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| 1 | Adaptive Sliding Mode Control for Re-entry Attitude of Near Space Hypersonic Vehicle Based on Backstepping Design显示文摘Combining sliding mode control method with radial basis function neural network(RBFNN), this paper proposes a robust adaptive control scheme based on backstepping design for re-entry attitude tracking control of near space hypersonic vehicle(NSHV) in the presence of parameter variations and external disturbances. In the attitude angle loop, a robust adaptive virtual control law is designed by using the adaptive method to estimate the unknown upper bound of the compound uncertainties. In the angular velocity loop, an adaptive sliding mode control law is designed to suppress the effect of parameter variations and external disturbances. The main benefit of the sliding mode control is robustness to parameter variations and external disturbances. To further improve the control performance, RBFNNs are introduced to approximate the compound uncertainties in the attitude angle loop and angular velocity loop, respectively. Based on Lyapunov stability theory, the tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control system attains a satisfied control performance and is robust against parameter variations and external disturbances. | Jingmei Zhang Changyin Sun Ruimin Zhang Chengshan Qian | 2015 | IEEE/CAA Journal of Automatica Sinica2015，2，1： | 30 |
| 2 | Second-order terminal sliding mode control for hypersonic vehicle in cruising flight with sliding mode disturbance observer显示文摘This paper focuses on the design of nonlinear robust controller and disturbance observer for the longitudinal dynamics of a hypersonic vehicle (HSV) in the presence of parameter uncertainties and external disturbances. First, by combining terminal sliding mode control (TSMC) and second-order sliding mode control (SOSMC) approach, the second-order terminal sliding control (2TSMC) is proposed for the velocity and altitude tracking control of the HSV. The 2TSMC possesses the merits of both TSMC and SOSMC, which can provide fast convergence, continuous control law and high-tracking precision. Then, in order to increase the robustness of the control system and improve the control performance, the sliding mode disturbance observer (SMDO) is presented. The closed-loop stability is analyzed using the Lyapunov technique. Finally, simulation results illustrate the effectiveness of the proposed method, as well as the improved overall performance over the conventional sliding mode control (SMC). | Ruimin ZHANG Changyin SUN Jingmei ZHANG Yingjiang ZHOU | 2013 | 控制理论与应用(英文版)2013，11，2： | 22 |
| 3 | Non-fragile switching tracking control for a flexible air-breathing hypersonic vehicle based on polytopic LPV model显示文摘This article proposes a linear parameter varying (LPV) switching tracking control scheme for a flexible air-breathing hypersonic vehicle (FAHV). First, a polytopic LPV model is constructed to represent the complex nonlinear longitudinal model of the FAHV by using Jacobian linearization and tensor-product (T-P) model transformation approach. Second, for less conservative controller design purpose, the flight envelope is divided into four sub-regions and a non-fragile LPV controller is designed for each parameter sub-region. These non-fragile LPV controllers are then switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a specified performance criterion. The desired non-fragile LPV switching controller is found by solving a convex constraint problem which can be efficiently solved using available linear matrix inequality (LMI) techniques, and robust stability analysis of the closed-loop FAHV system is verified based on multiple Lypapunov functions (MLFs). Finally, numerical simulations have demonstrated the effectiveness of the proposed approach. | Huang Yiqing Sun Changyin Qian Chengshan Wang Li | 2013 | Chinese Journal of Aeronautics2013，26，4： | 19 |
| 4 | Adaptive fault-tolerant controller design for airbreathing hypersonic vehicle with input saturation显示文摘The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle(AHV) with actuator faults and external disturbances.Firstly,a fault-tolerant control strategy is presented for the longitudinal model of an AHV,which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate.However,this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances,which makes it not easy to implement.Then an improved adaptive fault-tolerant control scheme is proposed,where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor,respectively.Secondly,the problem of designing a control scheme with control constraints is further considered,and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories.Finally,simulation results are given to show the effectiveness of the proposed methods. | Haibin Sun Shihua Li Changyin Sun | 2013 | Journal of Systems Engineering and Electronics2013，24，3： | 12 |
| 5 | On modeling and control of a flexible air-breathing hypersonic vehicle based on LPV method显示文摘这篇文章开发 polytopic 变化的线性参数(LPV ) 模型和礼品为灵活呼吸空气的极超音速的车辆(FAHV ) 的非易碎的 H 2 安排获得的控制。首先, FAHV 的 polytopic LPV 模型能被使用 Jacobian linearization 和张肌产品(TP ) 模型转变途径获得,模拟确认说明 polytopic LPV 模型捕获原来的非线性的系统的本地非线性。基于发达 polytopic LPV 模型,第二,一个非易碎的 gainscheduled 控制方法被建议以便减少在控制器实现遇到的脆弱,有线性矩阵不平等( LMI )的一个凸的优化问题限制为设计速度和高度追踪控制器被提出,它保证 H 2 控制性能索引。最后,数字模拟表明了建议途径的有效性。 | Changyin SUN Yiqing HUANG Chengshan QIAN Li WANG | 2012 | Frontiers of Electrical and Electronic Engineering in China2012，7，1： | 12 |
| 6 | Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation显示文摘In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results. | Yanxu Su Qingling Wang Changyin Sun | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，1： | 11 |
| 7 | Polytopic LPV modeling and gain-scheduled switching control for a flexible air-breathing hypersonic vehicle显示文摘A novel gain-scheduled switching control method for the longitudinal motion of a flexible air-breathing hypersonic vehicle (FAHV) is proposed.Firstly,velocity and altitude are selected as scheduling variables,a polytopic linear parameter varying(LPV) model is developed to represent the complex nonlinear longitudinal dynamics of the FAHV.Secondly,based on the obtained polytopic LPV model,the flight envelope is divided into four smaller subregions, and four gain-scheduled controllers are designed for these parameter subregions.Then,by the defined switching characteristic function,these gain-scheduled controllers are switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a given tracking error performance criterion.The condition of gain-scheduled switching controller synthesis is given in terms of linear matrix inequalities(LMIs) which can be easily solved by using standard software packages.Finally,simulation results show the effectiveness of the presented method. | Yiqing Huang Changyin Sun Chengshan Qian Jingmei Zhang Li Wang | 2013 | Journal of Systems Engineering and Electronics2013，24，1： | 10 |
| 8 | Adaptive Control Based on Neural Networks for an Uncertain 2-DOF Helicopter System With Input Deadzone and Output Constraints显示文摘In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter. | Yuncheng Ouyang Lu Dong Lei Xue Changyin Sun | 2019 | IEEE/CAA Journal of Automatica Sinica2019，6，3： | 9 |
| 9 | A weighted LS-SVM approach for the identification of a class of nonlinear inverse systems显示文摘In this paper,a weighted least square support vector machine algorithm for identification is proposed based on the T-S model. The method adopts fuzzy c-means clustering to identify the structure. Based on clustering,the original input/output space is divided into several subspaces and submodels are identified by least square support vector machine(LS-SVM) . Then,a regression model is constructed by combining these submodels with a weighted mechanism. Furthermore we adopt the method to identify a class of inverse systems with immeasurable state variables. In the process of identification,an allied inverse system is constructed to obtain enough information for modeling. Simulation experiments show that the proposed method can identify the nonlinear allied inverse system effectively and provides satisfactory accuracy and good generalization. | SUN ChangYin MU ChaoXu LI XunMing | 2009 | Science in China(Series F)2009，52，5： | 8 |
| 10 | An Adaptive Strategy via Reinforcement Learning for the Prisoner's Dilemma Game显示文摘The iterated prisoner's dilemma(IPD) is an ideal model for analyzing interactions between agents in complex networks. It has attracted wide interest in the development of novel strategies since the success of tit-for-tat in Axelrod's tournament. This paper studies a new adaptive strategy of IPD in different complex networks, where agents can learn and adapt their strategies through reinforcement learning method. A temporal difference learning method is applied for designing the adaptive strategy to optimize the decision making process of the agents. Previous studies indicated that mutual cooperation is hard to emerge in the IPD. Therefore, three examples which based on square lattice network and scale-free network are provided to show two features of the adaptive strategy. First, the mutual cooperation can be achieved by the group with adaptive agents under scale-free network, and once evolution has converged mutual cooperation, it is unlikely to shift. Secondly, the adaptive strategy can earn a better payoff compared with other strategies in the square network. The analytical properties are discussed for verifying evolutionary stability of the adaptive strategy. | Lei Xue Changyin Sun Donald Wunsch Yingjiang Zhou Fang Yu | 2018 | IEEE/CAA Journal of Automatica Sinica2018，5，1： | 8 |
| 11 | Characteristic Model-based Discrete-time Sliding Mode Control for Spacecraft with Variable Tilt of Flexible Structures显示文摘In this paper, the finite-time attitude tracking control problem for the spacecrafts with variable tilt of flexible appendages in the conditions of exogenous disturbances and inertia uncertainties is addressed. First the characteristic modeling method is applied to the problem of the spacecraft modeling.Second, a novel adaptive sliding mode surface is designed based on the characteristic model. Furthermore, a discrete-time sliding mode control(DTSMC) law, which makes the tracking error converge into a predefined bound in finite time, is proposed by employing the parameters of characteristic model associated with the sliding mode surface to provide better performances,robustness, faster response, and higher control precision. The designed DTSMC includes the adaptive control architecture and is chattering-free. Finally, digital simulations of a sun synchronous orbit satellite(SSOS) are presented to illustrate effectiveness of the control strategies as well as to verify the practical feasibility of the rapid maneuver mission. | Lei Chen Yan Yan Chaoxu Mu Changyin Sun | 2016 | IEEE/CAA Journal of Automatica Sinica2016，3，1： | 5 |
