Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Command filtered integrated estimation guidance and control for strapdown missiles with circular field of view

In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.

Integrated Prevention and Control Technology for Coffee Leaf Rust in Yunnan Province

This paper investigates the damage symptoms and occurrence regularity related to coffee leaf rust,and proposes a comprehensive prevention and control strategy grounded in the principle of prioritizing prevention and implementing integrated prevention and control.This strategy encompasses the cultivation of rust-resistant varieties,the implementation of agricultural practices,the application of chemical interventions,the utilization of hyperparasitic fungi,and the protection and utilization of natural enemies.The paper further outlines the necessary requirements for effective prevention and control,emphasizing the importance of enhancing responsibility implementation,fostering systematic prevention and control measures,enhancing guidance services,and increasing publicity and guidance.The aim is to offer technical guidance for the integrated prevention and control of coffee leaf rust in Yunnan Province.

Reversible Semi-Fragile Watermarking Technique for Integrity Control of Relational Database

Reversible watermarking schemes for relational database are usually classified into two groups: robust schemes and fragile schemes. The main limitation of existing reversible fragile methods is that they cannot differentiate between legal and malicious modifications. In this paper, we introduce a novel lossless semi-fragile scheme based on prediction-error expansion for content protection of relational database. In the proposed method, all attributes in a database relation are first classified according to their sensitivity to legitimate updates. Then, the watermark is embedded by expanding the prediction error of the two least significant digits of securely selected attributes. At watermark extraction, the proposed method has the ability to fully restore the original data while detecting and localizing tampering. The applicability of our method is demonstrated theoretically and experimentally.

Adaptive RISE Control of Winding Tension with Active Disturbance Rejection

A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the tension tracking performance.Existing tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was established.An adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov stability theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was performed.The results indicated that the control of the winding tension was significantly enhanced.

Fixed time integral sliding mode controller and its application to the suppression of chaotic oscillation in power system

Chattering phenomenon and singularity are still the main problems that hinder the practical application of sliding mode control. In this paper, a fixed time integral sliding mode controller is designed based on fixed time stability theory, which ensures precise convergence of the state variables of controlled system, and overcomes the drawback of convergence time growing unboundedly as the initial value increases in finite time controller. It makes the controlled system converge to the control objective within a fixed time bounded by a constant as the initial value grows, and convergence time can be changed by adjusting parameters of controllers properly. Compared with other fixed time controllers, the fixed time integral sliding mode controller proposed in this paper achieves chattering-free control, and integral expression is used to avoid singularity generated by derivation. Finally, the controller is used to stabilize four-order chaotic power system. The results demonstrate that the controller realizes the non-singular chattering-free control of chaotic oscillation in the power system and guarantees the fixed time convergence of state variables, which shows its higher superiority than other finite time controllers.

PSO Based Multi-Objective Approach for Controlling PID Controller

CSTR(Continuous stirred tank reactor)is employed in process control and chemical industries to improve response characteristics and system efficiency.It has a highly nonlinear characteristic that includes complexities in its control and design.Dynamic performance is compassionate to change in system parameterswhich need more effort for planning a significant controller for CSTR.The reactor temperature changes in either direction from the defined reference value.It is important to note that the intensity of chemical actions inside the CSTR is dependent on the various levels of temperature,and deviation from reference values may cause degradation of biomass quality.Design and implementation of an appropriate adaptive controller for such a nonlinear system are essential.In this paper,a conventional Proportional Integral Derivative(PID)controller is designed.The conventional techniques to deal with constraints suffer severe limitations like it has fixed controller parameters.Hence,A novel method is applied for computing the PID controller parameters using a swarm algorithm that overcomes the conventional controller’s limitation.In the proposed technique,PID parameters are tuned by Particle Swarm Optimization(PSO).It is not easy to choose the suitable objective function to design a PID controller using PSO to get an optimal response.In this article,a multi-objective function is proposed for PSO based controller design of CSTR.

Embedded integrated servo-controllers for intelligent modular actuators

This paper focuses on the development of an embedded integrated servo-controller （EISC） for servomotors. Comprising of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complieated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator （IMA） that is essential to modern manufacturing industries. The development of such an EISC involves two major tasks： first, designing the hardware of a compact-sized and highly compatible EISC, and second, developing the software functions to facilitate its functionalities and capahilities. The developed EISC hence forms an integrated-servo-eontrol module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.

Parallel Fuzzy P+Fuzzy I+Fuzzy D Controller:Design and Performance Evaluation

In this paper, a parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP＋FI＋FD） controller is proposed. It is derived from the conventional parallel proportional-integral-derivative （PID） controller. It preserves the linear structure of a conventional parallel PID controller, with analytical formulas. The final shape of the controller is a discrete-time fuzzy version of a conventional parallel PID controller. Computer simulations are performed to evaluate the performance of the FP＋FI＋FD controller for setpoint tracking and load-disturbance rejection for some complex processes, such as first- and second-order processes with delay, inverse response process with and without delay and higher order processes. Also, the performance of the proposed fuzzy controller is evaluated experimentally on highly nonlinear liquid-flow process with a hysteresis characteristic due to a pneumatic control valve. The simulation and real time control is done using National InstrumentTM hardware and software （LabVIEWTM）. The response of the FP＋FI＋FD controller is compared with the conventional parallel PID controller, tuned with the Ziegler-Nichols （Z-H） and /~strSm- H^gglund （A-H） tuning technique. It is observed that the FP＋FI＋FD controller performed much better than the conventional PI/PID controller. Simulation and experimental results demonstrate the effectiveness of the proposed parallel FP＋FI＋FD controller.

