本文针对杂波条件下多扩展目标的状态估计,目标个数估计,扩展目标形状估计问题,提出了一种基于标签随机有限集（Labelled random finite sets, L-RFS）框架下多扩展目标跟踪学习算法,该学习算法主要包括两方面:多扩展目标动态建模和多扩展目标的跟踪估计.首先,结合广义标签多伯努利滤波器（Generalized labelled multi-Bernoulli, GLMB）建立了扩展目标的量测有限混合模型（Finite mixture models, FMM）,利用Gibbs采样和贝叶斯信息准则（Bayesian information criterion, BIC）准则推导出有限混合模型的参数来对多扩展目标形状进行学习,然后采用等效量测方法来替代扩展目标产生的量测,对扩展目标形状采用椭圆逼近建模,实现扩展目标形状与状态的估计.仿真实验表明本文所给的方法能够有效跟踪多扩展目标,并且在目标个数估计方面优于CBMeMBer算法.此外,与标签多伯努利滤波（LMB）计算比较表明:GLMB和LMB算法滤波估计精度接近,二者精度高于CBMeMBer算法.

In this paper, a constrained control scheme based on model reference adaptive control is investigated for the longitudinal motion of a commercial aircraft with actuator faults and saturation nonlinearities. Actuator faults and constraints are both important factors adversely affecting the stability and performance of flight control systems. An adaptive adjustment law based on Lyapunov function is utilized to adjust the fault-tolerant control law. Both additive and multiplicative faults are considered in the designed controller to deal with the three types of actuator faults: locked in place, loss of effectiveness, and bias. Moreover, different techniques are implemented in the basic and fault-tolerant controller to anti-windup. Proofs for the stability of the two modified controllers which improve the performance of control system operating in the presence of actuator faults and saturations are proposed. Finally, a numerical example of the anti-windup fault-tolerant controller for a commercial aircraft is demonstrated. The stability and performance improvements can be accrued with the presented fault-tolerant control scheme. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

MEMS IMU（Mirco Electro Mechanical System Inertial Measurement Unit）微机电惯性测量模块广泛应用于组合导航系统,其中MEMS IMU随机误差模型的准确性对导航精度有着重要的影响。针对Allan方差法在估计随机误差模型方面的不足,研究了间接估计方法。该方法以Daubechies离散小波变换与间接推断原理为基础,根据小波系数的零均值平稳特征,对分解尺度进行确定,将小波方差作为间接估计辅助参数,分析了最优估计准则的渐近一致性,最后使用高斯牛顿法对估计结果进行校正,获得满足渐近一致性的随机误差模型参数估计结果。仿真结果表明,间接估计方法提高了随机误差模型的估计精度,其中一阶马尔科夫过程的相关时间估计精度提高了12.383%,解决了一阶马尔科夫过程模型的准确估计问题。通过试验结果分析,进一步证明了以上结论。

随着无人机技术的不断发展,以及无人机应用领域的不断扩展,无人机与有人机在低空空域的融合运行是我国通用航空事业发展的必然趋势,而感知与规避技术是无人机与有人机间避免碰撞的重要保障。在对感知与规避技术进行详细阐述的基础上,对其关键技术问题之一的避让航迹规划进行了研究。首先,针对传统人工势场法的局部震荡问题提出了解决方案;其次,结合感知与规避实际背景,对威胁区模型进行了优化,并对无人机自身性能约束进行了建模;最后,对改进算法进行了仿真验证,阐明了其对无人机动力能源消耗、避让时间和任务执行效率等方面的影响。

针对高超声速目标拦截问题,提出了拦截器的末段交战窗口（TEW）快速生成方法,该窗口表征了所有可行的末段交战阵位。首先,针对高超声速非机动目标建立了解析形式的拦截条件。在此基础上,针对非机动目标和机动目标,依次推导了TEW边界的解析方程。同时,根据拦截器的最小和最大初始航向角,定义并计算了TEW内所有位置的可控裕度。最后,通过对高超声速目标TEW仿真,验证了所提出方法的有效性,并分析了TEW边界和可控裕度的影响因素。与传统数值方法相比,本文解析方法生成的TEW边界一致,但计算耗时大幅减小,具有在线使用的潜力。此外,仿真结果也表明,当目标信息存在测量误差时,所提出的TEW生成方法依然有效。

Robust H∞ guaranteed cost time-varying formation tracking problems for high-order multiagent systems with external disturbances and time-varying delays are considered. It is required that the followers' states need to track the leader's state and to actualize the desired time-varying formation simultaneously. First, this paper devises a linear time-varying formation tracking protocol considering the effects of the delays constituted by the neighboring information. Then, an integral linear quadratic cost function constructed by the control input constraint and the formation tracking error constraint is utilized to analyze the suboptimal robust H∞ guaranteed cost time-varying formation tracking performance. Third, sufficient conditions for actualizing the guaranteed cost time-varying formation tracking with H∞ disturbance attenuation performance are derived, and the conditions for the feasible time-varying formation tracking are raised. To obtain the gain matrix of the protocol, only four linear matrix inequalities are required to be solved. Finally, a numerical simulation example reveals the effectiveness of the acquired results, where five agents achieve the robust H∞ guaranteed cost time-varying formation tracking.
© 2013 IEEE.