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Time-varying formation tracking for uncertain second-order nonlinearmulti-agent systems

Mao-peng RAN, Li-hua XIE, Jun-cheng LI

《信息与电子工程前沿（英文）》 2019年 第20卷 第1期   页码 76-87 doi: 10.1631/FITEE.1800557

摘要：

Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance, and is regarded as an extended state of the agent. To estimate the total uncertainty, we design an extended state observer (ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that, under the proposed protocol, the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles (UAVs) verifies the effectiveness and superiority of the proposed approach.

关键词： Multi-agent system     Time-varying formation     Formation tracking     Nonlinear dynamics     Extended state observer (ESO)    

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考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制 None

Jing-lin HU, Xiu-xia SUN, Lei HE, Ri LIU, Xiong-feng DENG

《信息与电子工程前沿（英文）》 2018年 第19卷 第9期   页码 1086-1097 doi: 10.1631/FITEE.1601801

摘要： 针对带有不确定性和量化输入信号的多智能体系统的编队跟踪控制问题，提出一种自适应输出反馈控制方法。利用非线性模型描述智能体系统，其中包含未知参数和不可测状态。建立一个高增益状态观测器以估测系统不可测状态。在高增益观测器和迟滞量化器基础上，设计自适应输出反馈控制方法，并确定控制系统的参数设置方法。稳定性分析证明该控制方法能使多智能体系统跟踪参考航迹并保持编队队形。同时，闭环系统中的所有信号均能保持有界。最后，仿真实验表明该控制方法的有效性。

关键词： 多智能体系统；自适应输出反馈；编队跟踪；迟滞量化    

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无人机仿射编队跟踪控制研究 Research Articles

李慧铭,陈浩,王祥科

《信息与电子工程前沿（英文）》 2022年 第23卷 第6期   页码 909-919 doi: 10.1631/FITEE.2100109

摘要：

本文聚焦固定翼无人机集群仿射编队跟踪控制问题，其中固定翼无人机被建模为具有非对称速度约束的独轮车。无人机集群控制目标是生成并跟踪一个由名义编队仿射变换得到的时变目标编队。针对这一目标，在领航跟随者编队控制框架下，提出一种基于应力矩阵的分布式编队控制策略，并从理论上证明，跟随者在跟踪不同飞行轨迹的同时，能够收敛到由领航者位置决定的期望位置，实现编队队形的仿射变换。进一步，为满足固定翼无人机飞行速度约束，提出一种基于饱和函数的控制策略。数值仿真结果证实，所提仿射编队控制策略能有效提高机动性。

关键词： 仿射编队；固定翼无人机；多智能体系统    

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

《机械工程前沿（英文）》 2007年 第2卷 第1期   页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

Yanjie Chen,Yangning Wu,Limin Lan,Hang Zhong,Zhiqiang Miao,Hui Zhang,Yaonan Wang,

《工程（英文）》 doi: 10.1016/j.eng.2023.05.017

摘要： 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 anti-disturbance 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.

关键词： Unmanned aerial vehicle     Visual servoing     Velocity observer     Target tracking    

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Wheel tracking methods to evaluate moisture sensitivity of hot-mix asphalt mixtures

Jie HAN,Harihar Shiwakoti

《结构与土木工程前沿（英文）》 2016年 第10卷 第1期   页码 30-43 doi: 10.1007/s11709-016-0318-1

摘要： Existing test methods to determine moisture sensitivity in hot-mix asphalt (HMA) mixtures are time consuming and inconsistent. This research focused on wheel tracking devices to evaluate moisture sensitivity. The Asphalt Pavement Analyzer (APA) and the Hamburg Wheel Tracking Device (HWTD) were used for this research. Compacted cylindrical samples were fabricated using a Superpave Gyratory compactor. This study selected two most commonly used mixtures, SM-12.5A with PG 64-22 binder in overlay projects and SM-19A mixtures with PG 64-22 binder for major modification projects at Kansas Department of Transportation. Test results show that APA tests could induce stripping in most samples without any anti-stripping agent, which could be identified visually. However, APA results did not indicate any stripping inflection point while the HWTD results showed stripping inflection points, which are important to identify stripping potential of mixtures. The APA results show that wet tests are severe at lower temperatures. The HWTD results show improvement in the performance using anti-stripping agents at later stage. The HWTD test is more effective as a rapid test method in case of determining moisture sensitivity. Laboratory results from this study should be verified and correlated with field performance.

