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关键词

跟踪 2

轨迹跟踪 2

DPP）；分布式功率转换器；开关电容转换器 1

Hilare 机器人 1

MCDB 1

MPPT）；差分功率处理（Differential power processing 1

MSJPDA 1

OFDM 1

S频段 1

三维过程；三元数；最小均方；卡尔曼滤波器 1

二分追踪；多智能体系统；异步脉冲；一致性 1

二肽基肽酶4 1

人-机交互 1

仿射编队；固定翼无人机；多智能体系统 1

传感器调度；区域检测；目标跟踪；道路约束；多普勒盲区 1

信号检测理论 1

信道估计 1

倾转旋翼机；状态跟踪控制；线性切换系统；类时间依赖的多Lyapunov函数方法；光滑插值 1

光纤 1

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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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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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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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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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reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

《信息与电子工程前沿（英文）》 2015年 第16卷 第9期   页码 759-768 doi: 10.1631/FITEE.1500053

摘要： This paper investigates the trajectory tracking control for a class of nonlinear systems with timevarying delays by virtue of Lyapunov-Krasovskii stability theory and the linear matrix inequality (LMI) technique. A unified model consisting of a linear delayed dynamic system and a bounded static nonlinear operator is introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as the one-link robotic manipulator, chaotic systems, complex networks, the continuous stirred tank reactor (CSTR), and the standard genetic regulatory network (SGRN). First, the definition of the tracking control is given. Second, the performance analysis of the closed-loop system including this unified model, reference model, and state feedback controller is presented. Then criteria on the tracking controller design are derived in terms of LMIs such that the output of the closed-loop system tracks the given reference signal in the sense. The reference model adopted here is modified to be more flexible. A scaling factor is introduced to deal with the disturbance such that the control precision is improved. Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

关键词： H∞     reference tracking     Nonlinear system     State feedback control     Time-varying delays     Unified model    

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 504-527 doi: 10.1007/s11465-020-0626-y

摘要： Safe and effective autonomous navigation in dynamic environments is challenging for four-wheel independently driven steered mobile robots (FWIDSMRs) due to the flexible allocation of multiple maneuver modes. To address this problem, this study proposes a novel multiple mode-based navigation system, which can achieve efficient motion planning and accurate tracking control. To reduce the calculation burden and obtain a comprehensive optimized global path, a kinodynamic interior–exterior cell exploration planning method, which leverages the hybrid space of available modes with an incorporated exploration guiding algorithm, is designed. By utilizing the sampled subgoals and the constructed global path, local planning is then performed to avoid unexpected obstacles and potential collisions. With the desired profile curvature and preselected mode, a fuzzy adaptive receding horizon control is proposed such that the online updating of the predictive horizon is realized to enhance the trajectory-following precision. The tracking controller design is achieved using the quadratic programming (QP) technique, and the primal–dual neural network optimization technique is used to solve the QP problem. Experimental results on a real-time FWIDSMR validate that the proposed method shows superior features over some existing methods in terms of efficiency and accuracy.

关键词： mobile robot     multiple maneuvering mode     motion planning     tracking control     receding horizon control    

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基于双光源的实时视线追踪系统

黄莹,王志良,戚颖

《中国工程科学》 2008年 第10卷 第2期   页码 86-90

摘要：

介绍了一个非穿戴式的低成本视线追踪系统。采用双近红外光源照射，单CCD相机获取信息的系统结构。并采用独特的双眼参数综合利用的方法来获取视线方向参数，使视线方向追踪效果更加稳定，并且同时扩大了有效追踪范围。此外，在视线方向参数获取、分析的过程中采用了一套快速算法使系统能满足实时性的要求。应用实例表明，该系统在人-机交互领域的应用已有了初步成效。

关键词： 人-机交互     视线追踪     普尔钦斑    

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Novel power capture optimization based sensorless maximum power point tracking strategy and internal

