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Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles:A path-following framework

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Defence Technology（防务技术） 2024年第1期31卷 278-287页

作者： Jintao Zhang Xingling Shao Wendong Zhang zongyu zuo School of Instrument and Electronics North University of ChinaTaiyuan 030051China State Key Laboratory of Dynamic Measurement Technology North University of ChinaTaiyuan 030051China Seventh Research Division School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100191China

This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.

关键词： Multi-circular formation Reinforced transient profiles Nonholonomic vehicles Path following

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1381-1397页

作者： zongyu zuo Jingchuan Tang Ruiqi Ke Qing-Long Han Seventh Research Division Beihang University(BUAA)Beijing 100191China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia IEEE

This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed commu-nication topologies.These new protocols not only provide an explicit upper-bound estimate for the settling time,but also have a user-prescribed bounded control level.In addition,compared to some existing results based on the saturation function,the pro-posed approach considerably simplifies the protocol design and the stability analysis.Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.

关键词： Consensus protocol finite-time consensus hyper-bolic tangent function multi-agent systems.

A Probabilistic Approach for Predicting Vessel Motion

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IEEE/CAA Journal of Automatica Sinica 2024年第8期 1877-1879页

作者： Qi Hu Jingyi Liu zongyu zuo the 7th Research Division Beihang University (BUAA) the 54th Research Institute of China Electronics Technology Group Corporation

Dear Editor,This letter addresses the challenge of forecasting the motion of real-world vessels over an extended period with a limited amount of available data. By employing stochastic differential equation (SDE)modeling, we integrate both deterministic and stochastic components of the available information. Subsequently, we establish a recursive prediction methodology based on Bayes’ rule to update the model state when new measurements are received. Furthermore, we develop a stochastic model tailored specifically to vessel dynamics and introduce an approximation method to tackle computational complexities.

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Multiview Locally Linear Embedding for Spectral-Spatial Dimensionality Reduction of Hyperspectral Imagery

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1091-1094页

作者： Haochen Ji zongyu zuo Seventh Research Division Beihang University(BUAA)Beijing 100191China IEEE

Dear Editor,Dimensionality reduction(DR)plays a prominent role in the processing of hyperspectral imagery.Considering the high dimensionality of multiple features,this letter presents a new unsupervised DR method named multiview locally linear embedding(MLLE),which captures the local linearity and global nonlinearity of the data sufficiently.We formulate MLLE as an optimization problem,where the diversity and complementarity of multiple features is fully exploited.An effective alternating optimization scheme is derived,and a linear model based on ridge regression is extended to alleviate the high correlation among single-view features.Experimental results on the Indian Pines and Pavia University datasets demonstrate the superiority of our proposed MLLE.

关键词： Locally nonlinearity letter

Constrained Moving Path Following Control for UAV With Robust Control Barrier Function

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IEEE/CAA Journal of Automatica Sinica 2023年第7期10卷 1557-1570页

作者： Zewei Zheng Jiazhe Li Zhiyuan Guan zongyu zuo Seventh Research Division School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100191 Beijing Institute of Control Engineering Beijing 100094China

This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with respect to the inertial frame,while the path following error is not expected to violate the predefined boundaries.Differently from existing moving path following guidance laws,the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem.A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers.To guarantee that the path following error will not exceed the prescribed bounds,a robust control barrier function is developed and incorporated into controller design with quadratic program based framework.The proposed method does not require the initial position of the UAV to be within predefined boundaries.And the safety margin concept makes error-constraint be respected even if in a noisy environment.The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-theloop(HIL)experiments.

关键词： Moving path following(MPF) robust control barrier function safety margin shipboard landing unmanned aerial vehicle(UAV)

Unmanned Aerial Vehicles:Control Methods and Future Challenges

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 601-614页

作者： zongyu zuo Cunjia Liu Qing-Long Han Jiawei Song IEEE the Seventh Research Division Beihang University(BUAA) the Department of Aeronautical and Automotive Engineering Loughborough University the School of Science Computing and Engineering TechnologiesSwinburne University of Technology

With the rapid development of computer technology,automatic control technology and communication technology,research on unmanned aerial vehicles(UAVs)has attracted extensive attention from all over the world during the last decades.Particularly due to the demand of various civil applications,the conceptual design of UAV and autonomous flight control technology have been promoted and developed mutually.This paper is devoted to providing a brief review of the UAV control issues,including motion equations,various classical and advanced control approaches.The basic ideas,applicable conditions,advantages and disadvantages of these control approaches are illustrated and discussed.Some challenging topics and future research directions are raised.

