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多BTT导弹滚转通道姿态约束下的固定时间姿态协调控制

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系统工程与电子技术 2024年第6期46卷 2065-2072页

作者：胡子晅周佳玲王利楠孙佳月温广辉北京理工大学复杂环境智能感测技术工信部重点实验室北京100081 东南大学系统科学系江苏南京211189 东北大学流程工业综合自动化国家重点实验室辽宁沈阳110819

针对多倾斜转弯(bank-to-turn,BTT)导弹在姿态约束下的滚转通道一致性安全控制问题,提出一种分布式固定时间姿态协调控制器。BTT导弹气动参数变化强烈、对机动要求高,对控制器提出了响应速度快、抗干扰能力强、且需满足姿态受限约束等... 详细信息

针对多倾斜转弯(bank-to-turn,BTT)导弹在姿态约束下的滚转通道一致性安全控制问题,提出一种分布式固定时间姿态协调控制器。BTT导弹气动参数变化强烈、对机动要求高,对控制器提出了响应速度快、抗干扰能力强、且需满足姿态受限约束等要求。针对上述问题,基于固定时间控制技术、障碍Lyapunov函数,结合多智能体系统协调控制理论,对多枚BTT导弹滚转通道提出一种分布式固定时间姿态协调控制律。在所提协调控制律下,所有BTT导弹的滚转角可在固定时间一致收敛至给定的参考指令信号,且在控制过程中满足姿态约束条件。仿真结果表明了所提方法的有效性。

关键词：多枚倾斜转弯导弹滚转通道固定时间控制状态约束协调控制

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状态约束下的多飞行器有限时间姿态一致性控制

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现代防御技术 2024年第2期52卷 124-131页

作者：王利楠温广辉伊枭剑东南大学系统科学系江苏南京211189 北京理工大学机电学院北京100081

执行机构的物理限制等因素的影响,多飞行器姿态一致性控制面临姿态和角速度约束的挑战,加大了设计有效姿态一致性控制器的技术难度。针对此问题,提出了一种状态约束(含姿态和角速度约束)下的多飞行器有限时间姿态一致性控制器。利用非... 详细信息

执行机构的物理限制等因素的影响,多飞行器姿态一致性控制面临姿态和角速度约束的挑战,加大了设计有效姿态一致性控制器的技术难度。针对此问题,提出了一种状态约束(含姿态和角速度约束)下的多飞行器有限时间姿态一致性控制器。利用非光滑理论和代数图论的知识设计了一类有限时间姿态一致性控制策略,并结合障碍Lyapunov函数技术构建了一类新颖的姿态一致性跟踪控制器。理论分析表明,提出的控制器能够在满足姿态和角速度约束条件下实现所有飞行器的姿态在有限时间内跟踪到期望姿态值。该方法具备结构简单、自定义约束适应性强和快速收敛等优点。仿真结果表明,所提的方法能够在满足姿态和角速度约束的条件下实现多飞行器对期望姿态的有限时间一致性跟踪。

关键词：多飞行器协同控制姿态一致性有限时间控制状态约束

智能无人集群系统跨域协同技术研究现状与展望

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中国工程科学 2024年第1期26卷 117-126页

作者：江碧涛温广辉周佳玲郑德智卫星信息智能处理与应用技术重点实验室北京100192 东南大学数学学院南京211189 北京理工大学前沿交叉科学研究院北京100081 空地一体新航行系统技术全国重点实验室北京100081

随着智能化技术和无人系统技术的快速发展,智能无人集群系统跨域协同的概念应运而生并得到了广泛关注与深入研究,智能无人集群系统跨域协同技术逐渐成为世界各国抢占无人系统技术竞争中的制高点。本文从我国智能无人集群系统跨域协同技... 详细信息