Two-step Design of Critical Control Systems Using Disturbance Cancellation Integral Controllers

An efficient critical control system design is proposed in this paper. The key idea is to decompose the design problem into two simpler design steps by the technique used in the classical loop transfer recovery method （LTR）. The disturbance cancellation integral controller is used as a basic controller. Since the standard loop transfer recovery method cannot be applied to the disturbance cancellation controller, the nonstandard version recently found is used for the decomposition. Exogenous inputs with constraints both on the amplitude and rate of change are considered. The majorant approach is taken to obtain the analytical sufficient matching conditions. A numerical design example is presented to illustrate the effiectiveness of the proposed design.

Fractional Order Proportional Integral Derivative Controller Design and Simulation for Bioengineering Systems

This paper deals with the study of fractional order system tuning method based on Factional Order Proportional Integral Derivative( FOPID) controller in allusion to the nonlinear characteristics and fractional order mathematical model of bioengineering systems. The main contents include the design of FOPID controller and the simulation for bioengineering systems. The simulation results show that the tuning method of fractional order system based on the FOPID controller outperforms the fractional order system based on Fractional Order Proportional Integral( FOPI) controller. As it can enhance control character and improve the robustness of the system.

A Novel Asymmetric Three-Phase Cascaded 21 Level Inverter Fed Induction Motor Using Multicarrier PWM with PI and Fuzzy Controller

Multilevel inverters are gaining popularity in high power applications. This paper proposes a new ladder type structure of cascaded three-phase multilevel inverter with reduced number of power semiconductor devices which is used to drive the induction motor. The ultimate aim of the paper is to produce multiple output levels with minimum number of semiconductor devices. This paper uses only 11 switches along with 3 diodes and 4 asymmetrical sources to produce an output voltage of 21 levels. The modulation technique plays a major role in commutation of the switches. Here we implement the multicarrier level shifting pulse width modulation technique to produce the commutation signals for the inverter. The proposed multilevel inverter is used to drive the three-phase induction motor. The mathematical modeling of three-phase induction motor is done using Simulink. Furthermore the PI and fuzzy logic controllers are also used to produce the reference waveform of the level shifting technique which in turn produces the commutation signals of the proposed multilevel converter. The controllers are used to control the speed of the induction motor. The effectiveness of the proposed system is proved with the help of simulation. The simulation is performed in MATLAB/Simulink. From the simulation results, it shows that the proposed multilevel inverter works properly to generate the multilevel output waveform with minimum number of semiconductor devices. The PI and fuzzy logic controller performances are evaluated using the results which indicate that with the help of controllers the harmonics has been reduced and the speed control of induction motor is achieved under different loading conditions.

Coupled Dynamics and Integrated Control for Position and Attitude Motions of Spacecraft:A Survey

Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space missions.This paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and control.To this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of spacecraft.Particularly,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital maneuver.Based on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and analyzed.On the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and expansibility.On the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation missions.Finally,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.

Beyond 5G Networks: Integration of Communication, Computing, Caching, and Control

In recent years,the exponential proliferation of smart devices with their intelligent applications poses severe challenges on conventional cellular networks.Such challenges can be potentially overcome by integrating communication,computing,caching,and control(i4C)technologies.In this survey,we first give a snapshot of different aspects of the i4C,comprising background,motivation,leading technological enablers,potential applications,and use cases.Next,we describe different models of communication,computing,caching,and control(4C)to lay the foundation of the integration approach.We review current stateof-the-art research efforts related to the i4C,focusing on recent trends of both conventional and artificial intelligence(AI)-based integration approaches.We also highlight the need for intelligence in resources integration.Then,we discuss the integration of sensing and communication(ISAC)and classify the integration approaches into various classes.Finally,we propose open challenges and present future research directions for beyond 5G networks,such as 6G.

基于反演积分技术的无人驾驶水面飞行器的自动驾驶仪设计及其实验结果

Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.

Modeling and Control of Parallel Hybrid Electric Vehicle Using Sea-Lion Optimization

This paper develops a parallel hybrid electric vehicle(PHEV)propor-tional integral controller with driving cycle.To improve fuel efficiency and reduce hazardous emissions in hybrid electric vehicles(HEVs)combine an electric motor(EM),a battery and an internal combustion engine(ICE).The electric motor assists the engine when accelerating,driving longer highways or climbing hills.This enables the use of a smaller,more efficient engine.It also makes use of the concept of regenerative braking to maximize energy efficiency.In a Hybrid Electric Vehicle(HEV),energy dissipated while braking is utilized to charge the battery.The proportional integral controller was used in this paper to analyze engine,motor performance and the New European Driving Cycle(NEDC)was used in the vehicle driving test using Matlab/Simulink.The proportional integral controllers were designed to track the desired vehicle speed and manage the vehi-cle’s energyflow.The Sea Lion Optimization(SLnO)methods were created to reduce fuel consumption in a parallel hybrid electric vehicle and the results were obtained for the New European Driving Cycle.

Integrated Green Prevention and Control Techniques for Kiwifruit Canker Disease in "Guichang" Kiwifruit in Xiuwen County, Guizhou Province

Kiwifruit canker disease seriously affects the yield and quality of"Guichang"kiwifruit in Xiuwen County,Guizhou Province.In order to scientifically,safely,greenly and efficiently prevent and control the disease,theory was combined with prevention and control techniques to optimize existing prevention and control techniques,so as to improve the production yield and quality of kiwifruit.Specifically,biocontrol strains targeting local kiwifruit canker disease were screened,and reduced and mixed use of agrochemicals with improved efficiency was studied;and the effects and application techniques of disease resistance inducers and bioorganic fertilizers in inducing systemic disease resistance in kiwifruit trees were explored,and finally,an integrated green prevention and control scheme for kiwifruit canker disease that is suitable for kiwifruit production areas in Guizhou Province and has strong operability was proposed.This study provides technical support for green,efficient,standardized production technical services and sustainable and healthy development of kiwifruit industry.

Research on Stick-Slip Vibration Suppression Method of Drill String Based on Machine Learning Optimization

During the drilling process,stick-slip vibration of the drill string is mainly caused by the nonlinear friction gen-erated by the contact between the drill bit and the rock.To eliminate the fatigue wear of downhole drilling tools caused by stick-slip vibrations,the Fractional-Order Proportional-Integral-Derivative(FOPID)controller is used to suppress stick-slip vibrations in the drill string.Although the FOPID controller can effectively suppress the drill string stick-slip vibration,its structure isflexible and parameter setting is complicated,so it needs to use the cor-responding machine learning algorithm for parameter optimization.Based on the principle of torsional vibration,a simplified model of multi-degree-of-freedom drill string is established and its block diagram is designed.The continuous nonlinear friction generated by cutting rock is described by the LuGre friction model.The adaptive learning strategy of genetic algorithm(GA),particle swarm optimization(PSO)and particle swarm optimization improved(IPSO)by arithmetic optimization(AOA)is used to optimize and adjust the controller parameters,and the drill string stick-slip vibration is suppressed to the greatest extent.The results show that:When slight drill string stick-slip vibration occurs,the FOPID controller optimized by machine learning algorithm has a good effect on suppressing drill string stick-slip vibration.However,the FOPID controller cannot get the drill string system which has fallen into serious stick-slip vibration(stuck pipe)out of trouble,and the machine learning algorithm is required to mark a large amount of data on adjacent Wells to train the model.Set a reasonable range of drilling parameters(weight on bit/drive torque)in advance to avoid severe stick-slip vibration(stuck pipe)in the drill string system.

A train timetable rescheduling approach based on multi-train tracking optimization of high-speed railways

Purpose–This paper aims to propose a train timetable rescheduling(TTR)approach from the perspective of multi-train tracking optimization based on the mutual spatiotemporal information in the high-speed railway signaling system.Design/methodology/approach–Firstly,a single-train trajectory optimization(STTO)model is constructed based on train dynamics and operating conditions.The train kinematics parameters,including acceleration,speed and time at each position,are calculated to predict the arrival times in the train timetable.A STTO algorithm is developed to optimize a single-train time-efficient driving strategy.Then,a TTR approach based on multi-train tracking optimization(TTR-MTTO)is proposed with mutual information.The constraints of temporary speed restriction(TSR)and end of authority are decoupled to calculate the tracking trajectory of the backward tracking train.The multi-train trajectories at each position are optimized to generate a timeefficient train timetable.Findings–The numerical experiment is performed on the Beijing-Tianjin high-speed railway line and CR400AF.The STTO algorithm predicts the train’s planned arrival time to calculate the total train delay(TTD).As for the TSR scenario,the proposed TTR-MTTO can reduce TTD by 60.60%compared with the traditional TTR approach with dispatchers’experience.Moreover,TTR-MTTO can optimize a time-efficient train timetable to help dispatchers reschedule trains more reasonably.Originality/value–With the cooperative relationship and mutual information between train rescheduling and control,the proposed TTR-MTTO approach can automatically generate a time-efficient train timetable to reduce the total train delay and the work intensity of dispatchers.

Review on studies of Eupatorium adenophorum--an important invasive species in China

Eupatorium adenophorum Spreng. was introduced in Yunnan Province of China around 1940. Since then it has been spreading rapidly, particularly in the southern and southwestern parts of China and caused serious economic loss. The biological research and inte-grated control on E. adenophorum were carried out from 1980's in Yunnan Province. Together with other 15 invasive external species, the weed has been listed in the White Paper by The State Environmental Protection Administration of China. This paper briefly reviews the studies on natural distribution, biological character, ecological character, chemical component, hazard, potential application and the control of E. adenophorum. The research direction for this invasive external species in future was also discussed.