关键词： Aircraft control disturbance rejection path-following trajectory tracking unmanned aerial vehicle

An Overview of Finite/Fixed-Time Control and Its Application in Engineering Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2106-2120页

作者： Yang Liu Hongyi Li zongyu zuo Xiaodi Li Renquan Lu IEEE College of Automation and Electronics Engineering Qingdao University of Science and TechnologyQingdao 266061 School of Automation Guangdong University of TechnologyGuangzhou 510006China School of Automation Guangdong University of Technologyand also with the Guangdong Province Key Laboratory of Intelligent Decision and Cooperative ControlGuangzhou 510006China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China School of Mathematics and Statistics Shandong Normal UniversityBeijing 100083China Center for Control and Engineering Computation Shandong Normal UniversityJinan 250014China

The finite/fixed-time stabilization and tracking control is currently a hot field in various systems since the faster convergence can be obtained. By contrast to the asymptotic stability,the finite-time stability possesses the better control performance and disturbance rejection property. Different from the finite-time stability, the fixed-time stability has a faster convergence speed and the upper bound of the settling time can be estimated. Moreover, the convergent time does not rely on the initial information.This work aims at presenting an overview of the finite/fixed-time stabilization and tracking control and its applications in engineering systems. Firstly, several fundamental definitions on the finite/fixed-time stability are recalled. Then, the research results on the finite/fixed-time stabilization and tracking control are reviewed in detail and categorized via diverse input signal structures and engineering applications. Finally, some challenging problems needed to be solved are presented.

关键词： Adding a power integrator finite/fixed-time control and application homogeneous theory sliding mode control

Three-dimensional time-varying sliding mode guidance law against maneuvering targets with terminal angle constraint

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Chinese Journal of Aeronautics 2022年第4期35卷 303-319页

作者： Xinxin WANG Hongqian LU Xianlin HUANG Yefeng YANG zongyu zuo Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China The Seventh Research Division Beihang UniversityBeijing 100191China

This paper deals with the problem of intercepting maneuvering targets with terminal angle constraints for missiles subjected to three-dimensional non-decoupling engagement geometry.To achieve the finite-time interception and satisfactory overload characteristics, a time varying sliding mode control methodology is developed based on a time base generator function. The main feature of the proposed guidance law guarantees the Line-of-Sight(LOS) angles to converge to small neighborhoods of the desired values at the interception time. First, a fractional power extended state observer is used to estimate the unknown target acceleration, which can significantly reduce the adaptive switching gain. The fractional power extended state observer enjoys the advantage of better noise tolerance. Then, a newly designed sliding mode surface is constructed by introducing a time base generator function and the time-varying sliding mode guidance law is developed based on this time-varying sliding surface. The proposed guidance law significantly reduces the overload magnitudes. Numerical simulations are carried out to verify the performance of the proposed guidance law.

关键词： Guidance law Maneuvering target Terminal angle constraint Three-dimensional Time-varying sliding mode

Vision-Based Fixed-Time Uncooperative Aerial Target Tracking for UAV

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1322-1324页

作者： Peng Sun Siqi Li Bing Zhu zongyu zuo Xiaohua Xia the Seventh Research Division Beihang UniversityBeijing 100191China the School of Automation Beijing Institute of TechnologyBeijing 100081China the Department of Electrical Electronic and Computer EngineeringUniversity of PretoriaPretoria 0002South Africa

Dear Editor,In this letter,a vision-based fixed-time control is proposed for an unmanned aerial vehicle(UAV)with actuator saturation to track an uncooperative target.The fixed-time control is designed in backstepping framework.The relative states between UAV and the target are not directly measured,and are estimated by an onboard monocular camera.

关键词： Fixed cooperative letter