Based on the idea of zeroing the line of sight rate（LOSR）,a novel nonlinear differential geometric（DG） law for intercepting the agile target is proposed.In the first part,the DG formulations are utilized to descri...Based on the idea of zeroing the line of sight rate（LOSR）,a novel nonlinear differential geometric（DG） law for intercepting the agile target is proposed.In the first part,the DG formulations are utilized to describe the relatively kinematics model of missile and target,and the nonlinear DG guidance（DGG） law is proposed based on the nonlinear control theory to eliminate the influence brought by target.Further,the missile guidance commands are derived to overcome the information loss caused by decoupling condition,the new necessary initial condition is developed to guarantee capture the agile target.Then,the designed nonlinear DGG commands are transformed from an arc-length system to the time domain.A desirable aspect of the designed guidance law is that it does not require rigorous information about target acceleration.Representative numerical results show that the designed guidance law obtain a better performance than the traditional DGG law for agile target.展开更多
A parallel nonlinear energy sink(NES) is proposed and analyzed. The parallel NES is composed of a vibro-impact(VI) NES and a cubic NES. The dynamical equation is given, and the essential analytical investigation is ca...A parallel nonlinear energy sink(NES) is proposed and analyzed. The parallel NES is composed of a vibro-impact(VI) NES and a cubic NES. The dynamical equation is given, and the essential analytical investigation is carried out to deal with the cubic nonlinearity and impact nonlinearity. Multiple time-scale expansion is introduced, and the zeroth order is derived to give a rough outline of the system. The underlying Hamilton dynamic equation is given, and then the optimal stiffness is expressed. The clearance is regarded as a critical factor for the VI. Based on the periodical impact treatment by analytical investigation, the relationships of the cubic stiffness, the clearance, and the zeroth-order attenuation amplitude of the linear primary oscillator(LPO) are obtained.A cubic NES under the optimal condition is compared with the parallel NES. Harmonic signals, harmonic signals with noises, and the excitation generated by a second-order?lter are considered as the potential excitation forces on the system. The targeted energy transfer(TET) in the designed parallel NES is shown to be more e?cient.展开更多
This paper presents a scheme of integrated guidance and autopilot design for homing missiles against ground fixed targets. An integrated guidance and control model in the pitch plane is formulated and further changed ...This paper presents a scheme of integrated guidance and autopilot design for homing missiles against ground fixed targets. An integrated guidance and control model in the pitch plane is formulated and further changed into a normal form by nonlinear coordinate transformation. By adopting the sliding mode control approach, an adaptive nonlinear control law of the system is designed so that the missile can hit the target accurately with a desired impact attitude angle. The stability analysis of the closed-loop system is also conducted. The numerical simulation has confirmed the usefulness of the proposed design scheme.展开更多
To improve the low tracking precision caused by lagged filter gain or imprecise state noise when the target highly maneuvers, a modified unscented Kalman filter algorithm based on the improved filter gain and adaptive...To improve the low tracking precision caused by lagged filter gain or imprecise state noise when the target highly maneuvers, a modified unscented Kalman filter algorithm based on the improved filter gain and adaptive scale factor of state noise is presented. In every filter process, the estimated scale factor is used to update the state noise covariance Qk, and the improved filter gain is obtained in the filter process of unscented Kalman filter （UKF） via predicted variance Pk｜k-1, which is similar to the standard Kalman filter. Simulation results show that the proposed algorithm provides better accuracy and ability to adapt to the highly maneuvering target compared with the standard UKF.展开更多
An improved particle filtering（IPF） is presented to perform maneuvering target tracking in dense clutter.The proposed filter uses several efficient variance reduction methods to combat particle degeneracy,low mode p...An improved particle filtering（IPF） is presented to perform maneuvering target tracking in dense clutter.The proposed filter uses several efficient variance reduction methods to combat particle degeneracy,low mode prior probabilities and measure-ment-origin uncertainty.Within the framework of a hybrid state estimation,each particle samples a discrete mode from its poste-rior distribution and the continuous state variables are approximated by a multivariate Gaussian mixture that is updated by an unscented Kalman filtering（UKF）.The uncertainty of measurement origin is solved by Monte Carlo probabilistic data associa-tion method where the distribution of interest is approximated by particle filtering and UKF.Correct data association and precise behavior mode detection are successfully achieved by the proposed method in the environment with heavy clutter and very low mode prior probability.The performance of the proposed filter is examined and compared by Monte Carlo simulation over typical target scenario for various clutter densities.The simulation results show the effectiveness of the proposed filter.展开更多