| 12 | A new self-learning optimal control laws for a class of discrete-time nonlinear systems based on ESN architecture显示文摘A novel self-learning optimal control method for a class of discrete-time nonlinear systems is proposed based on iteration adaptive dynamic programming(ADP)algorithm.It is proven that the iteration costate functions converge to the optimal one,and a detailed convergence analysis of the iteration ADP algorithm is given.Furthermore,echo state network(ESN)architecture is used as the approximator of the costate function for each iteration.To ensure the reliability of the ESN approximator,the ESN mean square training error is constrained in the satisfactory range.Two simulation examples are given to demonstrate that the proposed control method has a fast response speed due to the special structure and the fast training process. | SONG RuiZhuo XIAO WenDong SUN ChangYin | 2014 | Science China(Information Sciences)2014，57，6： | 4 |
| 13 | Mode Selection and Resource Allocation for Deviceto-Device Communications in 5G Cellular Networks显示文摘To meet the increasing demand of wireless broadband applications in future 5G cellular networks, Device-to-Device(D2D) communications serve as a candidate paradigm to improve spectrum efficiency. Considering the challenges after D2 D transmission is introduced for future cellular networks, this paper deals with mode selection and resource allocation issues related with D2 D communications. First, we propose a mode selection scheme which aims at guaranteeing the transmission of cellular users and also considering the potential interference. We analyze the condition under which D2 D underlay mode should be used. Second, we answer the question of 'how to effectively reuse cellular resource once underlaying mode is adopted'. We further present a resource allocation scheme that focuses on minimizing overall interference as well as a power control method to improve the performance of D2 D systems. Simulation results demonstrate that system parameters greatly affect the switching condition of mode selection and probability of choosing underlay mode. Furthermore, for D2 D underlaying scenario, the proposed resource allocation algorithm guarantees the transmission of cellular users with consideration of transmission requirements of D2 D users. Hence, the proposed scheme can achieve better user experience. | Fan Jiang Benchao Wang Changyin Sun Yao Liu Rong Wang | 2016 | China Communications2016，13，6： | 4 |
| 14 | Adaptive Nonsingular Terminal Sliding Mode Control Design for Near Space Hypersonic Vehicles显示文摘This paper presents an adaptive nonsingular terminal sliding mode approach for the attitude control of near space hypersonic vehicles(NSHV) in the presence of parameter uncertainties and external disturbances. Firstly, a novel nonsingular terminal sliding surface is developed and its finitetime convergence is analyzed. Then, an adaptive nonsingular terminal sliding mode control law is proposed, which is chattering free. In the proposed approach, all parameter uncertainties and external disturbances are lumped into one term, which is estimated by an adaptive uncertainty estimation for eliminating the boundary requirement needed in the conventional control design. Subsequently, stability of the closed-loop system is proven based on Lyapunov theory. Finally, the proposed approach is applied to the attitude control design for NSHV. Simulation results show that the proposed approach attains a satisfactory performance in the presence of parameter uncertainties and external disturbances. | Ruimin Zhang Lu Dong Changyin Sun | 2014 | IEEE/CAA Journal of Automatica Sinica2014，1，2： | 4 |
| 15 | Data-Based Optimal Tracking of Autonomous Nonlinear Switching Systems显示文摘In this paper,a data-based scheme is proposed to solve the optimal tracking problem of autonomous nonlinear switching systems.The system state is forced to track the reference signal by minimizing the performance function.First,the problem is transformed to solve the corresponding Bellman optimality equation in terms of the Q-function(also named as action value function).Then,an iterative algorithm based on adaptive dynamic programming(ADP)is developed to find the optimal solution which is totally based on sampled data.The linear-in-parameter(LIP)neural network is taken as the value function approximator.Considering the presence of approximation error at each iteration step,the generated approximated value function sequence is proved to be boundedness around the exact optimal solution under some verifiable assumptions.Moreover,the effect that the learning process will be terminated after a finite number of iterations is investigated in this paper.A sufficient condition for asymptotically stability of the tracking error is derived.Finally,the effectiveness of the algorithm is demonstrated with three simulation examples. | Xiaofeng Li Lu Dong Changyin Sun | 2021 | IEEE/CAA Journal of Automatica Sinica2021，8，1： | 3 |
