Guaranteed transient performance based control with input saturation for near space vehicles

This paper describes the design of guaranteed transient performance based attitude control for the near space vehicle(NSV)with control input saturation using the backstepping method.To improve the robust controllability of the NSV,the parameter adaptive method is used to tackle the integrated effect of unknown time-varying disturbance and control input saturation.Based on the backstepping technique and parameter estimated outputs,a robust attitude control scheme is proposed for the NSV with input saturation.A novel robust attitude control scheme is then proposed based on a prescribed performance bound(PPB)which characterizes the convergence rate and maximum overshoot of the attitude tracking error.The closed-loop system stability under both the developed robust attitude control schemes is proved using Lyapunov’s method and uniformly asymptotical convergence of all closed-loop signals is guaranteed.Finally,simulation results are given to show the effectiveness of both the proposed robust constrained attitude control schemes.     

Connecting parameters optimization on unsymmetrical twin-tower structure linked by sky-bridge

Based on a simplified 3-DOF model of twin-tower structure linked by a sky-bridge, the frequency response functions, the displacement power spectral density （PSD） functions, and the time-averaged total vibration energy were derived, by assuming the white noise as the earthquake excitation. The effects of connecting parameters, such as linking stiffness ratio and linking damping ratio, on the structural vibration responses were then studied, and the optimal connecting parameters were obtained to minimize the vibration energy of either the independent monomer tower or the integral structure. The influences of sky-bridge elevation position on the optimal connecting parameters were also discussed. Finally, the distribution characteristics of the top displacement PSD and the structural responses, excited by El Centro, Taft and artificial waves, were compared in both frequency and time domain. It is found that the connecting parameters at either end of connection interactively affect the responses of the towers. The optimal connecting parameters can greatly improve the damping connections on their seismic reduction effectiveness, but are unable to reduce the seismic responses of the towers to the best extent simultaneously. It is also indicated that the optimal connecting parameters derived from the simplified 3-DOF model are applicable for two multi-story structures linked by a sky-bridge with dampers. The seismic reduction effectiveness obtained varies from 0.3 to 1.0 with different sky-bridge mass ratio. The displacement responses of the example structures are reduced by approximately 22% with sky-bridge connections.     

基于PNDSC 的欠驱动AUV编队控制器设计

针对含有模型不确定与未知海洋环境扰动下的欠驱动自主水下航行器(AUV)的编队控制问题, 提出一种基于预估器的神经网络动态面(PNDSC) 控制算法. 将动态面法引入控制器的设计中, 采用神经网络逼近AUV模型中的不确定项与海洋环境的扰动, 并结合预估器设计了神经网络权值的离散迭代更新率. Lyapunov 稳定性分析表明, 闭环系统所有信号是一致最终有界的. 仿真结果验证了所提出方法的有效性.

     

基于动态权限集的Android强制访问控制模型

针对Android存在的特权提升攻击问题,提出了基于动态权限集的Android强制访问控制模型DP_ManDroid。该模型首先分析强连通分支的权限分布特性,构建动态的权限集划分;然后在信息流与权限集耦合的基础上,抽象权限提升路径;最后提出线性时间的访问控制算法,并通过动态追踪权限集,实现了细粒度的决策控制。与现有 安全模型的对比,以及在原型系统上的仿真结果表明,所提出的安全模型很好地抵御了特权提升攻击,同时降低了时间复杂度。     

电动汽车参与经济调度的多目标模型

电动汽车通过V2G技术可以作为电网负荷侧的备用容量,由此提出了一个多目标优化模型,将电动汽车车主成本和经济调度成本作为其目标函数,并让电动汽车通过有序充放电来作为经济调度时的备用容量.在满足各种约束条件下,采用多目标遗传算法(NSGA-Ⅱ)对模型进行求解.电动汽车的负荷特性、负荷波动、真实风能输出和机组停运状态均采用蒙特卡洛算法得到,并以一小时为时间间隔来进行仿真.由模型的求解结果可知,通过选择合适的pareto解集中的值,可以节省车主成本和经济调度的成本,并且可以实现对负荷削峰填谷的功能.     

基于改进SUSAN算法的移动车辆检测

针对复杂行车环境下智能车辆行车安全问题,提出了一种基于改进 Susan 边缘检测算法提取车辆边界特征。首先介绍了SUSAN边缘检测算子的原理,然后提出改进的SUSAN算法,即对待检测像素粗略提取,采用一种自适应选取阈值的方法对候选边缘点检测提取边缘。实验表明,算法能在复杂图像中识别前方车辆,有较高的准确度。     

与抽样相结合的县级作物遥感面积估算应用实例

为了探索遥感卫星影像和无人机调查在实际遥感面积估算中的调查效果和适用性,以广东省阳春市晚稻为例,采用卫星影像与无人机调查结果相结合,使用两种面积估算方法进行2013年晚稻种植面积估算。实验结果表明,比估计和回归估计方法的估算结果分别为22 501.1hm2和22 781.1hm2,二者的CV分别为8.84%和1.03%。研究结果表明:1无人机调查可获得高质量的面积测量信息;2优化后的样本能够支持面积估算过程,但其理论意义需要更进一步地讨论与证明;3卫星数据与无人机调查数据相结合的方法可以提供满足统计精度要求的面积测量结果,具有良好的应用前景。     

基于地址-事件表示的高速二值连通域标记方法

为提高二值连通域标记的速度,将地址-事件表示AER（Address Event Representation）思想引入到二值图像处理,提出了一种基于事件对等价标号的二值连通域标记方法。该算法无需多次遍历图像中的背景点和冗余目标点,首先将待标记的连通域以AER“事件对”的方式编码保存,通过“事件对”的遍历生成临时标号和等价标记表;然后根据等价表修改临时标号;完成标号映射后最终实现连通域标记。整个算法只处理极低冗余的事件信息,避免了对全图像素的重复扫描与处理。实验结果表明,图像以AER“事件对”方式存储,数据量仅为全帧图像的10%~35%,有较高的压缩比;且该算法速度快,可达到了传统基于等价标号算法的1.5~8倍。     

A two‐step control approach for docking of autonomous underwater vehicles

This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd.