无人飞行器在不确定扰动下的动态目标跟踪

This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed.The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking.The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer.Thanks to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is mitigated.An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance ability.The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method.Comparative simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

Distributed tracking for networked Euler-Lagrange systems without velocity measurements

The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the fol- lowers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws.

Analysis of the Wave Velocity Ratio Anomalies in the Tianshan Region of Xinjiang

Based on the seismic observation report data provided by the Xinjiang Digital Seismic Network from 2009 to 2014,we calculate the wave velocity ratio and its background value for medium and small earthquakes by using the multi-station method in Tianshan,Xinjiang.This paper analyzes the variation of the wave velocity ratio disturbance value to highlight the abnormal,and also back-traces 7 moderate earthquakes at the research area.The results show that:(1)the background value of the wave velocity ratio is almost 1.70,the wave velocity ratio obviously decreases in the middle-eastern part of Tianshan and the region near the Puchang fault;(2)the wave velocity ratio disturbance value is mostly low in the epicenter before four earthquakes of M≥5.0 from 2011 to 2013 in the study area;(3)before 7 moderate strong earthquakes,the earthquake events with low value of the wave velocity ratio account for over 60% of corresponding total events near the epicenters,and the low value of the wave velocity ratio is relatively obvious before moderate earthquakes.

Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects remotely.For the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback information.However,due to hardware technology and cost constraints,the velocity measurements are not always available.In addition,the time-varying communication delay makes it challenging to achieve tracking task.This paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication delays.In order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity observer.For the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be avoided.Meanwhile,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically expressed.With the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking conditions.In particular,the relationship between the controller design parameters and the allowable maximum delay values is provided.Finally,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

Adaptive Dynamic Programming-Based Attitude Optimal Tracking Control for a Quadrotor with Unmeasured Velocities and Model Uncertainties

This paper proposes an optimal output feedback tracking control scheme of the quadrotor unmanned aerial vehicle(UAV)attitude system with unmeasured angular velocities and model uncertainties.First,neural network(NN)is used to approximate the model uncertainties.Then,an NN velocity observer is established to estimate the unmeasured angular velocities.Further,a quadrotor output feedback attitude optimal tracking controller is designed,which consists of an adaptive controller designed by backstepping method and an optimal compensation term designed by adaptive dynamic programming.All signals in the closed-loop system are proved to be bounded.Finally,numerical simulation example shows that the quadrotor attitude tracking scheme is effective and feasible.

Fixed-Time Leader-Following Formation Control of Fully-Actuated Underwater Vehicles Without Velocity Measurements

This paper is concerned with formation control of fully-actuated underwater vehicles(FUVs),focusing on improving system convergence speed and overcoming velocity measurement limitation.By employing the fixed-time control theory and command filtering technique,a full state feedback formation algorithm is proposed,which makes the follower track the leader in a given time with all signals in the system globally practically stabilized in fixed time.To avoid degraded control performance due to inaccurate velocity measurement,a fixed-time convergent observer is designed to estimate the velocity of FUVs.Then the authors give an observer-based fixed-time control method,with which acceptable formation performance can be achieved in fixed time without velocity measurement.The effectiveness and performance of the proposed method are demonstrated by numerical simulations.