随着智能化技术和无人系统技术的快速发展,智能无人集群系统跨域协同的概念应运而生并得到了广泛关注与深入研究,智能无人集群系统跨域协同技术逐渐成为世界各国抢占无人系统技术竞争中的制高点。本文从我国智能无人集群系统跨域协同技术的发展需求出发,梳理了海空、空地以及海陆/海陆空等典型无人场景跨域协同技术的研究现状;深入分析了智能无人集群系统跨域协同技术的发展现状、技术需求以及未来的重点研究方向。最后,从总体思路、体系架构、理论创新和技术攻关4个层面,提出了推动智能无人集群系统跨域协同技术稳健与快速发展的对策建议,以期促进我国无人系统应用能力的持续提升。

关键词：智能无人集群系统跨域协同协同控制 “空天地海”一体化网络

A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 584-602页

作者： Boqian Li Shiping wen Zheng Yan guanghui wen Tingwen Huang Australian AI Institute Faculty of Engineering and Information TechnologyUniversity of Technology SydneyNSW 2007Australia Department of Systems Science School of MathematicsSoutheast UniversityNanjing 210096China Science Program Texas A&M University at QatarDoha 23874Qatar IEEE

This survey provides a brief overview on the control Lyapunov function(CLF)and control barrier function(CBF)for general nonlinear-affine control *** problem of control is formulated as an optimization problem where the optimal control policy is derived by solving a constrained quadratic programming(QP)*** CLF and CBF respectively characterize the stability objective and the safety objective for the nonlinear control *** objectives imply important properties including controllability,convergence,and robustness of control *** this framework,optimal control corresponds to the minimal solution to a constrained QP *** uncertainties are explicitly considered,the setting of the CLF and CBF is proposed to study the input-to-state stability and input-to-state safety and to analyze the effect of *** recent theoretic progress and novel applications of CLF and CBF are systematically reviewed and discussed in this ***,we provide research directions that are significant for the advance of knowledge in this area.

关键词： Control barrier function(CBF) control Lyapunov function(CLF) nonlinear-affine control systems

基于安全强化学习的不确定二阶系统模型参考跟踪控制

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控制工程 2024年第1期31卷 80-87页

作者：胡一帆刘克新付俊杰温广辉东南大学数学学院江苏南京210096 北京航空航天大学自动化科学与电气工程学院北京100191 紫金山实验室江苏南京211111

针对带有不确定性动态的二阶系统模型参考轨迹跟踪控制问题,设计了一种基于鲁棒控制障碍函数的安全强化学习算法。该算法能在学习跟踪控制器的过程中保证系统避障。首先,对具有安全约束的轨迹跟踪控制强化学习问题进行建模。其次,利用... 详细信息

针对带有不确定性动态的二阶系统模型参考轨迹跟踪控制问题,设计了一种基于鲁棒控制障碍函数的安全强化学习算法。该算法能在学习跟踪控制器的过程中保证系统避障。首先,对具有安全约束的轨迹跟踪控制强化学习问题进行建模。其次,利用高斯过程模型对未知系统动力学的估计,得到鲁棒的避障控制障碍函数条件,在该条件下得到概率意义下的系统安全性保证。最后,提出基于鲁棒控制障碍函数的安全强化学习算法,得到最优模型参考轨迹跟踪控制律。仿真结果验证了所提算法的有效性。

关键词：安全强化学习避障鲁棒控制障碍函数不确定系统跟踪控制

Networked Knowledge and Complex Networks:An Engineering View

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IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1366-1383页

作者： Jinhu Lü guanghui wen Ruqian Lu Yong Wang Songmao Zhang School of Automation Science and Electrical Engineering State Key Laboratory of Software Development EnvironmentBeihang UniversityBeijing 100083 Academy of Mathematics and Systems Science Chinese Academy of SciencesBeijing 100190China Department of Systems Science School of MathematicsSoutheast UniversityNanjing 211189China

Along with the development of information technologies such as mobile Internet,information acquisition technology,cloud computing and big data technology,the traditional knowledge engineering and knowledge-based software engineering have undergone fundamental changes where the network plays an increasingly important *** this context,it is required to develop new methodologies as well as technical tools for network-based knowledge representation,knowledge services and knowledge ***,the term“network”has different meanings in different ***,some breakthroughs in several bottleneck problems of complex networks promote the developments of the new methodologies and technical tools for network-based knowledge representation,knowledge services and knowledge *** paper first reviews some recent advances on complex networks,and then,in conjunction with knowledge graph,proposes a framework of networked knowledge which models knowledge and its relationships with the perspective of complex *** the unique advantages of deep learning in acquiring and processing knowledge,this paper reviews its development and emphasizes the role that it played in the development of knowledge ***,some challenges and further trends are discussed.

