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Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

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Frontiers of Information Technology & Electronic Engineering 2019年第3期20卷 330-341页

作者： Da-qi ZHU Yun QU simon x.yang Laboratory of Underwater Vehicles and Intelligent Systems Shanghai Maritime University Advanced Robotics and Intelligent Systems Laboratory University of Guelph

There is an ocean current in the actual underwater working environment. An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles(AUVs) is proposed for a three-dimensional underwater workspace in the ocean current. Each AUV in the model will be competed, and the shortest path under an ocean current and different azimuths will be selected for task assignment and path planning while guaranteeing the least total consumption. First, the initial position and orientation of each AUV are determined. The velocity and azimuths of the constant ocean current are determined. Then the AUV task assignment problem in the constant ocean current environment is considered. The AUV that has the shortest path is selected for task assignment and path planning. Finally, to prove the effectiveness of the proposed method, simulation results are given.

关键词： Autonomous underwater vehicles Self-organizing neural networks Azimuths Ocean current

A survey on distributed compressed sensing： theory and applications

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Frontiers of Computer Science 2014年第6期8卷 893-904页

作者： Hongpeng YIN Jinxing LI Yi CHAI simon x. yang College of Automation Chongqing University Chongqing 400030 China Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education Chongqing 400030 China State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing 400030 China School of Engineering University of Guelph Guelph N1G 2W1 Canada

The compressed sensing （CS） theory makes sample rate relate to signal structure and content. CS samples and compresses the signal with far below Nyquist sampling frequency simultaneously. However, CS only considers the intra-signal correlations, without taking the correlations of the multi-signals into account. Distributed compressed sensing （DCS） is an extension of CS that takes advantage of both the inter- and intra-signal correlations, which is wildly used as a powerful method for the multi-signals sensing and compression in many fields. In this paper, the characteristics and related works of DCS are reviewed. The framework of DCS is introduced. As DCS＇s main portions, sparse representation, measurement matrix selection, and joint reconstruction are classified and summarized. The applications of DCS are also categorized and discussed. Finally, the conclusion remarks and the further research works are provided.

关键词： compressed sensing distributed compressed sensing sparse representation measurement matrix joint reconstruction joint sparsity model

Bioinspired backstepping sliding mode control and adaptive sliding innovation filter of quadrotor unmanned aerial vehicles

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Biomimetic Intelligence & Robotics 2023年第3期3卷 49-58页

作者： Zhe xu Tao Yan simon x.yang SAndrew Gadsden School of Engineering University of GuelphGuelph N1G 2V7Canada Department of Mechanical Engineering McMaster UniversityHamilton L8S 4L8Canada

Quadrotor unmanned aerial vehicles have become the most commonly used flying robots with wide applications in recent *** paper presents a bioinspired control strategy by integrating the backstepping sliding mode control technique and a bioinspired neural dynamics *** effects of both disturbances and system and measurement noises on the quadrotor unmanned aerial vehicle control performance have been addressed in this *** proposed control strategy is robust against disturbances with guaranteed stability proven by the Lyapunov stability *** addition,the proposed control strategy is capable of providing smooth control inputs under *** the modeling uncertainties,the adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates to improve tracking ***,the simulation results demonstrate that the proposed control strategy provides satisfactory tracking performance for a quadrotor unmanned vehicle operating under disturbances and noises.

关键词： Trajectory tracking Backstepping sliding mode Sliding innovation filter Unmanned aerial vehicle

A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

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IET Cyber-Systems and Robotics 2022年第3期4卷 153-162页

作者： Zhe xu Tao Yan simon x.yang S.Andrew Gadsden School of Engineering University of GuelphGuelphOntarioCanada Department of Mechanical Engineering McMaster UniversityHamiltonOntarioCanada

Tracking control has been a vital research topic in *** paper presents a novel hybrid control strategy for an unmanned underwater vehicle(UUV)based on a bio-inspired neural dynamics *** enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional ***,a novel sliding mode control is proposed,which is capable of providing smooth and continuous torque commands free from *** comparative studies,the proposed combined hybrid control strategy has ensured control signal smoothness,which is critical in real‐world applications,especially for a UUV that needs to operate in complex underwater environments.

关键词： backstepping bioinspired neural dynamics sliding mode control unmanned underwater vehicle

Robust stabilization and disturbance attenuation for a class of underactuated mechanical systems

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Journal of Central South University 2012年第9期19卷 2488-2495页

作者：赖旭芝潘昌忠吴敏佘锦华 simon x.yang School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation(Central South University) School of Engineering University of Guelph School of Computer Science Tokyo University of Technology

The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unstable equilibrium position in the presence of parametric uncertainties and external disturbance. First, in the swing-up area, it is shown that the time derivative of energy is independent of the parameter uncertainties, but exogenous disturbance may destroy the characteristic of increase in mechanical energy. So, a swing-up controller with compensator is designed to suppress the influence of the disturbance. Then, in the attractive area, the control problem is formulated into a H~ control framework by introducing a proper error signal, and a sufficient condition of the existence of Hoo state feedback control law based on linear matrix inequality （LMI） is proposed to guarantee the quadratic stability of the control system. Finally, the simulation results show that the proposed control approach can simultaneously handle a maximum ±10% parameter perturbation and a big disturbance simultaneously.

