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Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor:System,Algorithms,and Experiments

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 344-360页

作者： Yuzhen Liu ziyang meng Yao Zou Ming Cao the Department of Precision Instrument Tsinghua UniversityBeijing 100084China the School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 10083China the Institute of Engineering and Technology University of GroningenGroningen 9747AGThe Netherlands

There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging *** this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose *** order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing *** particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely ***,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive *** and accurate object tracking is achieved even under *** results are presented to demonstrate the high accuracy and stability of the whole tracking system.

关键词： Nano-scale quadrotor nonlinear control positionbased visual servoing visual object tracking

GNSS spoofing detection for single antenna receivers via CNR variation monitoring

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Journal of Systems Engineering and Electronics 2024年第5期35卷 1276-1286页

作者： LIAO Maoyou LYU Xu meng ziyang YOU Zheng Department of Precision Instrument Tsinghua UniversityBeijing 100084China

In this paper,a method for spoofing detection based on the variation of the signal’s carrier-to-noise ratio(CNR)is *** method leverages the directionality of the antenna to induce varying gain changes in the signals across different incident directions,resulting in distinct CNR variations for each signal.A model is developed to calculate the variation value of the signal CNR based on the antenna gain *** model enables the differentiation of the variation values of the CNR for authentic satellite signals and spoofing signals,thereby facilitating spoofing *** proposed method is capable of detecting spoofing signals with power and CNR similar to those of authentic satellite *** accuracy of the signal CNR variation value calculation model and the effectiveness of the spoofing detection method are verified through a series of *** addition,the proposed spoofing detection method works not only for a single spoofing source but also for distributed spoofing sources.

关键词： spoofing detection global navigation satellite system(GNSS) variation of carrier-to-noise ratio(CNR) antenna directionality

Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 54-60页

作者： Hejin Zhang Zhiyun Zhao ziyang meng Zongli Lin Department of Automation and Key Laboratory for System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University the Access Linnaeus Centre School of Electrical Engineering Royal Institute of Technology Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

关键词： Heuristic algorithms Mobile robots Robot kinematics Trajectory Dispersion Decentralized control

A dual adaptive unscented Kalman filter algorithm for SINS-based integrated navigation system

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Journal of Systems Engineering and Electronics 2024年第3期35卷 732-740页

作者： LYU Xu meng ziyang LI Chunyu CAI Zhenyu HUANG Yi LI Xiaoyong YU Xingkai Department of Precision Instrument Tsinghua UniversityBeijing 100084China College of Mechanical and Power Engineering Three Gorges UniversityYichang 443002China Unit 91001 of the PLA Beijing 100161China School of Control and Computer Engineering North China Electric Power UniversityBeijing 100096China

In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified.

关键词： Kalman filter dual-adaptive integrated navigation unscented Kalman filter(UKF) robust

Amplitude (Higgs) Mode in a Three-dimensional Dimerized Antiferromagnet

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Bulletin of the Chinese Academy of Sciences 2017年第1期31卷 41-42页

作者： meng ziyang Institute of Physics Chinese Academy of Sciences

The discovery of the Higgs boson of the Standard Model is arguably the greatest event in physics yet this *** condensed matter,we have had'Higgs''modes for several decades,in the form of amplitude excitations in superconductors,charge-densitywave materials and ***,it is only within the last decade that we have developed the ability to control the Higgs mode,by driving systems through their

关键词：英语阅读理解科技

Emmy Noether Looks at the Deconfined Quantum Critical Point

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Bulletin of the Chinese Academy of Sciences 2019年第2期33卷 105-106页

作者： meng ziyang Institute of Physics CAS

The deconfined quantum critical point (DQCP) describes a continuous phase transition between two phases that spontaneously breaks different symmetries [1]. Outside the realm of the Landau-Ginzburg-Wilson paradigm of phase transitions which is based on the concept of order parameter, the DQCP represents the new paradigm of quantum matter which manifests the concepts of fractionalized excitations (spinons in the model realization of the DQCP-the JQ model [2,3]) and emergent gauge structure and symmetry [4].

关键词： DQCP transition symmetry

Monte Carlo Study Reveals the Parent State of Quantum Phases

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Bulletin of the Chinese Academy of Sciences 2019年第2期33卷 107-108页

作者： meng ziyang Institute of Physics CAS

Numerical simulations provide the first concrete evidence of 2D (U1) deconfined matter, an exotic phase whose existence has been pursued by both condensed-matter and high-energy physicists. An international research team, led by Prof. meng ziyang from the Institute of Physics (IOP), Chinese Academy of Sciences (CAS) and comprised of Dr. XU Xiaoyan from Hong Kong University of Science and Technology, Associate Prof. QI Yang from Fudan University, Assistant Prof.

关键词： provide matter University

Distributed Nash equilibrium seeking for constrained games

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Distributed Nash equilibrium seeking for constrained games

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作者： Dandan Yue ziyang meng Department of Precision Instrument Tsinghua University

In this paper, the distributed Nash equilibrium seeking problem for the games with convex compact set constraint is studied. A distributed estimator based on the leader-follower consensus law is presented to estimate the states of the *** player communicates its estimations to its neighbors. The projections of the estimations for the states of the players onto the constraint sets are used in the Nash equilibrium seeking strategy. By synthesizing the projection term of the player’s state and the estimator-projection-based gradient play term, the Nash equilibrium seeking algorithm is proposed. The pseudo-gradient of the cost function is only assumed to be strongly monotone in the compact constraint region not required to be globally strongly monotone. Also, the proposed Nash equilibrium seeking algorithm for the constrained games is feasible under any initial states of the players if the given conditions are satisfied. The convergence of the seeking algorithm is proved. Numerical simulations are provided to validate the effectiveness of the proposed seeking algorithm.

关键词： Constrained games Nash equilibrium state estimator projection-based gradient locally strong monotonicity

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垂直起降飞行器的自适应集群编队飞行控制

中国科学：技术科学 2020年第4期50卷 369-379页

作者：邹尧孟子阳北京科技大学自动化学院智能科学与技术系北京100083 清华大学精密仪器系北京100084

本文针对垂直起降飞行器集群编队飞行控制问题开展研究.集群中的飞行器具有异构性质,即它们具有不同的惯性参数,并且每个飞行器对其自身的惯性参数也并未确切已知.另外,飞行器间的信息交互是局部的,每个飞行器仅与其邻近飞行器进行信息... 详细信息

本文针对垂直起降飞行器集群编队飞行控制问题开展研究.集群中的飞行器具有异构性质,即它们具有不同的惯性参数,并且每个飞行器对其自身的惯性参数也并未确切已知.另外,飞行器间的信息交互是局部的,每个飞行器仅与其邻近飞行器进行信息交互.为解决上述问题,本文基于级联架构,设计了一种自适应分布式控制算法.首先,在位置回路中设计一个分布式指令控制力,实现集群编队目标;接着,从设计出的指令控制力中提取出控制推力和指令姿态;最后,在姿态回路中设计一个控制力矩,实现姿态对指令姿态的跟踪.此外,在指令控制力和控制力矩设计过程中,提出合适的自适应算法对飞行器惯性参数进行估计.通过使用李雅普诺夫理论分析可知,所提出的自适应分布式控制算法确保了垂直起降飞行器渐进稳定的集群编队飞行.仿真结果进一步验证了所提算法的有效性.

关键词：无人飞行器集群编队分布式控制自适应控制级联控制