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| 1 | Factor graph based navigation and positioning for control system design:A review显示文摘Navigation and positioning is an important and challenging problem in many control engineering applications.It provides feedback information to design controllers for systems.In this paper,a bibliographical review on factor graph based navigation and positioning is presented.More specifically,the sensor modeling,the factor graph optimization methods,and the topology factor based cooperative localization are reviewed.The navigation and positioning methods via factor graph are considered and classified.Focuses in the current research of factor graph based navigation and positioning are also discussed with emphasis on its practical application.The limitations of the existing methods,some solutions for future techniques,and recommendations are finally given. | Xiwei WU Bing XIAO Cihang WU Yiming GUO Lingwei LI | 2022 | Chinese Journal of Aeronautics2022，35，5： | 1 |
| 2 | Adaptive vector field based accurate homing control of aerial delivery systems显示文摘This paper investigates the homing control problem of a flexible aerial delivery system with external wind,at-mospheric turbulence,and aerodynamic uncertainties.An accurate homing control strategy is presented,consisting of a trajectory generation algorithm and a lateral tracking controller.A high-altitude trajectory generation is de-veloped with system characteristics explicitly considered to generate the desired trajectory for the aerial delivery control system design.It significantly compensates for the altitude deviation of the existing multiphase theory based trajectory generation methodologies.A novel adaptive vector field control law is then designed to accomplish the lateral tracking maneuvers.The key feature of the proposed method is that the complete lateral closed-loop control,including position and heading angle loops,is achieved in the presence of disturbances and dynamic uncertainties.The homing control with high landing accuracy is therefore achieved.Simulation and hardware-in-loop testing results are finally presented to validate the proposed method’s effectiveness compared to a conventional homing control scheme. | Yiming GUO Jianguo YAN Cihang WU Xiwei WU Bing XIAO | 2023 | Chinese Journal of Aeronautics2023，36，2： | 0 |
| 3 | Centroidal Voronoi Tessellation and Model Predictive Control–Based Macro-Micro Trajectory Optimization of Microsatellite Swarm显示文摘Probabilistic swarm guidance enables autonomous microsatellites to generate their individual trajectories independently so that the entire swarm converges to the desired distribution shape.However,it is essential to avoid crowding for reducing the possibility of collisions between microsatellites.To determine the collision-free guidance trajectory of each microsatellite from the current position to the target space,a collision avoidance algorithm is necessary.A synthesis method is proposed that generate the collision avoidance trajectories.The idea is that the trajectory planning is divided into macro-planning and microplanning;macro-planning guides where the microsatellites move step by step from the initial cube to the target cube by probabilistic swarm guidance with Centroidal Voronoi tessellation,while the micro-planning is to generate the optimal path for each step and finally reach the specified position in the target cube by model predictive control.Simulation results are presented for the collision-free guidance trajectory of microsatellites to verify the benefits of this planning scheme. | Xiwei Wu Bing Xiao Cihang Wu Yiming Guo | 2022 | Space(Science & Technology)2022，，1： | 0 |
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