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...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。展开更多
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 ...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.展开更多
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 relations...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.展开更多
This paper studies the problem of radar target recognition based on radar cross section(RCS)observation sequence.First,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid...This paper studies the problem of radar target recognition based on radar cross section(RCS)observation sequence.First,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid statistical feature vector containing five components.These five components represent five different features of the radar target.Second,the authors establish a set-valued model to represent the relation between the feature vector and the authenticity of the radar target.By set-valued identification method,the authors can estimate the system parameter,based on which the recognition criteria is given.In 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 distributed.The results show that the set-valued identification method has a higher recognition rate than the traditional fuzzy classification method and evidential reasoning method.展开更多
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 p...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 proved.Finally, the feasibility of the algorithm is illustrated by the numerical simulation on an orbit determination example.展开更多
Aiming to improve the pull-up control performance in the process of releasing balloonborne solar powered UAVs(Unmanned Aerial Vehicles),this paper establishes the full flight mechanics equations with flexible modes,an...Aiming to improve the pull-up control performance in the process of releasing balloonborne solar powered UAVs(Unmanned Aerial Vehicles),this paper establishes the full flight mechanics equations with flexible modes,and proposes the control method suitable for engineering application.To be specific,the authors first calculate the real aerodynamic force on horizontal stabilizer by comparing the fuselage deformation in ballooning test with that in static loading test.Furthermore,considering fuselage elastic deformation,the pitching moment coefficient is obtained and the influence of airspeed and elevator angle on pitching moment coefficient and control surface efficiency are analysed.Second,the authors establish a complete flight mechanics model,including elastic structural dynamic model and rigid flight dynamic model,by comprehensively considering the aerodynamic data,the relationship between fuselage deformation and load,as well as the ballooning test.Third,the authors perform the numerical simulation and comparison study on control performance between rigid model and flexible model.Moreover,the authors implement model modification based on the low altitude flight test and steady-state point analysing.Finally,a scaled UAV is used to complete the balloon-borne launching test.The results show that the longitudinal control method can analyse the longitudinal aerodynamics and control characteristics accurately,and could be effectively utilized in the pull-up control of the balloon-borne solar powered UAV.展开更多
This paper studies the distributed state estimation problem for a class of discrete-time linear time-varying systems over a bearingsonly sensor network.A novel fusion estimation algorithm of the distance between the t...This paper studies the distributed state estimation problem for a class of discrete-time linear time-varying systems over a bearingsonly sensor network.A novel fusion estimation algorithm of the distance between the target and each sensor is constructed with the mean square error matrix of corresponding estimation being timely provided.Then,the refined estimation of distance is presented by minimizing the mean square error matrix.Furthermore,the distributed Kalman filter based state estimation algorithm is proposed based on the refined distance estimation.It is rigorously proven that the proposed method has the consistency and stability.Finally,numerical simulation results show the effectiveness of our methods.展开更多
The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and etc.Instead of single attitude control problem,ACMM problem has to take...The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and etc.Instead of single attitude control problem,ACMM problem has to take account of both disturbance rejection and energy optimization.This 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 disturbances.In particular,by integrating RLS into ESO,the constant and sinusoidal disturbance terms to be compensated are reconstructed.Also,the LQR law is implemented to achieve the desired performance of control systems after disturbance compensation.Furthermore,quantitative performances of the generalized ESO,the RLS algorithm and the closed-loop tracking system are rigorously analyzed.Finally,the results under 9-DOF semi-physical test environment show the effectiveness of our control method.展开更多
Uncertain friction is a key factor that influences the accuracy of servo system in CNC machine.In this paper,based on the principle of Active Disturbance Rejection Control(ADRC),a control method is proposed,where both...Uncertain friction is a key factor that influences the accuracy of servo system in CNC machine.In 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 disturbance.The authors prove that both approaches ensure high accuracy in theory,and give the criterion for parameters selection.The authors also prove that ADRC with RESO performs better than that with ESO both in disturbance estimation and tracking error.The simulation results on CNC machine show the effectiveness and feasibility of our control approaches.展开更多
文摘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。
基金supported by the National Natural Science Foundation of China under Grant Nos.62025306,62122083,62303452,and T2293773CAS Project for Young Scientists in Basic Research under Grant No.YSBR-008+1 种基金China Postdoctoral Science Foundation under Grant No.2022M720159Guozhi Xu Postdoctoral Research Foundation.
文摘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.
基金supported by the National Basic Research Program of China(973 Program)under Grant No.2014CB845303the National Center for Mathematics and Interdisciplinary Sciences,Chinese Academy of Sciences
文摘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.