关键词： underactuated mechanical systems robust stabilization disturbance attenuation H∞ linear matrix inequality (LMI)

New Distributed Positioning Algorithm Based on Centroid of Circular Belt for Wireless Sensor Networks

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International Journal of Automation and computing 2007年第3期4卷 315-324页

作者： xu-Zhi Lai simon x. yang Gui-xiu Zeng Jin-Hua She Min Wu School of Information Science ＆ Engineering Central South UniversityChangsha 410083PRC Advanced Robotics and Intelligent Systems Laboratory School of EngineeringUniversity of GuelphGuelphOntario NIG 2W1Canada School of Bionics Tokyo University of Technology1404-1 KatakuraHachiojiTokyo 192-0982Japan

This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes are already known, a circular belt containing an unknown node is obtained using information about the anchor nodes that are in radio range of the unknown node, based on the geometric relationships and communication constraints among the unknown node and the anchor nodes. Then, the centroid of the circular belt is taken to be the estimated position of the unknown node. Since the algorithm is very simple and since the only communication needed is between the anchor nodes and the unknown node, the communication and computational loads are very small. Furthermore, the algorithm is robust because neither the failure of old unknown nodes nor the addition of new unknown nodes influences the positioning of unknown nodes to be located. A theoretical analysis and simulation results show that the algorithm does not produce any cumulative error and is insensitive to range error, and that a change in the number of sensor nodes does not affect the communication or computational load. These features make this algorithm suitable for all sizes of low-power wireless sensor networks.

关键词： Positioning wireless sensor networks circular belt algorithm performance.

A model predictive based UUV control design from kinematic to dynamic tracking control 36

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A model predictive based UUV control design from kinematic t...

第36届中国控制会议

作者： Bing Sun Wenyang Gan Daqi Zhu Wei Zhang simon x yang Lab.of Underwater Vehicles and Intelligent Systems Shanghai Maritime University Advanced Robotics and Intelligent Systems Laboratory University of Guelph

ISBN: (纸本)9781538629185

In this paper,the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle（UUV） ***,the kinematic tracking controller based on model predictive control（MPC） is applied to reach the tracking control in a kinematic *** with conventional backstepping control,MPC can solve the speed jump control problem very ***,to deal with dynamic tracking control with the nonlinear UUV dynamic model,the computation cost of MPC will be tremendous and cannot meet the real-time ***,in order to deal with this problem,the MPC algorithm is cooperated with sliding mode control to reach a dynamic tracking control which can be robust with modeling uncertainty and ***,the experimental results show that the proposed method can solve speed jump and robust enough for tracking control compared with other benchmark method.

关键词： Unmanned Underwater Vehicle trajectory tracking model predictive control sliding mode control speed jump

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分流模型PID与鲁棒补偿的复合控制策略

系统仿真学报 2006年第3期18卷 706-709,721页

作者：张惠娣刘士荣 simon x yang 杭州电子科技大学自动化学院 School of Engineering University of GuelphGuelphOntario N1G 2 W 1Canada

提出了一种基于分流模型PID与鲁棒补偿的复合控制策略,这种控制器具有非线性滤波、增益自调整、鲁棒性好等优良特性。由于分流模型的输出是稳定、光滑且有界,可以构造一类具有输出光滑、有界并且增益自调整的PID控制器,其可设计一类安... 详细信息

提出了一种基于分流模型PID与鲁棒补偿的复合控制策略,这种控制器具有非线性滤波、增益自调整、鲁棒性好等优良特性。由于分流模型的输出是稳定、光滑且有界,可以构造一类具有输出光滑、有界并且增益自调整的PID控制器,其可设计一类安全控制系统。将分流模型PID与鲁棒补偿控制相结合,有效地解决了参数不确定情况下的一类非线性系统的鲁棒控制问题。通过倒立摆控制系统的仿真研究,验证了控制策略的有效性。

关键词：分流模型 PID控制器鲁棒补偿复合控制倒立摆

移动机器人的完全遍历路径规划:生物激励与启发式模板方法

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模式识别与人工智能 2006年第1期19卷 122-128页

作者：邱雪娜刘士荣俞金寿 simon x.yang 宁波大学电气工程与自动化研究所宁波315211 华东理工大学自动化研究所上海200237 School of Engineering The University of GuelphGuelphOntarioCanada N1G 2W1

提出了基于生物激励神经网络的一种新的完全遍历路径规划方法.该方法集成了模板模型、启发式搜索和障碍物逼近算法.一种称为分流合作-竞争反馈网络的生物激励神经网络被用于移动机器人的工作环境建模,而模板模型法、启发式算法和障碍物... 详细信息

提出了基于生物激励神经网络的一种新的完全遍历路径规划方法.该方法集成了模板模型、启发式搜索和障碍物逼近算法.一种称为分流合作-竞争反馈网络的生物激励神经网络被用于移动机器人的工作环境建模,而模板模型法、启发式算法和障碍物逼近算法用于移动机器人的避障路径规划,其中障碍物逼近算法能够实现不规则形状障碍物周边区域的遍历,以进一步改善路径规划的覆盖区域,仿真研究表明,本文方法使得路径规划的性能得到明显的改进,例如规划路径的重叠率,而且算法简单有效.

关键词：移动机器人路径规划神经网络模板模型启发式搜索障碍物逼近算法