A gradient descent algorithm with adjustable parameter for attitude estimation is developed,aiming at the attitude measurement for small unmanned aerial vehicle(UAV)in real-time flight conditions.The accelerometer and...A gradient descent algorithm with adjustable parameter for attitude estimation is developed,aiming at the attitude measurement for small unmanned aerial vehicle(UAV)in real-time flight conditions.The accelerometer and magnetometer are introduced to construct an error equation with the gyros,thus the drifting characteristics of gyroscope can be compensated by solving the error equation utilized by the gradient descent algorithm.Performance of the presented algorithm is evaluated using a self-proposed micro-electro-mechanical system(MEMS)based attitude heading reference system which is mounted on a tri-axis turntable.The on-ground,turntable and flight experiments indicate that the estimation attitude has a good accuracy.Also,the presented system is compared with an open-source flight control system which runs extended Kalman filter(EKF),and the results show that the attitude control system using the gradient descent method can estimate the attitudes for UAV effectively.展开更多
With the increasing prevalence of high-order systems in engineering applications, these systems often exhibitsignificant disturbances and can be challenging to model accurately. As a result, the active disturbance rej...With the increasing prevalence of high-order systems in engineering applications, these systems often exhibitsignificant disturbances and can be challenging to model accurately. As a result, the active disturbance rejectioncontroller (ADRC) has been widely applied in various fields. However, in controlling plant protection unmannedaerial vehicles (UAVs), which are typically large and subject to significant disturbances, load disturbances andthe possibility of multiple actuator faults during pesticide spraying pose significant challenges. To address theseissues, this paper proposes a novel fault-tolerant control method that combines a radial basis function neuralnetwork (RBFNN) with a second-order ADRC and leverages a fractional gradient descent (FGD) algorithm.We integrate the plant protection UAV model’s uncertain parameters, load disturbance parameters, and actuatorfault parameters and utilize the RBFNN for system parameter identification. The resulting ADRC exhibits loaddisturbance suppression and fault tolerance capabilities, and our proposed active fault-tolerant control law hasLyapunov stability implications. Experimental results obtained using a multi-rotor fault-tolerant test platformdemonstrate that the proposed method outperforms other control strategies regarding load disturbance suppressionand fault-tolerant performance.展开更多
The gradient descent approach is the key ingredient in variational quantum algorithms and machine learning tasks,which is an optimization algorithm for finding a local minimum of an objective function.The quantum vers...The gradient descent approach is the key ingredient in variational quantum algorithms and machine learning tasks,which is an optimization algorithm for finding a local minimum of an objective function.The quantum versions of gradient descent have been investigated and implemented in calculating molecular ground states and optimizing polynomial functions.Based on the quantum gradient descent algorithm and Choi-Jamiolkowski isomorphism,we present approaches to simulate efficiently the nonequilibrium steady states of Markovian open quantum many-body systems.Two strategies are developed to evaluate the expectation values of physical observables on the nonequilibrium steady states.Moreover,we adapt the quantum gradient descent algorithm to solve linear algebra problems including linear systems of equations and matrix-vector multiplications,by converting these algebraic problems into the simulations of closed quantum systems with well-defined Hamiltonians.Detailed examples are given to test numerically the effectiveness of the proposed algorithms for the dissipative quantum transverse Ising models and matrix-vector multiplications.展开更多
