This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper cons...This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.展开更多
Hypervelocity rocket sled systems are critical for testing advanced military technologies,yet track damage at speeds exceeding Mach 5 remains a significant challenge for system reliability and performance.In this stud...Hypervelocity rocket sled systems are critical for testing advanced military technologies,yet track damage at speeds exceeding Mach 5 remains a significant challenge for system reliability and performance.In this study,we investigated the hypervelocity impact response and protection for highstrength U71 Mn or bainitic steel used in rocket sled tracks.Flyer plate impact experiments using a two-stage light-gas gun were conducted to study the hypervelocity collision response,followed by the microstructural characterization via optical microscope,scanning electron microscopy equipped with electron backscatter diffraction to reveal underlying damage mechanisms.Then,the calibrated thermalmechanical coupled finite element simulations using the Johnson-Cook constitutive model and MieGrüneisen equation of state were carried out.Results indicated that bainitic steel exhibits superior impact resistance with predominantly smooth scratch-dominated damage due to its higher ductility.In contrast,U71 Mn suffered significant material spallation and crack propagation arising from brittle fracture mechanisms.Zinc-rich epoxy primer coatings effectively mitigated stress concentration and temperature rise in the substrate at impacting velocities below 2.4 km/s,so as to suppress the microstructural damage such as adiabatic shear bands and dynamic recrystallization.However,coating protection diminished at ultra-high-speed impacts due to the coating failure.Dimensional analysis established quantitative relationships of the gouge damage size to projectile mass,impact velocity,and material yield strength.This study provides in-depth insights into damage mechanisms in hypervelocity rail systems,demonstrating that bainitic steel combined with protective coatings can significantly enhance impact resistance and system reliability,offering valuable guidance for the design and optimization of hypervelocity testing platforms.展开更多
This study aims to establish an integrated sensitivity analysis framework for optimization and design of the dynamic performance of mechanical systems such as tracked vehicles,by combining the direct differentiation m...This study aims to establish an integrated sensitivity analysis framework for optimization and design of the dynamic performance of mechanical systems such as tracked vehicles,by combining the direct differentiation method(DDM)with the linear multibody system transfer matrix method(linear MSTMM).The rigid-flexible coupled multibody system dynamics model of a tracked vehicle is established using the linear MSTMM and validated through the modal test.Building upon the existing DDM-based eigenvalue sensitivity analysis method within the linear MSTMM,the DDM is embedded into it to enable programmable and efficient computation of dynamic response sensitivities for mechanical systems.The proposed approach is used to quantitatively evaluate the sensitivities of both natural vibration characteristics(e.g.,natural frequencies and mode shapes)and transient dynamic responses of the tracked vehicle with respect to system parameters,successfully identifying critical structural parameters.Compared to conventional finite difference methods,the developed methodology eliminates sensitivity to perturbation step sizes.The contributions of this work lie in establishing a unified theoretical foundation and analysis framework for guiding dynamics optimization and design of mechanical systems,and extending the applicability of the linear MSTMM to sensitivity analysis of transient dynamic responses.展开更多
Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable track...Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable tracking,including maintaining continuous target visibility amidst occlusions,ensuring flight safety,and achieving smooth trajectory planning.This paper reviews the latest advancements in UAV-based target tracking,highlighting information prediction,tracking strategies,and swarm cooperation.To address challenges including target visibility and occlusion,real-time prediction and tracking in dynamic environments,flight safety and coordination,resource management and energy efficiency,the paper identifies future research directions aimed at improving the performance,reliability,and scalability of UAV tracking system.展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
Index tracking is known to be a passive portfolio management strategy by replicating the performance of a real or virtual index.However,the full replication,which considers all the asserts consisted of the index,often...Index tracking is known to be a passive portfolio management strategy by replicating the performance of a real or virtual index.However,the full replication,which considers all the asserts consisted of the index,often suffers from small and illiquid positions and large transaction costs.Thus,it is preferred to purchase sparse portfolios.Besides,existing literature pointed out the phenomenon of the co-movement in assert returns,indicating that the index tracking problems possibly contain group structures together with sparsity.Based on the consideration of the grouping effects and sparsity in index tracking problems,this paper proposes a grouping sparse index tracking model with nonnegative restrictions.We derive a modified version of coordinate decent algorithm for solving the model.The asymptotic properties are also discussed in detail.To show the efficiency of the model,we apply it into the constrained index tracking problem in Shanghai stock market,i.e.tracking SSE 50 Index.By selecting about 10 stocks,the result shows that nonnegative group lasso outperforms nonnegative lasso in assert allocation.展开更多
Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localizatio...Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.展开更多
The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilit...The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilities of ATP systems.However,in practical applications,ATP systems face various design constraints and functional limitations,making it infeasible to indefinitely improve hardware performance to meet tracking requirements.As a result,tracking algorithms are required to execute increasingly complex tasks.This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems,which lead to tracking jitter,poor tracking performance,low precision,and target loss.At the same time,the pro-posed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays.The method suggested is also characterized by its low order,fast response,and robustness to model parameter variations.In this study,an actual ATP system is built for target tracking test,and the proposed algorithm is fully validated in terms of simulation and actual system application verification.Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates.For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s^(2),the system improved tracking accuracy by 70.0%-89.9%at a sampling frequency of 50 Hz and a delay of 30 m s.Moreover,the compensation algorithm demonstrated consistent performance across actuators with varying characteristics,further confirming its robustness to model insensitivity.In summary,the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable targets,reducing the probability of target loss from high speed.This approach offers a practical solution for future multi-target tracking across diverse operational scenarios.展开更多
This paper proposes a differential-fatness-based active disturbance rejection control(ADRC)for high-speed steering control of tracked tank systems.Firstly,a high-speed steering model is established by considering the ...This paper proposes a differential-fatness-based active disturbance rejection control(ADRC)for high-speed steering control of tracked tank systems.Firstly,a high-speed steering model is established by considering the lateral component of the centrifugal force acting on the tank on the basis of modeling and analyzing the dynamic model of the low-speed steering system.Secondly,we propose a differential-flatness ADRC approach by converting the under-actuated system to a fully driven flat one.Moreover,we prove the differential flatness of the steering system,which facilitates a two-channel ADRC development.Finally,we show that both the states of the flat system and the original under-actuated system can track the reference trajectory.On the external interference condition,the system is observed to re-track the target signal within 2 s.展开更多
This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise co...This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.展开更多
基金Supported by the Fundamental Research Funds for the Central Universities(2024ZYGXZR047)the National Natural Science Foundation of China(62373156)the Guangdong Basic and Applied Basic Research Foundation(2024A1515011736)。
文摘This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.
基金financial support from the National Key Research and Development Program(Grant No.2024YFA1209801)the National Natural Science Foundation of China(Grant Nos.12302140,12325204)+4 种基金the China Postdoctoral Science Foundation(Grant No.2023M732794)the Fundamental Research Funds for the Central Universities of China(Grant No.sxzy012023213)the Scientific Research Program of Shaanxi Province(Grant No.2023JC-XJ-02)the Young Talent Support Program of Xi'an Science and Technology Association(Grant No.959202413069)Postdoctoral Fellowship Program(Grade B)of China Postdoctoral Science Foundation(Grant No.GZB20230575)。
文摘Hypervelocity rocket sled systems are critical for testing advanced military technologies,yet track damage at speeds exceeding Mach 5 remains a significant challenge for system reliability and performance.In this study,we investigated the hypervelocity impact response and protection for highstrength U71 Mn or bainitic steel used in rocket sled tracks.Flyer plate impact experiments using a two-stage light-gas gun were conducted to study the hypervelocity collision response,followed by the microstructural characterization via optical microscope,scanning electron microscopy equipped with electron backscatter diffraction to reveal underlying damage mechanisms.Then,the calibrated thermalmechanical coupled finite element simulations using the Johnson-Cook constitutive model and MieGrüneisen equation of state were carried out.Results indicated that bainitic steel exhibits superior impact resistance with predominantly smooth scratch-dominated damage due to its higher ductility.In contrast,U71 Mn suffered significant material spallation and crack propagation arising from brittle fracture mechanisms.Zinc-rich epoxy primer coatings effectively mitigated stress concentration and temperature rise in the substrate at impacting velocities below 2.4 km/s,so as to suppress the microstructural damage such as adiabatic shear bands and dynamic recrystallization.However,coating protection diminished at ultra-high-speed impacts due to the coating failure.Dimensional analysis established quantitative relationships of the gouge damage size to projectile mass,impact velocity,and material yield strength.This study provides in-depth insights into damage mechanisms in hypervelocity rail systems,demonstrating that bainitic steel combined with protective coatings can significantly enhance impact resistance and system reliability,offering valuable guidance for the design and optimization of hypervelocity testing platforms.
基金supported by the Natural Science Foundation of Jiangsu Province,China(Grant No.BK20241443)the Jiangsu Funding Program for Excellent Postdoctoral Talent(Grant No.2024ZB072)the National Natural Science Foundation of China(Grant No.92266201).