关键词： hot-mix asphalt     moisture sensitivity     rutting     wheel tracking test    

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3D finite element prediction of chip flow, burr formation, and cutting forces in micro end-milling of

A. DAVOUDINEJAD, P. PARENTI, M. ANNONI

《机械工程前沿（英文）》 2017年 第12卷 第2期   页码 203-214 doi: 10.1007/s11465-017-0421-6

摘要：

Predictive models for machining operations have been significantly improved through numerous methods in recent decades. This study proposed a 3D finite element modeling (3D FEM) approach for the micro end-milling of Al6061-T6. Finite element (FE) simulations were performed under different cutting conditions to obtain realistic numerical predictions of chip flow, burr formation, and cutting forces. FE modeling displayed notable advantages, such as capability to easily handle any type of tool geometry and any side effect on chip formation, including thermal aspect and material property changes. The proposed 3D FE model considers the effects of mill helix angle and cutting edge radius on the chip. The prediction capability of the FE model was validated by comparing numerical model and experimental test results. Burr dimension trends were correlated with force profile shapes. However, the FE predictions overestimated the real force magnitude. This overestimation indicates that the model requires further development.

关键词： 3D finite element modeling     micro end-milling     cutting force     chip formation     burr formation    

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Mechanistic insight into the biofilm formation and process performance of a passive aeration ditch (PAD

《环境科学与工程前沿（英文）》 2022年 第16卷 第7期 doi: 10.1007/s11783-021-1494-3

摘要：

• A Passive Aeration Ditch was developed to treat decentralized wastewater.

关键词： Decentralized wastewater     Passive aeration ditch     Biofilm formation     C/N ratio     Salinity     Model simulation    

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Fractional order extremum seeking approach for maximum power point tracking of photovoltaic panels

Ammar NEÇAIBIA,Samir LADACI,Abdelfatah CHAREF,Jean Jacques LOISEAU

《能源前沿（英文）》 2015年 第9卷 第1期   页码 43-53 doi: 10.1007/s11708-014-0343-5

摘要： Due to the high interest in renewable energy and diversity of research regarding photovoltaic (PV) array, a great research effort is focusing nowadays on solar power generation and its performance improvement under various weather conditions. In this paper, an integrated framework was proposed, which achieved both maximum power point tracking (MPPT) and minimum ripple signals. The proposed control scheme was based on extremum-seeking (ES) combined with fractional order systems (FOS). This auto-tuning strategy was developed to maximize the PV panel output power through the regulation of the voltage input to the DC/DC converter in order to lead the PV system steady-state to a stable oscillation behavior around the maximum power point (MPP). It is shown that fractional order operators can improve the plant dynamics with respect to time response and disturbance rejection. The effectiveness of the proposed controller scheme is illustrated with simulations using measured solar radiation data.

关键词： extremum seeking (ES)     fractional order control (FOC)     fractional calculus     photovoltaic (PV) panel     maximum power point tracking (MPPT)    

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Is atmospheric oxidation capacity better in indicating tropospheric O formation?

《环境科学与工程前沿（英文）》 2022年 第16卷 第5期 doi: 10.1007/s11783-022-1544-5

摘要：

● This study summarizes and evaluates different approaches that indicate O3 formation.

关键词： O3     AOC     O3 formation regime    

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Formation mechanism and modeling of surface waviness in incremental sheet forming

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0679-1

摘要： Improving and controlling surface quality has always been a challenge for incremental sheet forming (ISF), whereas the generation mechanism of waviness surface is still unknown, which impedes the widely application of ISF in the industrial field. In this paper, the formation mechanism and the prediction of waviness are both investigated through experiments, numerical simulation, and theoretical analysis. Based on a verified finite element model, the waviness topography is predicted numerically for the first time, and its generation is attributed to the residual bending deformation through deformation history analysis. For more efficient engineering application, a theoretical model for waviness height is proposed based on the generation mechanism, using a modified strain function considering deformation modes. This work is favorable for the perfection of formation mechanism and control of surface quality in ISF.

关键词： surface waviness     incremental sheet forming     numerical simulation     formation mechanism     deformation history    

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New insights into the formation of ammonium nitrate from a physical and chemical level perspective

《环境科学与工程前沿（英文）》 2023年 第17卷 第11期 doi: 10.1007/s11783-023-1737-6

摘要：

● Factor analysis of ammonium nitrate formation based on thermodynamic theory.

