基于相对方位信息和单间距测量的多智能体编队协同控制

由多个载体组成的多智能体系统对复杂环境具有更高的适应性,能够完成传统单个载体无法完成的任务。针对多智能体编队集结与队形移动跟踪问题,提出了一种改进的多智能体编队协同控制新算法。首先,以拒止环境下跟随智能体仅能通过光学传感器测量相对方位信息为任务背景,针对"领导者——第一跟随者"结构的多智能体编队,提出了基于相对方位信息与单间距测量的控制器,使得第一跟随者智能体可以追随移动的领导者智能体,并且可以通过改变与领导者智能体的间距对编队整体队形进行缩放控制。其次,提出一种了改进的分布式控制律,使得其他跟随者智能体可以仅通过两个相对方位信息完成编队飞行。然后,根据Lyapunov第二方法,构建了系统的能量函数,验证了所提出算法的稳定性。最后,通过数值仿真实验对所提算法进行了验证。仿真结果表明,基于该控制律多智能体系统能够完成编队集结、队形缩放和编队飞行的任务。     

Distributed event-triggered adaptive control for second-order nonlinear uncertain multi-agent systems

In this paper, the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered. The dynamics of subsystems are second-order with similar structures, and the nodes are connected by undirected graphs. The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators, and from the sensors to the controllers within each agent, but also in the communication between agents. Based on the adaptive backstepping method, extra estimators are introduced to handle the unknown parameters, and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals. The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided. Meanwhile, the update frequency of the controllers and the load of communication burden are vastly reduced. The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system, and the simulation results show the effectiveness and advantages of our proposed method.     

Entropy based inverse design of aircraft mission success space in system-of-systems confrontation

This paper presents a practical and efficient design method for aircraft Mission Success Space (MSS) based on the entropy measurement (EM). First, fundamentals regarding MSS, Inverse Design (ID) and entropy are discussed. Then, two EM schemes of entropy-based ID and the whole MSS ID procedure are given to demonstrate alternative ways of entropy quantification and MSS design. After that, Genetic Algorithm (GA) is utilized as a search algorithm to find the optimal MSS design with the minimum objective, entropy, in each EM scheme. A simulation case of aircraft penetration mission is given for the method validation where the best aircraft MSS design is obtained by GA according to the minimum entropy. Results from two schemes are compared at the end.     

复杂环境下翼伞系统的组合式航迹规划

传统翼伞系统的航迹规划主要考虑落点精度及逆风着陆等指标,而当空投区域环境较为复杂,在翼伞系统归航路径上存在障碍时,如何规避这些障碍也成为翼伞系统航迹规划所必须要考虑的因素。针对翼伞空投过程有可能遇到高山或者高大建筑物阻碍的问题,提出了一种复杂环境下翼伞系统的组合式航迹规划策略。该方法将翼伞空投的区域分为障碍区和着陆区,在障碍区中采用快速搜索随机树（RRT）算法进行可行路径搜索,考虑到RRT算法生成的轨迹包含棱角,导致路径不够平滑的问题,结合翼伞系统质点模型的运动特性,对其进行了适用性改进,以使规划的航迹满足实际翼伞空投需求。为了解决RRT算法搜索方向随机,难以满足逆风着陆的问题,当翼伞系统进入着陆区后采用分段归航的方式设计航迹,并借助遗传算法（GA）求解目标参数,实现翼伞系统能量控制及逆风着陆。提出的复杂环境下翼伞系统的组合式航迹规划策略求解速度较快,能够同时满足翼伞系统避障、能量控制及逆风着陆要求,得到的参考航迹较为平滑。     

实现分数阶傅里叶变换的光学系统及其应用

在综合了国内外有关文献的基础上,简述了分数阶傅里叶变换的发展过程。利用光学传输矩阵分析了分数阶傅里叶变换的3个基本的光学实现系统。对分数阶傅里叶变换的应用现状进行了归纳总结,同时就其发展方向做出了展望。     

先进战斗机综合机电系统试验技术研究

从综合机电系统试验需求和技术发展方向角度出发,提出了完善战斗机机电系统研制试验辅流程的思路,阐述了综合机电系统半物理试验、机电综合控制试验及综合热管理试验等方面的必要性,研究了综合机电系统半物理试验及综合物理试验的方法,形成了先进战斗机综合机电系统试验初步规划方案。     

基于星载分布式InSAR测高精度的导航卫星优选

从干涉合成孔径雷达（InSAR）测高精度需求出发,分析整个流程中的综合观测几何,联合InSAR对地观测参数、全球卫星导航系统（GNSS）对编队卫星观测参数和坐标系转换参数,建立了导航卫星的优选准则,理论推导了InSAR高程的误差传播系数。该准则直接针对InSAR高程精度进行优化选星,表征了综合几何关系下基线各分量对测高误差的贡献。仿真结果与理论推导相吻合,并给出了不同卫星导航系统、不同选星个数以及不同InSAR参数配置等多种场景下的结果比对。新准则相比以往基于最小相对精度衰减因子的选星准则,能够更好地反映实际几何关系,从而在相同观测条件下通过卫星优选得到更高的测高精度。     

星载DBF接收天线误差校正算法

 提出了一种改进的基于子空间的星载数字波束形成（DBF）接收天线的误差校正方法。根据阵列互耦效应主要取决于阵元间的几何距离这一特点,利用阵元空间排布的对称性简化了天线的互耦模型,将天线的互耦效应及射频(RF)通道失配统一为通道间的幅相不一致。通过在基带注入特定的阵内相位差降低了子空间算法的计算复杂度。在建立7单元正六边形平面阵仿真模型的基础上,分析不同信噪比(SNR)环境下校正算法的性能,经比较得出可以通过提高发射信号功率改善误差估计的精度,验证了算法的有效性。仿真分析结果表明该算法在卫星通信系统中有一定的工程应用价值。     

INS/GNSS组合导航系统空中快速对准方法

针对机载惯性/全球导航卫星系统(INS/GNSS)组合导航系统地面静基座对准时间较长、航向对准精度较低以及惯导空中故障重启后无法快速得到精确姿态信息重新进入导航状态等问题,提出一种快速初始对准方法。该对准方法基于惯性导航比力方程,利用GNSS的定位、测速信息与惯性测量组件(IMU)的输出信息解算载体姿态信息,并结合遗传-牛顿算法与求和自回归滑动平均(ARIMA)模型卡尔曼滤波信号降噪技术提高姿态信息的解算精度。基于实测飞行数据的解算验证了该方法的有效性、对准精度以及在实际工程应用中的优越性。     

Finite time L1 Approach for Missile Overload Requirement Analysis in Terminal Guidance

This article analyzes the problem about the missile overload requirement in a homing terminal guidance under various engagement scenarios. An augmented proportional navigation guidance (APNG) model is introduced on the basis of linear kinematics. To analyze the peak-to-peak performance of the terminal guidance system, a new finite time L₁ performance measure for a linear time-varying (LTV) continuous system is proposed. Then, according to the idea of the adjoint system, a novel method for computing the L₁ norm of a linear continuous system is first derived. Within the finite time L₁ framework, the quantitative relation between the guidance loop dynamics and the maximum missile-target maneuver ratio is offered. This relation is expressed in the form of graphs and formulas that can be used to synthesize some of the major subsystem specifications for the missile guidance system. The illustrative examples show that a significant performance improvement is achieved with the proposed guidance loop dynamics.