基金supported by the National Natural Science Foundation of China under Grant No.61174042the National Key Basic Research Program of China(973 Program) under Grant No.2014CB845301
文摘This paper studies the problem of radar target recognition based on radar cross section(RCS)observation sequence.First,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid statistical feature vector containing five components.These five components represent five different features of the radar target.Second,the authors establish a set-valued model to represent the relation between the feature vector and the authenticity of the radar target.By set-valued identification method,the authors can estimate the system parameter,based on which the recognition criteria is given.In 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 distributed.The results show that the set-valued identification method has a higher recognition rate than the traditional fuzzy classification method and evidential reasoning method.
基金supported by the National Natural Science Foundation of China under Grant No.61633003-3the National Key Basic Research Program of China(973 program)under Grant No.2014CB845303
文摘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 proved.Finally, the feasibility of the algorithm is illustrated by the numerical simulation on an orbit determination example.
基金supported by the Beijing Natural Science Foundation under Grant No.4222050the National Natural Science Foundation of China under Grant No.62173030。
文摘Aiming to improve the pull-up control performance in the process of releasing balloonborne solar powered UAVs(Unmanned Aerial Vehicles),this paper establishes the full flight mechanics equations with flexible modes,and proposes the control method suitable for engineering application.To be specific,the authors first calculate the real aerodynamic force on horizontal stabilizer by comparing the fuselage deformation in ballooning test with that in static loading test.Furthermore,considering fuselage elastic deformation,the pitching moment coefficient is obtained and the influence of airspeed and elevator angle on pitching moment coefficient and control surface efficiency are analysed.Second,the authors establish a complete flight mechanics model,including elastic structural dynamic model and rigid flight dynamic model,by comprehensively considering the aerodynamic data,the relationship between fuselage deformation and load,as well as the ballooning test.Third,the authors perform the numerical simulation and comparison study on control performance between rigid model and flexible model.Moreover,the authors implement model modification based on the low altitude flight test and steady-state point analysing.Finally,a scaled UAV is used to complete the balloon-borne launching test.The results show that the longitudinal control method can analyse the longitudinal aerodynamics and control characteristics accurately,and could be effectively utilized in the pull-up control of the balloon-borne solar powered UAV.
基金supported by the National Key Research and Development Program of China(Grant No.2022YFA1004703)the National Natural Science Foundation of China(Grant Nos.62122083 and 62103014)the Chinese Academy of Sciences Youth Innovation Promotion Association(Grant No.2021003)。
文摘This paper studies the distributed state estimation problem for a class of discrete-time linear time-varying systems over a bearingsonly sensor network.A novel fusion estimation algorithm of the distance between the target and each sensor is constructed with the mean square error matrix of corresponding estimation being timely provided.Then,the refined estimation of distance is presented by minimizing the mean square error matrix.Furthermore,the distributed Kalman filter based state estimation algorithm is proposed based on the refined distance estimation.It is rigorously proven that the proposed method has the consistency and stability.Finally,numerical simulation results show the effectiveness of our methods.
基金This research was supported by the National Natural Science Foundation of China under Grant Nos.62122083,61903085 and 62022013Guangdong Basic and Applied Basic Research Foundation under Grant No.201515111070+1 种基金Shenzhen Key Technology Project under Grant No.20191113140425399Research Fund for the Industry-specific Program of China Aerospace Science and Technology Corporation under Grant No.6230109004.
文摘The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and etc.Instead of single attitude control problem,ACMM problem has to take account of both disturbance rejection and energy optimization.This 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 disturbances.In particular,by integrating RLS into ESO,the constant and sinusoidal disturbance terms to be compensated are reconstructed.Also,the LQR law is implemented to achieve the desired performance of control systems after disturbance compensation.Furthermore,quantitative performances of the generalized ESO,the RLS algorithm and the closed-loop tracking system are rigorously analyzed.Finally,the results under 9-DOF semi-physical test environment show the effectiveness of our control method.
基金partially supported by the National Key Basic Research Project of China under Grant No.2011CB302400the National Basic Research Program of China under Grant No.2014CB845303the National Center for Mathematics and Interdisciplinary Sciences,Chinese Academy of Sciences
文摘Uncertain friction is a key factor that influences the accuracy of servo system in CNC machine.In 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 disturbance.The authors prove that both approaches ensure high accuracy in theory,and give the criterion for parameters selection.The authors also prove that ADRC with RESO performs better than that with ESO both in disturbance estimation and tracking error.The simulation results on CNC machine show the effectiveness and feasibility of our control approaches.