A new particle filter is presented for nonlinear tracking problems. Inpractice, maneuvering target-tracking systems are usually nonlinear and incompletely observed, andthe main difficulty of maneuvering target-trackin...A new particle filter is presented for nonlinear tracking problems. Inpractice, maneuvering target-tracking systems are usually nonlinear and incompletely observed, andthe main difficulty of maneuvering target-tracking problem lies in the fact that the maneuverabilityat every step is of high uncertainties. Here a new smoothing particle filter algorithm is proposed,which combines the particle filter to tackle the non-linear and non-Gaussian peculiarities of theproblem, together with smoothing of the PDF of system modes and thus settles the estimate problem ofthe target maneuverability. The simulation comparison with the auxiliary particle filters showsthat the approach has superiority and yields performance improvements in solving nonlinear trackingproblems.展开更多
Recent advances in the application of the nonlinear energy sink under a sinusoidal excitation make it possible to investigate metal-rubber vibration absorber. To provide such a vibration absorber for the integrated sp...Recent advances in the application of the nonlinear energy sink under a sinusoidal excitation make it possible to investigate metal-rubber vibration absorber. To provide such a vibration absorber for the integrated spacecraft platform,we analyze the targeted energy transfer of the simplified model with nonlinear energy sink using the complex-variables averaging method. Theoretical study shows two quasi-periodic responses that are essentially different in this nonlinear system. The steady-state response which is one of two quasi-periodic responses is caused by the linear instability of system,and another one appears as a result of the nonlinear normal modes between the linear and nonlinear oscillators,resulting from the energy transfer of different oscillators,and it can be used to vibration absorber. Secondly,this paper also discusses the performance of the proposed nonlinear absorber by using the phase portraits. All conclusion derived by the analytic model is verified numerically and the results are consistent with numerical simulations.展开更多
In the background of signal detection for high frequency （I/F） radar, the sea clutter is quite significant and can mask some weak target signals. A new clutter rejection method named “nonlinear projection” is give...In the background of signal detection for high frequency （I/F） radar, the sea clutter is quite significant and can mask some weak target signals. A new clutter rejection method named “nonlinear projection” is given to improve the SNR of the target. This approach is based on the recent observation that HF sea clutter may be modeled as a nonlinear deterministic dynamical system. After approximating the multidimensional reconstruction of the clutter by a low-dimensional attractor, projections onto this attractor can separate the clutter from other components. Real sea clutter, simulated target data and real target data are used to show that a nonlinear clutter rejection method is a promising technique to suppress sea clutter and enhances target detection.展开更多
As a new method for dealing with any nonlinear or non-Ganssian distributions, based on the Monte Carlo methods and Bayesian filtering, particle filters （PF） are favored by researchers and widely applied in many fiel...As a new method for dealing with any nonlinear or non-Ganssian distributions, based on the Monte Carlo methods and Bayesian filtering, particle filters （PF） are favored by researchers and widely applied in many fields. Based on particle filtering, an improved extended Kalman filter （EKF） proposal distribution is presented. Evaluation of the weights is simplified and other improved techniques including the residual resampling step and Markov Chain Monte Carlo method are introduced for target tracking. Performances of the EKF, basic PF and the improved PF are compared in target tracking examples. The simulation results confirm that the improved particle filter outperforms the others.展开更多
For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter （EKF） proposal function is applied to ...For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter （EKF） proposal function is applied to Bayesian target tracking. Markov chain Monte Carlo （MCMC） method, the resampling step, ere novel techniques are also introduced into Bayesian target tracking. And the simulation results confirm the improved particle filter with these techniques outperforms the basic one.展开更多
