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Recursive Projected Filter Algorithm with Binary-Valued Observations

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Journal of Systems Science & Complexity 2024年第5期37卷 1832-1860页

作者： ZHANG Xiaoyan WANG Ying xue wenchao ZHAO Yanlong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences

This paper focuses on the state estimate for a class of systems with both process noise and measurement noise under binary-valued observations, in which the Gaussian assumption on the predicted density of the state is not required. A recursive projected filter algorithm with time-varying thresholds is constructed to estimate the state under binary-valued observations. The time-varying thresholds are designed as the prediction value of the measurement, which can provide more information about the system state. The convergence property is established with some suitable stability,boundedness and observability conditions. In particular, the estimation error between state and estimate is proved to be asymptotically bounded in the mean-square sense, whose upper bound is related to the variance of process noise. Finally, the theoretical results are demonstrated via numerical examples of first-order and high-order systems.

关键词： Binary-valued observations convergence recursive filter time-varying thresholds

Compensated acceleration feedback based active disturbance rejection control for launch vehicles

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Chinese Journal of Aeronautics 2024年第4期37卷 464-478页

作者： Xiaoyan ZHANG wenchao xue Zibo LIU Ran ZHANG Huifeng LI Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China School of Astronautics Beihang UniversityBeijing 100191China

In this paper, the attitude tracking and load relief control problems against wind disturbances and uncertain aerodynamics as well as the engine thrust of launch vehicles are ***, a framework of Compensated Acceleration Feedback based Active Disturbance Rejection Control(CAF-ADRC) is established to achieve both desired attitude tracking and load relief performances. In particular, the total disturbance that includes the effects caused by both aerocoefficient perturbations and disturbances is estimated by constructing an Extended State Observer(ESO) to achieve attitude tracking. Furthermore, combined with the normal acceleration due to the engine thrust, the accelerometer measurement is also compensated to enhance the load relief ***, the quantitative analysis of ESO and the entire closed-loop system are studied. It can be concluded that the desired attitude tracking and load relief performances can be achieved simultaneously under the proposed approach. Besides, tuning laws of the proposed approach are systematically given, which are divided into ESO, Proportional Derivative(PD) and Compensated Acceleration Feedback(CAF) modules. Moreover, the performances under CAF-ADRC approach can be better than those under CAF based PD(CAF-PD) approach by tuning load relief ***, the approach presented is applied to a typical control problem of launch vehicles with wind disturbances and parameter uncertainties.

关键词： Launch vehicles Uncertainty analysis Active disturbance rejection control(ADRC) Load relief control Extended state observer(ESO)

Tuning of Sampled-Data ADRC for Nonlinear Uncertain Systems

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Journal of Systems Science & Complexity 2016年第5期29卷 1187-1211页

作者： xue wenchao HUANG Yi Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences

This paper concerns with the parameters tuning of active disturbance rejection control(ADRC) for a class of nonlinear systems with sampling rate not fast enough. The theoretical results show the quantitative relationship between the sampling rate, the parameters of ADRC, the size of uncertainties in system and the properties of the closed-loop system. Furthermore, the capability of the sampled-data ADRC under given sampling rate is quantitatively discussed.

关键词： Active disturbance rejection control (ADRC) extended state observer nonlinear uncertain systems parameters tuning sampled-data control.

Active Disturbance Rejection Control for PMLM Servo System in CNC Machining

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Journal of Systems Science & Complexity 2016年第1期29卷 74-98页

作者： GUO Jianxin xue wenchao HU Tao Key Laboratory of Mathematics Mechanization Academy of Mathematic and Systems ScienceChinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences

Uncertain friction is a key factor that influences the accuracy of servo system in CNC *** this paper,based on the principle of Active Disturbance Rejection Control(ADRC),a control method is proposed,where both the extended state observer(ESO) and the reduced order extended state observer(RESO) are used to estimate and compensate for the *** authors prove that both approaches ensure high accuracy in theory,and give the criterion for parameters *** authors also prove that ADRC with RESO performs better than that with ESO both in disturbance estimation and tracking *** simulation results on CNC machine show the effectiveness and feasibility of our control approaches.

关键词： Active disturbance rejection control CNC machine nonlinear friction parameter selection servo system

On Hierarchical Compensation Based Active Disturbance Rejection Control for ACMM Problem of Spacecraft

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系统科学与复杂性学报:英文版 2023年第4期36卷 1480-1497页

作者： LIU Ping CHEN Seng xue wenchao LI Wenbo School of Aeronautics and Astronautics Sun Yat-sen UniversityShenzhen 518107China LSC NCMISAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Shenzhen Faroad Intelligent Equipment Co. LtdShenzhen 518105China School of Mathematics and Information Science Shaanxi Normal UniversityXi’an 710062China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Beijing Institute of Control Engineering China Academy of Space TechnologyBeijing 100086China

The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and *** of single attitude control problem,ACMM problem has to take account of both disturbance rejection and energy *** paper studies the ACMM problem for general spacecraft.A practical active disturbance rejection control architecture is proposed with hierarchical compensation to different kinds of uncertain dynamics or *** particular,by integrating RLS into ESO,the constant and sinusoidal disturbance terms to be compensated are ***,the LQR law is implemented to achieve the desired performance of control systems after disturbance ***,quantitative performances of the generalized ESO,the RLS algorithm and the closed-loop tracking system are rigorously ***,the results under 9-DOF semi-physical test environment show the effectiveness of our control method.