关键词： Ammonium nitrate formation     Thermodynamic theory     Aerosol liquid water content     Source apportionment    

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A comprehensive simulator for assessing the reliability of a photovoltaic panel peak power tracking system

Nabil KAHOUL,Mourad HOUABES,Ammar NEÇAIBIA

《能源前沿（英文）》 2015年 第9卷 第2期   页码 170-179 doi: 10.1007/s11708-015-0353-y

摘要： When designing a maximum power point tracking (MPPT) algorithm, it is often difficult to correctly predict, before field testing, the behavior of this MPPT under varying solar irradiation on photovoltaic (PV) panels. A solution to this problem is to design a maximum power point trackers simulator of a PV system used to test MPPT algorithms. This simulator must have the same role as the MPPT card of the PV panel and thus will fully emulate the response of a real MPPT card of the PV panel. Therefore, it is a good substitute to help to test the peak power trackers of the PV system in the laboratory. This paper describes a simple peak power trackers simulator of the PV system which has a short response time thus, can be used to test MPPT algorithms under very rapid variation condition. The obtained results and the theoretical operation confirm the reliability and the superior performance of the proposed model.

关键词： photovoltaic module     DC-DC converter     design     maximum power point tracking (MPPT) card     microprocessor    

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Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

《机械工程前沿（英文）》 2008年 第3卷 第4期   页码 392-399 doi: 10.1007/s11465-008-0056-8

摘要： This paper addresses the task-space position/attitude tracking control of a suspended parallel robot, which is being developed in the framework of a five-hundred meter aperture spherical radio telescope (FAST) project. Based on the quaternion algebra, a novel model-independent task-space PD controller that ensures end-effector position and attitude tracking is presented. The simulation and experimental results show that the new controller has better control effects than the traditional joint-space controller.

关键词： telescope     five-hundred     end-effector     controller     simulation    

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Tacholess order-tracking approach for wind turbine gearbox fault detection

Yi WANG, Yong XIE, Guanghua XU, Sicong ZHANG, Chenggang HOU

《机械工程前沿（英文）》 2017年 第12卷 第3期   页码 427-439 doi: 10.1007/s11465-017-0452-z

摘要：

Monitoring of wind turbines under variable-speed operating conditions has become an important issue in recent years. The gearbox of a wind turbine is the most important transmission unit; it generally exhibits complex vibration signatures due to random variations in operating conditions. Spectral analysis is one of the main approaches in vibration signal processing. However, spectral analysis is based on a stationary assumption and thus inapplicable to the fault diagnosis of wind turbines under variable-speed operating conditions. This constraint limits the application of spectral analysis to wind turbine diagnosis in industrial applications. Although order-tracking methods have been proposed for wind turbine fault detection in recent years, current methods are only applicable to cases in which the instantaneous shaft phase is available. For wind turbines with limited structural spaces, collecting phase signals with tachometers or encoders is difficult. In this study, a tacholess order-tracking method for wind turbines is proposed to overcome the limitations of traditional techniques. The proposed method extracts the instantaneous phase from the vibration signal, resamples the signal at equiangular increments, and calculates the order spectrum for wind turbine fault identification. The effectiveness of the proposed method is experimentally validated with the vibration signals of wind turbines.

关键词： wind turbine     variable-speed operating conditions     Vold-Kalman filtering     tacholess order tracking    

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标题 作者 时间 类型 操作

Time-varying formation tracking for uncertain second-order nonlinearmulti-agent systems

Mao-peng RAN, Li-hua XIE, Jun-cheng LI

期刊论文

考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制

Jing-lin HU, Xiu-xia SUN, Lei HE, Ri LIU, Xiong-feng DENG

期刊论文

无人机仿射编队跟踪控制研究

李慧铭,陈浩,王祥科

期刊论文

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

期刊论文

Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

Yanjie Chen,Yangning Wu,Limin Lan,Hang Zhong,Zhiqiang Miao,Hui Zhang,Yaonan Wang,

期刊论文

Wheel tracking methods to evaluate moisture sensitivity of hot-mix asphalt mixtures

Jie HAN,Harihar Shiwakoti

期刊论文

3D finite element prediction of chip flow, burr formation, and cutting forces in micro end-milling of

A. DAVOUDINEJAD, P. PARENTI, M. ANNONI

期刊论文

Mechanistic insight into the biofilm formation and process performance of a passive aeration ditch (PAD

期刊论文

Fractional order extremum seeking approach for maximum power point tracking of photovoltaic panels

Ammar NEÇAIBIA,Samir LADACI,Abdelfatah CHAREF,Jean Jacques LOISEAU

期刊论文

Is atmospheric oxidation capacity better in indicating tropospheric O formation?

期刊论文

Formation mechanism and modeling of surface waviness in incremental sheet forming

期刊论文

New insights into the formation of ammonium nitrate from a physical and chemical level perspective

期刊论文

A comprehensive simulator for assessing the reliability of a photovoltaic panel peak power tracking system

Nabil KAHOUL,Mourad HOUABES,Ammar NEÇAIBIA

期刊论文

Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

期刊论文

Tacholess order-tracking approach for wind turbine gearbox fault detection

Yi WANG, Yong XIE, Guanghua XU, Sicong ZHANG, Chenggang HOU

期刊论文