Ali EL YAAKOUBI,Kamal ATTARI,Adel ASSELMAN,Abdelouahed DJEBLI

《能源前沿（英文）》 2019年 第13卷 第4期   页码 742-756 doi: 10.1007/s11708-017-0462-x

摘要： Under the trends to using renewable energy sources as alternatives to the traditional ones, it is important to contribute to the fast growing development of these sources by using powerful soft computing methods. In this context, this paper introduces a novel structure to optimize and control the energy produced from a variable speed wind turbine which is based on a squirrel cage induction generator (SCIG) and connected to the grid. The optimization strategy of the harvested power from the wind is realized by a maximum power point tracking (MPPT) algorithm based on fuzzy logic, and the control strategy of the generator is implemented by means of an internal model (IM) controller. Three IM controllers are incorporated in the vector control technique, as an alternative to the proportional integral (PI) controller, to implement the proposed optimization strategy. The MPPT in conjunction with the IM controller is proposed as an alternative to the traditional tip speed ratio (TSR) technique, to avoid any disturbance such as wind speed measurement and wind turbine (WT) characteristic uncertainties. Based on the simulation results of a six KW-WECS model in Matlab/Simulink, the presented control system topology is reliable and keeps the system operation around the desired response.

关键词： power optimization     wind energy conversion system     maximum power point tracking (MPPT)     fuzzy logic     internal model (IM) controller    

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利用子空间的投影和跟踪改进OFDM信道估计

董亮,曹秀英,毕光国

《中国工程科学》 2006年 第8卷 第11期   页码 86-93

摘要：

OFDM系统的LS信道估计可看作真实信道频率响应的一个有噪观察值，因此可采用子空间投影方法对噪声进行压缩。分析了利用子空间投影方法改进LSOFDM信道估计性能的实质，给出了利用子空间投影改进OFDM信道估计的一般框架，在此基础上将子空间投影推广到非LS信道估计方法。当信号子空间随时间变化时，需要采用子空间跟踪技术保持对信号子空间的良好估计，因此提出了一种基于子空间跟踪的参数化信道估计方法，仿真表明这种方法在性能上优于非参数化时的相应方法。

关键词： OFDM     子空间     投影     跟踪     信道估计    

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Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu,jzhao@buaa.edu.cn

《信息与电子工程前沿（英文）》 2020年 第21卷 第10期   页码 1413-1534 doi: 10.1631/FITEE.1900617

摘要： We investigate cooperative target tracking of multiple unmanned aerial vehicles (UAVs) with a limited communication range. This is an integration of UAV motion control, target state estimation, and network topology control. We first present the communication topology and basic notations for , and introduce the distributed . Then, convergence and boundedness of the estimation errors using the filter are analyzed, and potential functions are proposed for communication link maintenance and collision avoidance. By taking stable target tracking into account, a distributed potential function based UAV motion controller is discussed. Since only the estimation of the target state rather than the state itself is available for UAV motion control and UAV motion can also affect the accuracy of state estimation, it is clear that the UAV motion control and target state estimation are coupled. Finally, the stability and convergence properties of the coupled system under are analyzed in detail and demonstrated by simulations.
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基于车辆动力学的轨迹跟踪器设计

陈杨,刘大学,贺汉根,戴斌

《中国工程科学》 2007年 第9卷 第11期   页码 68-73

摘要：

轨迹跟踪是移动机器人导航中的核心问题之一。针对非完整运动约束车辆，利用反馈线性化方法设计了轨迹跟踪器，仿真研究了跟踪算法的鲁棒性。最后，介绍了工程实现中参数观测器设计等相关问题。

关键词： 轨迹跟踪     反馈线性化     导航    

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标题 作者 时间 类型 操作

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

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

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

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

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

reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

期刊论文

Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

期刊论文

基于双光源的实时视线追踪系统

黄莹,王志良,戚颖

期刊论文

Novel power capture optimization based sensorless maximum power point tracking strategy and internal

Ali EL YAAKOUBI,Kamal ATTARI,Adel ASSELMAN,Abdelouahed DJEBLI

期刊论文

利用子空间的投影和跟踪改进OFDM信道估计

董亮,曹秀英,毕光国

期刊论文

Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu,jzhao@buaa.edu.cn

期刊论文

基于车辆动力学的轨迹跟踪器设计

陈杨,刘大学,贺汉根,戴斌

期刊论文