文摘This study aims to establish an integrated sensitivity analysis framework for optimization and design of the dynamic performance of mechanical systems such as tracked vehicles,by combining the direct differentiation method(DDM)with the linear multibody system transfer matrix method(linear MSTMM).The rigid-flexible coupled multibody system dynamics model of a tracked vehicle is established using the linear MSTMM and validated through the modal test.Building upon the existing DDM-based eigenvalue sensitivity analysis method within the linear MSTMM,the DDM is embedded into it to enable programmable and efficient computation of dynamic response sensitivities for mechanical systems.The proposed approach is used to quantitatively evaluate the sensitivities of both natural vibration characteristics(e.g.,natural frequencies and mode shapes)and transient dynamic responses of the tracked vehicle with respect to system parameters,successfully identifying critical structural parameters.Compared to conventional finite difference methods,the developed methodology eliminates sensitivity to perturbation step sizes.The contributions of this work lie in establishing a unified theoretical foundation and analysis framework for guiding dynamics optimization and design of mechanical systems,and extending the applicability of the linear MSTMM to sensitivity analysis of transient dynamic responses.
基金financial support provided by the Natural Science Foundation of Hunan Province of China(Grant No.2021JJ10045)the Open Research Subject of State Key Laboratory of Intelligent Game(Grant No.ZBKF-24-01)+1 种基金the Postdoctoral Fellowship Program of CPSF(Grant No.GZB20240989)the China Postdoctoral Science Foundation(Grant No.2024M754304)。
文摘Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable tracking,including maintaining continuous target visibility amidst occlusions,ensuring flight safety,and achieving smooth trajectory planning.This paper reviews the latest advancements in UAV-based target tracking,highlighting information prediction,tracking strategies,and swarm cooperation.To address challenges including target visibility and occlusion,real-time prediction and tracking in dynamic environments,flight safety and coordination,resource management and energy efficiency,the paper identifies future research directions aimed at improving the performance,reliability,and scalability of UAV tracking system.
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金supported by the Science and Technology Research Program of Chongqing Municipal Education Commission(Grant No.KJQN202400514)the Foundation Project of Chongqing Normal University(Grand No.23XLB020)+1 种基金partly supported by Chongqing Social Science Planning Doctoral Program(Grant No.2022BS064)the Science and Technology Research Program of Chongqing Municipal Education Commission(Grant No.KJQN202301541)。
文摘Index tracking is known to be a passive portfolio management strategy by replicating the performance of a real or virtual index.However,the full replication,which considers all the asserts consisted of the index,often suffers from small and illiquid positions and large transaction costs.Thus,it is preferred to purchase sparse portfolios.Besides,existing literature pointed out the phenomenon of the co-movement in assert returns,indicating that the index tracking problems possibly contain group structures together with sparsity.Based on the consideration of the grouping effects and sparsity in index tracking problems,this paper proposes a grouping sparse index tracking model with nonnegative restrictions.We derive a modified version of coordinate decent algorithm for solving the model.The asymptotic properties are also discussed in detail.To show the efficiency of the model,we apply it into the constrained index tracking problem in Shanghai stock market,i.e.tracking SSE 50 Index.By selecting about 10 stocks,the result shows that nonnegative group lasso outperforms nonnegative lasso in assert allocation.
基金the National Natural Science Foundation of China(Grant Nos.62303348 and 62173242)the Aeronautical Science Foundation of China(Grant No.2024M071048002)the National Science Fund for Distinguished Young Scholars(Grant No.62225308)to provide fund for conducting experiments.
文摘Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.
基金supported by the National Natural Science Foun-dation of China(Grant No.52275099).
文摘The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilities of ATP systems.However,in practical applications,ATP systems face various design constraints and functional limitations,making it infeasible to indefinitely improve hardware performance to meet tracking requirements.As a result,tracking algorithms are required to execute increasingly complex tasks.This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems,which lead to tracking jitter,poor tracking performance,low precision,and target loss.At the same time,the pro-posed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays.The method suggested is also characterized by its low order,fast response,and robustness to model parameter variations.In this study,an actual ATP system is built for target tracking test,and the proposed algorithm is fully validated in terms of simulation and actual system application verification.Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates.For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s^(2),the system improved tracking accuracy by 70.0%-89.9%at a sampling frequency of 50 Hz and a delay of 30 m s.Moreover,the compensation algorithm demonstrated consistent performance across actuators with varying characteristics,further confirming its robustness to model insensitivity.In summary,the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable targets,reducing the probability of target loss from high speed.This approach offers a practical solution for future multi-target tracking across diverse operational scenarios.
基金supported by the National Natural Science Foundation of China(62422305,62373049).
文摘This paper proposes a differential-fatness-based active disturbance rejection control(ADRC)for high-speed steering control of tracked tank systems.Firstly,a high-speed steering model is established by considering the lateral component of the centrifugal force acting on the tank on the basis of modeling and analyzing the dynamic model of the low-speed steering system.Secondly,we propose a differential-flatness ADRC approach by converting the under-actuated system to a fully driven flat one.Moreover,we prove the differential flatness of the steering system,which facilitates a two-channel ADRC development.Finally,we show that both the states of the flat system and the original under-actuated system can track the reference trajectory.On the external interference condition,the system is observed to re-track the target signal within 2 s.
基金supported by the National Natural Science Foundation of China(61673130).
文摘This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.