In the field of calculating the attack area of air-to-air missiles in modern air combat scenarios,the limitations of existing research,including real-time calculation,accuracy efficiency trade-off,and the absence of t...In the field of calculating the attack area of air-to-air missiles in modern air combat scenarios,the limitations of existing research,including real-time calculation,accuracy efficiency trade-off,and the absence of the three-dimensional attack area model,restrict their practical applications.To address these issues,an improved backtracking algorithm is proposed to improve calculation efficiency.A significant reduction in solution time and maintenance of accuracy in the three-dimensional attack area are achieved by using the proposed algorithm.Furthermore,the age-layered population structure genetic programming(ALPS-GP)algorithm is introduced to determine an analytical polynomial model of the three-dimensional attack area,considering real-time requirements.The accuracy of the polynomial model is enhanced through the coefficient correction using an improved gradient descent algorithm.The study reveals a remarkable combination of high accuracy and efficient real-time computation,with a mean error of 91.89 m using the analytical polynomial model of the three-dimensional attack area solved in just 10^(-4)s,thus meeting the requirements of real-time combat scenarios.展开更多
针对直流微电网系统中双有源桥(Dual active bridge,DAB)变换器存在的直流母线电压和负载波动大、传输功率不稳定等问题,提出一种基于遗传算法的自抗扰控制与梯度下降算法优化回流功率的混合优化控制策略。首先,分析拓展移相调制下DAB...针对直流微电网系统中双有源桥(Dual active bridge,DAB)变换器存在的直流母线电压和负载波动大、传输功率不稳定等问题,提出一种基于遗传算法的自抗扰控制与梯度下降算法优化回流功率的混合优化控制策略。首先,分析拓展移相调制下DAB变换器的拓扑结构和功率特性,以回流功率为损失函数,引入梯度下降算法迭代寻找最优内移相比。随后,在DAB变换器小信号建模的基础上,设计线性自抗扰控制器,通过扩张状态观测器对输出电压和系统内外部扰动进行观测估计。同时,考虑到复杂环境下自抗扰控制器参数整定的不确定性,引入遗传算法对自抗扰控制器进行参数自整定。最后,搭建以TMS320F28335为控制器的试验平台对提出的混合优化控制策略(Hybrid optimal control strategy under extended phase shift modulation,EPS-HOCS)和传统PI控制(PI control strategy under extended phase shift modulation,EPS-PI)和自适应梯度下降算法控制(Adaptive gradient descent algorithm under extended phase shift modulation,EPS-AGDA)进行分析对比,验证了所提策略在回流功率和动态性能方面的优越性。展开更多
基金supported by the Fundamental Research Funds for the Central Universities(No.56XAA17075)
文摘A gradient descent algorithm with adjustable parameter for attitude estimation is developed,aiming at the attitude measurement for small unmanned aerial vehicle(UAV)in real-time flight conditions.The accelerometer and magnetometer are introduced to construct an error equation with the gyros,thus the drifting characteristics of gyroscope can be compensated by solving the error equation utilized by the gradient descent algorithm.Performance of the presented algorithm is evaluated using a self-proposed micro-electro-mechanical system(MEMS)based attitude heading reference system which is mounted on a tri-axis turntable.The on-ground,turntable and flight experiments indicate that the estimation attitude has a good accuracy.Also,the presented system is compared with an open-source flight control system which runs extended Kalman filter(EKF),and the results show that the attitude control system using the gradient descent method can estimate the attitudes for UAV effectively.
基金the 2021 Key Project of Natural Science and Technology of Yangzhou Polytechnic Institute,Active Disturbance Rejection and Fault-Tolerant Control of Multi-Rotor Plant ProtectionUAV Based on QBall-X4(Grant Number 2021xjzk002).
文摘With the increasing prevalence of high-order systems in engineering applications, these systems often exhibitsignificant disturbances and can be challenging to model accurately. As a result, the active disturbance rejectioncontroller (ADRC) has been widely applied in various fields. However, in controlling plant protection unmannedaerial vehicles (UAVs), which are typically large and subject to significant disturbances, load disturbances andthe possibility of multiple actuator faults during pesticide spraying pose significant challenges. To address theseissues, this paper proposes a novel fault-tolerant control method that combines a radial basis function neuralnetwork (RBFNN) with a second-order ADRC and leverages a fractional gradient descent (FGD) algorithm.We integrate the plant protection UAV model’s uncertain parameters, load disturbance parameters, and actuatorfault parameters and utilize the RBFNN for system parameter identification. The resulting ADRC exhibits loaddisturbance suppression and fault tolerance capabilities, and our proposed active fault-tolerant control law hasLyapunov stability implications. Experimental results obtained using a multi-rotor fault-tolerant test platformdemonstrate that the proposed method outperforms other control strategies regarding load disturbance suppressionand fault-tolerant performance.