| 16 | Development of an autonomous flapping-wing aerial vehicle显示文摘The flapping-wing aerial vehicle(FWAV) has appealed to more and more researchers recently owing to its outstanding performance in various domains and the development of some related technologies. The research on autonomous flight control of the FWAV involves many challenges and is still in nascent stages. In this work, we develop an FWAV with a mass of 14.1 g and build a vision-based experimental platform. A modelbased controller is proposed on the basis of theory and simulation results prove its effectiveness. A PID control algorithm based on visual measurement is utilized to achieve the height-keeping control of the FWAV, and a software platform is designed to record the flight status determined using Euler angles and position information. | Wei HE Haifeng HUANG Yunan CHEN Wenzhen XIE Fusen FENG Yemeng KANG Changyin SUN | 2017 | Science China(Information Sciences)2017，60，6： | 3 |
| 17 | A Fast Clustering Based Evolutionary Algorithm for Super-Large-Scale Sparse Multi-Objective Optimization显示文摘During the last three decades,evolutionary algorithms(EAs)have shown superiority in solving complex optimization problems,especially those with multiple objectives and non-differentiable landscapes.However,due to the stochastic search strategies,the performance of most EAs deteriorates drastically when handling a large number of decision variables.To tackle the curse of dimensionality,this work proposes an efficient EA for solving super-large-scale multi-objective optimization problems with sparse optimal solutions.The proposed algorithm estimates the sparse distribution of optimal solutions by optimizing a binary vector for each solution,and provides a fast clustering method to highly reduce the dimensionality of the search space.More importantly,all the operations related to the decision variables only contain several matrix calculations,which can be directly accelerated by GPUs.While existing EAs are capable of handling fewer than 10000 real variables,the proposed algorithm is verified to be effective in handling 1000000 real variables.Furthermore,since the proposed algorithm handles the large number of variables via accelerated matrix calculations,its runtime can be reduced to less than 10%of the runtime of existing EAs. | Ye Tian Yuandong Feng Xingyi Zhang Changyin Sun | 2023 | IEEE/CAA Journal of Automatica Sinica2023，10，4： | 3 |
| 18 | Clustering and Resource Allocation Strategy for D2D Multicast Networks with Machine Learning Approaches显示文摘In this paper,the clustering and resource allocation problem in device-to-device(D2D)multicast transmission underlay cellular networks are investigated.For the sake of classifying D2D users into different D2D multicast clusters,a hybrid intelligent clustering strategy(HICS)based on unsupervised machine learning is proposed first.By maximizing the total energy efficiency of D2D multicast clusters,a joint resource allocation scheme is then presented.More specifically,the energy efficiency optimization problem is constructed under the quality of service(QoS)constraints.Since the joint optimization problem is non-convex,we transform the original problem into a mixed-integer programming problem according to the Dinkelbach algorithm.Furthermore,to avoid the high computational complexity inherent in the traditional resource allocation problem,a Q-Learning based joint resource allocation and power control algorithm is proposed.Numerical results reveal that the proposed algorithm achieves better energy efficiency in terms of throughput per energy consumption. | Fan Jiang Lan Zhang Changyin Sun Zeng Yuan | 2021 | China Communications2021，18，1： | 2 |
| 19 | Fixed-Time Cooperative Tracking for Delayed Disturbed Multi-Agent Systems Under Dynamic Event-Triggered Control显示文摘Dear editor,Recently,researchers have obtained many new results about the multi-agent systems(MASs)[1]-[3].In[1],the fixed-time cooperative control(FTCC)algorithm of linear MASs with matched disturbances was proposed.The nonholonomic chained-form dynamics case was considered in[2].In[3],the output tracking problem with data packet dropout was solved for high-order MASs.Moreover,delay frequently occurs because of the non-ideal data transmission[4],and the corresponding FTCC algorithm of MASs with delay was given in[5]. | Jian Liu Yongbao Wu Mengwei Sun Changyin Sun | 2022 | IEEE/CAA Journal of Automatica Sinica2022，9，5： | 2 |
| 20 | Finite-Time Synchronization for a Class of Dynamical Complex Networks with Nonidentical Nodes and Uncertain Disturbance显示文摘This paper investigates the finite-time synchronization for a class of linearly coupled dynamical complex networks with both nonidentical nodes and uncertain disturbance. A set of controllers are designed such that the considered system can be finite-timely synchronized onto the target node. Based on the stability of the error equation, the Lyapunov function method and the linear matrix inequality technique, several sufficient conditions are derived to ensure the finite-time synchronization, and applied to the case of identical nodes and tlie one without uncertain disturbance. Also the adaptive finite-time synchronization is discussed. A numerical example is given to show the effectiveness of the main results obtained. | LI Qingbo GUO Jin SUN Changyin WU Yuanyuan DING Zhengtao | 2019 | Journal of Systems Science & Complexity2019，32，3： | 2 |
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