速度和速度镇定项,实现位置和速度的收敛一致性;结合改进的一致性协议与改进势场作用下的合加速度设计协同编队控制算法,并由Hamilton函数证明该算法的稳定收敛性。仿真结果表明:该方法可以实现防撞、队形恢复及位置与速度收敛一致的控制目标。

关键词：协同编队协调势场函数通信权重编队恢复一致性算法

Research on Cooperative Obstacle Avoidance Control of UAV Formation Based on Improved Potential Field Method

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Research on Cooperative Obstacle Avoidance Control of UAV Fo...

第三十九届中国控制会议

作者： jiyang dai Yijun Sun Jin Ying Hang Nie College of Information Engineering Nanchang Hangkong University

In order to solve the problems of self-collision, obstacle avoidance and formation communication architecture of UAVs, a distributed formation control strategy was proposed using the combination of graph theory and artificial potential field theory. Firstly, the UAV formation model of fixed undirected communication topology was established. For the issues that may occur such as deadlocks and formation safety, the segmented idea, rotation force and potential force between the machines were introduced to improve the force function of the potential field, which made the formation realize obstacle avoidance and trajectory pre-planning accurately. Secondly, the state error of UAV was corrected according to the consistency theory, and the formation cooperative obstacle avoidance control law was designed to achieve the desired state consistency and track ***, the convergence consistency of the proposed control algorithm was proved by constructing Hamilton function. The simulation results show that the UAV formation can avoid obstacles effectively and achieve the desired consistency quickly.

关键词： UAV’s formation consistency algorithm graph theory artificial potential field theory

基于改进A^(*)算法的多无人机协同战术规划

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兵工学报 2020年第12期41卷 2530-2539页

作者：张哲吴剑代冀阳李品伟南昌航空大学信息工程学院江西南昌330063 北京航空航天大学可靠性与系统工程学院北京100191

多无人机协同作战是未来无人机作战方式的重要发展趋势。为增强多无人机系统的任务执行能力,提高系统整体作战效能并实现高效资源分配和调度,提出一种基于改进A^(*)算法的多无人机协同战术规划方法。按照离线规划和重规划两方面,设计战... 详细信息

多无人机协同作战是未来无人机作战方式的重要发展趋势。为增强多无人机系统的任务执行能力,提高系统整体作战效能并实现高效资源分配和调度,提出一种基于改进A^(*)算法的多无人机协同战术规划方法。按照离线规划和重规划两方面,设计战役层和战术层的作战目标迭代优化方案;建立编队协同作战的数学模型,以编队成员间的时间协同和碰撞协同代价为变量,得到多约束条件下的综合编队目标函数;结合多层变步长搜索策略和单步扩展的搜索方式,基于改进A^(*)算法,用于求解复杂战场环境下的多无人机编队协同作战航路。分别利用改进A^(*)算法和传统A^(*)算法进行对比仿真实验。仿真结果表明,多无人机协同战术规划方法能够较好地完成作战任务,改进A^(*)算法能够获得更优的航路,从而验证了所提算法的有效性。

关键词：无人机任务分配协同战术规划 A^(*)算法