A marginalized particle filtering （MPF） approach is proposed for target tracking under the background of passive measurement. Essentially, the MPF is a combination of particle filtering technique and Kalman filter. ...A marginalized particle filtering （MPF） approach is proposed for target tracking under the background of passive measurement. Essentially, the MPF is a combination of particle filtering technique and Kalman filter. By making full use of marginalization, the distributions of the tractable linear part of the total state variables are updated analytically using Kalman filter, and only the lower-dimensional nonlinear state variable needs to be dealt with using particle filter. Simulation studies are performed on an illustrative example, and the results show that the MPF method leads to a significant reduction of the tracking errors when compared with the direct particle implementation. Real data test results also validate the effectiveness of the presented method.展开更多
This paper draws attention to the issue of the vibration absorption of nonlinear mechani- cal system coupled to nonlinear energy sink （NES） under the impact of the narrow band stochastic excitation. Firstly, based o...This paper draws attention to the issue of the vibration absorption of nonlinear mechani- cal system coupled to nonlinear energy sink （NES） under the impact of the narrow band stochastic excitation. Firstly, based on the complex-averaging method and frequency detuning methodology, response regimes of oscillators have been researched under the linear impact of coupling a nonlinear attachment with less relativistic mass and an external sinusoidal forcing, of which results turn out that the quasi-periodicity response regime of system which occurs when the external excitation amplitude exceeds the critical values will be the precondition of the targeted energy transfer. Secondly, basing on the path integration method, vibration suppression of NES has been researched when it is affected by a main oscillator with a narrow band stochastic force in the form of trigono- metric functions, of which results show that response regimes are affected by the amplitude of stochastic excitation and the disturbance strength. Finally, all these conclusions have been approved by the numerical verification and coincided with the theoretical analysis; meanwhile, after the com- paring analysis with the optimal linear absorber, it turns out that the NES which is affected by the narrow band stochastic force could also suppress the vibration of system with a better effect.展开更多
Based on the principle of statistical linear regression, a set of n ＋ 2 sigma points instead of 2n ＋ 1 sigma points used in the unscented Kalman filter （UKF）, is constructed to approximate the system state. And fi...Based on the principle of statistical linear regression, a set of n ＋ 2 sigma points instead of 2n ＋ 1 sigma points used in the unscented Kalman filter （UKF）, is constructed to approximate the system state. And filter accuracy is second order. Real-time of modified UKF is improved. In order to describe accurately the maneuvering target, the ＂current＂ statistical model is used. And the equation of acceleration error covariance is modified at every sample time of the filter. The modified adaptive UKF is presented for estimating the position, velocity and acceleration of maneuvering target. Monte Carlo simulations show the modified adaptive UKF acquires good performance for tracking position of maneuvering target. The modified adaptive UKF has better computational efficiency than UKF.展开更多
风电大规模并网导致系统惯量严重降低,恶化了系统的频率稳定性。针对上述问题,该文结合非线性预测理论以及扩张状态观测理论(extended state observer,ESO)提出双馈风机参与电网频率调节的短期频率支撑方法。首先,建立与系统频率偏差和...风电大规模并网导致系统惯量严重降低,恶化了系统的频率稳定性。针对上述问题,该文结合非线性预测理论以及扩张状态观测理论(extended state observer,ESO)提出双馈风机参与电网频率调节的短期频率支撑方法。首先,建立与系统频率偏差和风机转速相关的目标状态方程,并计算不同控制目标量对应的预测阶;其次,根据非线性预测理论计算预测矩阵,对未来时刻状态跟踪误差进行预测,并求得非线性控制律;最后,引入扩张状态观测器对非线性控制律中的复杂李导数运算进行观测,减轻控制律所需的计算负担。通过MATLAB/SIMULINK搭建含风电系统进行仿真验证,结果表明,所提方法有效地改善了电网的频率响应,并且无需单独设计转速恢复环节,能够实现风机转速的自恢复。展开更多
针对柱体驰振抑制问题提出了非线性吸能器(nonlinear targeted energy transfer,NTET)的振动调控策略,从理论和实验研究了非线性吸能器对驰振抑制的影响规律。采用准稳态理论描述流体力,基于能量法建立了柱体驰振与NTET耦合的动力学理...针对柱体驰振抑制问题提出了非线性吸能器(nonlinear targeted energy transfer,NTET)的振动调控策略,从理论和实验研究了非线性吸能器对驰振抑制的影响规律。采用准稳态理论描述流体力,基于能量法建立了柱体驰振与NTET耦合的动力学理论模型,通过实验结果验证了理论模型的有效性。线性动力学分析表明,增大NTET的弹簧预拉力会增加耦合阻尼比和耦合频率,导致柱体发生驰振的起振风速减小。非线性动力学分析发现,驰振响应抑制效果受NTET线性和非线性刚度的共同影响。存在最优线性刚度,使得振动幅值抑制效果最佳;NTET非线性刚度越大,驰振抑制效果越好;NTET弹簧预拉力越小、弹簧刚度越大,柱体振幅越低。该研究可为工程中柱体结构驰振调控策略的有效设计提供有用的理论支撑和实验数据。展开更多
基金supported by the Doctorial Innovation Fund (DY11104)the Aviation Science Innovation Fund of China (20090196005,20100196002)
文摘Based on the idea of zeroing the line of sight rate（LOSR）,a novel nonlinear differential geometric（DG） law for intercepting the agile target is proposed.In the first part,the DG formulations are utilized to describe the relatively kinematics model of missile and target,and the nonlinear DG guidance（DGG） law is proposed based on the nonlinear control theory to eliminate the influence brought by target.Further,the missile guidance commands are derived to overcome the information loss caused by decoupling condition,the new necessary initial condition is developed to guarantee capture the agile target.Then,the designed nonlinear DGG commands are transformed from an arc-length system to the time domain.A desirable aspect of the designed guidance law is that it does not require rigorous information about target acceleration.Representative numerical results show that the designed guidance law obtain a better performance than the traditional DGG law for agile target.