关键词： Complex network knowledge graph networked knowledge neural network

A chattering free consensus controller for multiple Lur'e systems with a non-autonomous leader and directed switching topology

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Science China(Technological Sciences) 2023年第4期66卷 1110-1118页

作者： WANG PeiJun YU wenWu wen guanghui YU XingHuo HUANG Tingwen School of Mathematics and Statistics Anhui Normal UniversityWuhu 241000China Anhui Province Engineering Laboratory of Intelligent Robot's Information Fusion and Control Anhui Normal UniversityWuhu 241000China School of Mathematics Frontiers Science Center for Mobile Information Communication and SecuritySoutheast UniversityNanjing 210096China Purple Mountain Laboratories Nanjing 21111lChina Department of Electrical Engineering Nantong UniversityNantong 226019China Department of Systems Science School of MathematicsSoutheast UniversityNanjing 210096China School of Engineering RMIT UniversityMelbourne VIC 3001Australia Science Program Texas A&M University at QatarDoha 23874Qatar

Achieving asymptotical cooperative goal for multi-agent systems(MASs)with non-autonomous leaders(i.e.,leaders with nonzero inputs)is a critical but challenging *** approach is to use discontinuous controllers which may cause chattering phenomenon in practical *** to achieve the asymptotical goal via a chattering free cooperative controller remains to be open so *** this paper,an adaptive continuous controller is designed to achieve zero error consensus tracking in multiple Lur’e systems with a non-autonomous leader under directed switching ***,an unknown input observer(UIO)based on relative outputs is given to estimate the relative full *** an adaptive continuous controller is designed by introducing a decay function which remains positive into the term that plays the role of eliminating the impacts of leader’s nonzero ***,by using multiple Lyapunov functions(MLFs)technique,it is proven that zero error consensus tracking can be achieved if the average dwell time(ADT)is greater than a positive ***,theoretical result is verified by performing simulations on Chua’s *** with existing work,the proposed controller can not only achieve asymptotical consensus,but also is chattering free.

关键词： multi-agent system consensus chattering free non-autonomous leader directed switching topology

Iterative learning security control for discrete-time systems subject to deception and DoS attacks

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Science China(Information Sciences) 2023年第9期66卷 94-95页

作者： wenjun XIONG Zijian LUO guanghui wen Tao YANG School of Computing and Artificial Intelligence Southwestern University of Finance and Economics Department of Systems Science School of Mathematics Southeast University State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

Malicious cyber-attacks often occur in cyberspace during the signal transmission process. It might result in data dropout and system failure. This problem then draws attention to secure control, and a number of security control protocols are proposed [1–3].In reality, the co-existence of multiple cyber-attacks increases the difficulty of the theoretical analysis.

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Pinning Synchronization of Coupled Oscillators with Paired Topologies

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Journal of Systems Science & Complexity 2022年第5期35卷 1653-1667页

作者： ZHANG Miaosen LU Yuezu WANG Qishao wen guanghui LIU Guohua XU wenying Chien-Shiung Wu College of SEU Southeast UniversityNanjing 211189China School of Mathematics Southeast UniversityNanjing 211189China Department of Dynamics and Control Beihang UniversityBeijing 100871China

This paper investigates the pinning synchronization of a group of coupled oscillators,where both the dissipative and restorative interactions are taken into *** paired coupling topologies are introduced to capture this feature of the *** realize the synchronization of the coupled oscillators,the pinning control is introduced,and two pinning criteria are proposed to ensure the *** these two proposed criteria provide sufficient and necessary conditions for pinning synchronization of the coupled oscillators with paired *** examples are illustrated to verify the proposed theoretical results.

关键词： Paired coupling topologies pinning control synchronization