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Optimal fusion estimation for stochastic systems with cross-correlated sensor noises

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Science China(Information Sciences) 2017年第12期60卷 57-70页

作者： Liping YAN yuanqing xia Mengyin FU School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is concerned with the optimal fusion of sensors with cross-correlated sensor *** taking linear transformations to the measurements and the related parameters, new measurement models are established, where the sensor noises are decoupled. The centralized fusion with raw data, the centralized fusion with transformed data, and a distributed fusion estimation algorithm are introduced, which are shown to be equivalent to each other in estimation precision, and therefore are globally optimal in the sense of linear minimum mean square error(LMMSE). It is shown that the centralized fusion with transformed data needs lower communication requirements compared to the centralized fusion using raw data directly, and the distributed fusion algorithm has the best flexibility and robustness and proper communication requirements and computation complexity among the three algorithms(less communication and computation complexity compared to the existed distributed Kalman filtering fusion algorithms). An example is shown to illustrate the effectiveness of the proposed algorithms.

关键词： optimal estimation distributed fusion Kalman filter cross-correlated noises linear transformation

Distributed point-to-point routing method for tasks in cloud control systems

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Journal of Systems Engineering and Electronics 2022年第4期33卷 792-804页

作者： WANG Guan ZHAN Yufeng xia yuanqing YAN Liping School of Automation Beijing Institute of TechnologyBeijing 100081China School of Information Science and Engineering Zaozhuang UniversityZaozhuang 277100China

With the rapid development of cloud computing and control theory, a new paradigm of networked control systems called cloud control systems is proposed to meet the requirements of large-scale and complex applications. Currently, cloud control systems are mainly built by using a centralized architecture. The centralized system is overly dependent on the central control plane and has huge challenges in large-scale heterogeneous node systems. In this paper, we propose a decentralized approach to establish cloud control systems by proposing a distributed point-to-point task routing method. A considerable number of tasks in the system will not rely on the central plane and will be directly routed to the target devices through the pointto-point routing method, which improves the horizontal scalability of the cloud control system. The point-to-point routing method directly gives a unique address to every task, making inter-task communication more efficient in a complex heterogeneous and busy cloud control systems. Finally, we experimentally demonstrate that the distributed point-to-point task routing approach is compatible against the state-of-the-art central systems in large-scale task situations.

关键词： cloud control system task routing cloud-edge-device cooperation

Fixed-time attitude tracking control for spacecraft based on a fixed-time extended state observer

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Science China(Information Sciences) 2021年第11期64卷 154-170页

作者： Lijun ZHANG yuanqing xia Ganghui SHEN Bing CUI School of Automation Beijing Institute of Technology

This paper deals with the problem of fixed-time attitude tracking control for spacecraft subject to model uncertainties and external disturbances. Firstly, by using a fixed-time extended state observer(Fx TESO), the synthetic uncertainties generated by external disturbances and model deviations can be estimated and compensated accordingly. We propose a novel Fx TESO aimed to improve previous *** with the existing extended state observer(ESO), the proposed Fx TESO provides faster convergence and higher accuracy. Then, we design a fixed-time adaptive attitude tracking controller based on the strategy combining the Fx TESO and fast non-singular terminal sliding mode control(FNTSMC), such that a desired attitude can be achieved accurately, which does not only allow providing fast and accurate responses,and acceptable chattering suppression, but also avoid singularity. Finally, the numerical simulation results are discussed to verify the efficiency and merits of the proposed control strategy.

关键词： spacecraft fixed time attitude tracking FxTESO FNTSMC

Stochastic stabilization of Markovian jump cloud control systems based on max-plus algebra

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Journal of Systems Engineering and Electronics 2022年第4期33卷 827-834页

作者： WANG Jin YANG Hongjiu xia yuanqing YAN Ce School of Electrical and Information Engineering Tianjin UniversityTianjin 300072China School of Automation Beijing Institute of TechnologyBeijing 100081China

In this paper, stochastic stabilization is investigated by max-plus algebra for a Markovian jump cloud control system with a reference signal. For the Markovian jump cloud control system, there exists framework adjustment whose evolution is satisfied with a Markov chain. Using max-plus algebra, a maxplus stochastic system is used to describe the Markovian jump cloud control system. A causal feedback matrix is obtained by exponential stability analysis for a causal feedback controller of the Markovian jump cloud control system. A sufficient condition is given to ensure existence on the causal feedback matrix of the causal feedback controller. Based on the causal feedback controller, stochastic stabilization in probability is analyzed for the Markovian jump cloud control system with a reference *** results are given to show effectiveness of the causal feedback controller for the Markovian jump cloud control system.