关键词： Active disturbance rejection control attitude control and momentum management extended state observer hierarchical compensation

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仿生六足机器人虚拟模型控制

计算机与数字工程 2024年第1期52卷 271-276页

作者：薛文超胡立坤广西大学电气工程学院南宁530004

论文针对仿生六足机器人运动问题,提出了一种基于虚拟模型控制(Virtual Model Control,VMC)的简单直观的运动控制方法。在VMC框架中,一系列虚拟原件安装在机器人关节上,以产生相应的虚拟力。将机器人腿的运动模式分为站立相和摆动相两... 详细信息

论文针对仿生六足机器人运动问题,提出了一种基于虚拟模型控制(Virtual Model Control,VMC)的简单直观的运动控制方法。在VMC框架中,一系列虚拟原件安装在机器人关节上,以产生相应的虚拟力。将机器人腿的运动模式分为站立相和摆动相两个阶段。站立相中,VMC被用于控制机器人躯干姿态,包括躯干高度和欧拉角;摆动相中,VMC为摆动腿提供控制,使其遵循期望的轨迹。通过状态机实现机器人腿状态切换和运动配合。仿真结果表明,设计的控制器可以实现六足机器人三角步态稳定行走。

关键词：仿生六足机器人虚拟模型控制站立相摆动相三角步态

On Designing Consistent Extended Kalman Filter

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Journal of Systems Science & Complexity 2017年第4期30卷 751-764页

作者： JIANG Yanguang HUANG Yi xue wenchao FANG Haitao Beijing Institute of Control&Electronics Technology Beijing 100038China Key Laboratory of Systems and Control Academy of Mathematics and Systems Scienceand National Center for Mathematics and Interdisciplinary SciencesChinese Academy of SciencesBeijing 100190China

This paper studies the consistency of the extended Kalman filter(EKF) for a kind of nonlinear systems. Based on the EKF algorithm, the authors propose the quasi-consistent EKF(QCEKF)as well as the tuning law for its parameters. The quasi-consistency of the proposed algorithm is ***, the feasibility of the algorithm is illustrated by the numerical simulation on an orbit determination example.

关键词： Extended Kalman filter (EKF) consistency nonlinear system.

Radar Target Recognition Algorithm Based on RCS Observation Sequence——Set-Valued Identification Method

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Journal of Systems Science & Complexity 2016年第3期29卷 573-588页

作者： WANG Ting BI Wenjian ZHAO Yanlong xue wenchao The Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences

This paper studies the problem of radar target recognition based on radar cross section(RCS)observation ***,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid statistical feature vector containing five *** five components represent five different features of the radar ***,the authors establish a set-valued model to represent the relation between the feature vector and the authenticity of the radar *** set-valued identification method,the authors can estimate the system parameter,based on which the recognition criteria is *** order to illustrate the efficiency of the proposed recognition method,extensive simulations are given finally assuming that the true target is a cone frustum and the RCS of the false target is normally *** results show that the set-valued identification method has a higher recognition rate than the traditional fuzzy classification method and evidential reasoning method.

关键词： Feature extraction radar target recognition RCS set-valued identification wavelet transform.

On extended state based Kalman filter for nonlinear time-varying uncertain systems with measurement bias

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Control Theory and Technology 2021年第1期19卷 142-152页

作者： Xiaocheng Zhang wenchao xue Hai-Tao Fang LSC NCMISAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijingChina Schoo of Mathematical Sciences University of Chinese Academy of SciencesBeijingChina

This paper addresses the state estimation for a class of nonlinear time-varying stochastic systems with both uncertain dynam-ics and unknown measurement bias.A novel extended state based Kalman filter(ESKF)algorithm is developed to estimate the original state,the uncertain dynamics and the measurement *** is shown that the estimation error of the proposed algorithm is bounded in the mean square ***,the estimation of the measurement bias asymptotically converges to its true value,such that the infuence of measurement bias is ***,the asymptotic optimality of the estima-tion result is proved while the uncertain dynamics approaches to a constant ***,a simulation study for harmonic oscillator system model is provided to ilustrate the effectiveness of proposed method.

关键词： Extended state observer Kalman filter Uncertain dynamics Measurement bias