基金supported by the National Natural Science Foundation of China(Grant Nos.12075159,12171044,and 12005015)Beijing Natural Science Foundation(Grant No.Z190005)Academy for Multidisciplinary Studies,Capital Normal University,Academician Innovation Platform of Hainan Province,and Shenzhen Institute for Quantum Science and Engineering,Southern University of Science and Technology(Grant No.SIQSE202001)。
文摘The gradient descent approach is the key ingredient in variational quantum algorithms and machine learning tasks,which is an optimization algorithm for finding a local minimum of an objective function.The quantum versions of gradient descent have been investigated and implemented in calculating molecular ground states and optimizing polynomial functions.Based on the quantum gradient descent algorithm and Choi-Jamiolkowski isomorphism,we present approaches to simulate efficiently the nonequilibrium steady states of Markovian open quantum many-body systems.Two strategies are developed to evaluate the expectation values of physical observables on the nonequilibrium steady states.Moreover,we adapt the quantum gradient descent algorithm to solve linear algebra problems including linear systems of equations and matrix-vector multiplications,by converting these algebraic problems into the simulations of closed quantum systems with well-defined Hamiltonians.Detailed examples are given to test numerically the effectiveness of the proposed algorithms for the dissipative quantum transverse Ising models and matrix-vector multiplications.
基金National Natural Science Foundation of China(62373187)Forward-looking Layout Special Projects(ILA220591A22)。
文摘In the field of calculating the attack area of air-to-air missiles in modern air combat scenarios,the limitations of existing research,including real-time calculation,accuracy efficiency trade-off,and the absence of the three-dimensional attack area model,restrict their practical applications.To address these issues,an improved backtracking algorithm is proposed to improve calculation efficiency.A significant reduction in solution time and maintenance of accuracy in the three-dimensional attack area are achieved by using the proposed algorithm.Furthermore,the age-layered population structure genetic programming(ALPS-GP)algorithm is introduced to determine an analytical polynomial model of the three-dimensional attack area,considering real-time requirements.The accuracy of the polynomial model is enhanced through the coefficient correction using an improved gradient descent algorithm.The study reveals a remarkable combination of high accuracy and efficient real-time computation,with a mean error of 91.89 m using the analytical polynomial model of the three-dimensional attack area solved in just 10^(-4)s,thus meeting the requirements of real-time combat scenarios.
文摘针对直流微电网系统中双有源桥(Dual active bridge,DAB)变换器存在的直流母线电压和负载波动大、传输功率不稳定等问题,提出一种基于遗传算法的自抗扰控制与梯度下降算法优化回流功率的混合优化控制策略。首先,分析拓展移相调制下DAB变换器的拓扑结构和功率特性,以回流功率为损失函数,引入梯度下降算法迭代寻找最优内移相比。随后,在DAB变换器小信号建模的基础上,设计线性自抗扰控制器,通过扩张状态观测器对输出电压和系统内外部扰动进行观测估计。同时,考虑到复杂环境下自抗扰控制器参数整定的不确定性,引入遗传算法对自抗扰控制器进行参数自整定。最后,搭建以TMS320F28335为控制器的试验平台对提出的混合优化控制策略(Hybrid optimal control strategy under extended phase shift modulation,EPS-HOCS)和传统PI控制(PI control strategy under extended phase shift modulation,EPS-PI)和自适应梯度下降算法控制(Adaptive gradient descent algorithm under extended phase shift modulation,EPS-AGDA)进行分析对比,验证了所提策略在回流功率和动态性能方面的优越性。