关键词： Markovian jump cloud control system causal feedback controller max-plus algebra max-product algebra stochastic stabilization

Distributed fixed-time attitude coordinated control for multiple spacecraft with actuator saturation

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Chinese Journal of Aeronautics 2022年第4期35卷 292-302页

作者： Han GAO yuanqing xia xiaopu ZHANG Guangchen ZHANG School of Automation Beijing Institute of TechnologyBeijing 100081China

This paper investigates the distributed fixed-time attitude coordinated control problem for multiple spacecraft subject to actuator saturation under the directed topology. First, a distributed fixed-time observer is presented for each follower spacecraft to estimate the leader spacecraft’s states. Compared with the commonly used fixed-time observer, the settling time of the proposed fixed-time observer can be easily adjusted by some free design parameters. Next, a distributed fixed-time control scheme is derived by using the estimates of the leader spacecraft’s states and the adding a power integrator technique. When considering actuator saturation, an auxiliary system is utilized to compensate the saturation. Further, a rigorous theoretical proof is provided to show that the practical fixed-time stability of the closed-loop system is ensured. Finally, simulation results illustrate the benefits and effectiveness of the developed control scheme.

关键词： Multiple spacecraft Distributed attitude control Fixed-time observer Fixed-time controller Actuator saturation

Dynamic output feedback control of systems with event-driven control inputs

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Science China(Information Sciences) 2020年第5期63卷 24-37页

作者： Jinhui ZHANG Hao XU Li DAI yuanqing xia School of Automation Beijing Institute of Technology

In this paper, a dynamic output feedback control problem is investigated for systems with eventdriven control inputs. With both continuous and sampled output measurements in the systems, two types of dynamic output feedback controllers are designed based on a predefined event-driven scheduler for the control signals, respectively. With the proposed event-driven control scheme, the Zeno behavior can be avoided, and the states of closed-loop systems are also guaranteed to be globally uniformly ultimately bounded. Detailed parameters of the event-driven controllers are constructed under the stabilizable conditions of the closedloop systems. Finally, both the effectiveness and merits of the proposed design techniques are verified by the numerical examples.

关键词： networked control systems NCSs event-driven control dynamic output feedback control

An Adaptive Padding Correlation Filter With Group Feature Fusion for Robust Visual Tracking

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1845-1860页

作者： Zihang Feng Liping Yan yuanqing xia Bo xiao Key Laboratory of Intelligent Control and Decision of Complex Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081China IEEE the School of Artificial Intelligence Beijing University of Posts and TelecommunicationsBeijing 100876China

In recent visual tracking research,correlation filter(CF)based trackers become popular because of their high speed and considerable *** methods mainly work on the extension of features and the solution of the boundary effect to learn a better correlation ***,the related studies are *** exploring the potential of trackers in these two aspects,a novel adaptive padding correlation filter(APCF)with feature group fusion is proposed for robust visual tracking in this paper based on the popular context-aware tracking *** the tracker,three feature groups are fused by use of the weighted sum of the normalized response maps,to alleviate the risk of drift caused by the extreme change of single ***,to improve the adaptive ability of padding for the filter training of different object shapes,the best padding is selected from the preset pool according to tracking precision over the whole video,where tracking precision is predicted according to the prediction model trained by use of the sequence features of the first several *** sequence features include three traditional features and eight newly constructed *** experiments demonstrate that the proposed tracker is superior to most state-of-the-art correlation filter based trackers and has a stable improvement compared to the basic trackers.

关键词： Adaptive padding context information correlation filter(CF) feature group fusion robust visual tracking

The Interaction between Control and Computing Theories:New Approaches

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International Journal of Automation and computing 2017年第3期14卷 254-274页

作者： Magdi S.Mahmoud yuanqing xia Systems Engineering Department KFUPM School of Automation Beijing Institute of Technology

Day by day, networked control system（NCS） methods have been promoted for distributed closed-loop control ***, the integration of control and computing theories enhanced the development of networked control systems through remote control for wide applications employing the internet. Two further directions to networked control technology are LeaderFollower systems and model predictive control systems. Cloud control system is looked at an extension of networked control systems（NCS） using internet of things（IOT） methodologies. In this paper, a comprehensive literature survey of the new technology of control systems application performed on cloud computing is presented.

关键词： Networked control system(NCS) cloud control system network constraints leader-follower system model predictive control

Design and performance analysis of networked control systems with random delay

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Journal of Systems Engineering and Electronics 2009年第4期20卷 807-822页

作者： xia yuanqing Fu Mengyin Liu Bo Liu Guoping Dept. of Automatic Control Beijing Inst. of Technology Beijing 100081 P. R. China Dept. of Engineering Univ. of Glamorgan Pontypridd CF37 1DL U. K.

The design and performance analysis of networked control systems with random network delay in the forward channel is proposed, which are described in a state-space form. A new control scheme is used to overcome the effects of network transmission delay, which is termed networked predictive control （NPC）. Furthermore, three different ways to choose control input are discussed and the performances are analyzed, respectively. Both real-time simulations and practical experiments show the effectiveness of the control scheme.

关键词： networked control system. Dredictive control random network delay stability