基金Project supported by the National Natural Science Foundation of China(Nos.11632011,11702170,11472170,51421092,and 11572189)
文摘A parallel nonlinear energy sink(NES) is proposed and analyzed. The parallel NES is composed of a vibro-impact(VI) NES and a cubic NES. The dynamical equation is given, and the essential analytical investigation is carried out to deal with the cubic nonlinearity and impact nonlinearity. Multiple time-scale expansion is introduced, and the zeroth order is derived to give a rough outline of the system. The underlying Hamilton dynamic equation is given, and then the optimal stiffness is expressed. The clearance is regarded as a critical factor for the VI. Based on the periodical impact treatment by analytical investigation, the relationships of the cubic stiffness, the clearance, and the zeroth-order attenuation amplitude of the linear primary oscillator(LPO) are obtained.A cubic NES under the optimal condition is compared with the parallel NES. Harmonic signals, harmonic signals with noises, and the excitation generated by a second-order?lter are considered as the potential excitation forces on the system. The targeted energy transfer(TET) in the designed parallel NES is shown to be more e?cient.
基金Major Program of National Natural Science Founda-tion of China (60710002)Program for Changjiang Scholars and Innovative Research Team in University
文摘This paper presents a scheme of integrated guidance and autopilot design for homing missiles against ground fixed targets. An integrated guidance and control model in the pitch plane is formulated and further changed into a normal form by nonlinear coordinate transformation. By adopting the sliding mode control approach, an adaptive nonlinear control law of the system is designed so that the missile can hit the target accurately with a desired impact attitude angle. The stability analysis of the closed-loop system is also conducted. The numerical simulation has confirmed the usefulness of the proposed design scheme.
基金supported by the National Natural Science Fundationof China(61102109)
文摘To improve the low tracking precision caused by lagged filter gain or imprecise state noise when the target highly maneuvers, a modified unscented Kalman filter algorithm based on the improved filter gain and adaptive scale factor of state noise is presented. In every filter process, the estimated scale factor is used to update the state noise covariance Qk, and the improved filter gain is obtained in the filter process of unscented Kalman filter （UKF） via predicted variance Pk｜k-1, which is similar to the standard Kalman filter. Simulation results show that the proposed algorithm provides better accuracy and ability to adapt to the highly maneuvering target compared with the standard UKF.
基金National Natural Science Foundation of China (60975028)National High-tech Research and Development Program (2009AA112203)+1 种基金Fundamental Research Funds for the Central Universities (CHD2009JC037)Natural Science Basic Research Plan in Shaanxi Province (2006F12)
文摘An improved particle filtering（IPF） is presented to perform maneuvering target tracking in dense clutter.The proposed filter uses several efficient variance reduction methods to combat particle degeneracy,low mode prior probabilities and measure-ment-origin uncertainty.Within the framework of a hybrid state estimation,each particle samples a discrete mode from its poste-rior distribution and the continuous state variables are approximated by a multivariate Gaussian mixture that is updated by an unscented Kalman filtering（UKF）.The uncertainty of measurement origin is solved by Monte Carlo probabilistic data associa-tion method where the distribution of interest is approximated by particle filtering and UKF.Correct data association and precise behavior mode detection are successfully achieved by the proposed method in the environment with heavy clutter and very low mode prior probability.The performance of the proposed filter is examined and compared by Monte Carlo simulation over typical target scenario for various clutter densities.The simulation results show the effectiveness of the proposed filter.
文摘A new particle filter is presented for nonlinear tracking problems. Inpractice, maneuvering target-tracking systems are usually nonlinear and incompletely observed, andthe main difficulty of maneuvering target-tracking problem lies in the fact that the maneuverabilityat every step is of high uncertainties. Here a new smoothing particle filter algorithm is proposed,which combines the particle filter to tackle the non-linear and non-Gaussian peculiarities of theproblem, together with smoothing of the PDF of system modes and thus settles the estimate problem ofthe target maneuverability. The simulation comparison with the auxiliary particle filters showsthat the approach has superiority and yields performance improvements in solving nonlinear trackingproblems.
基金Sponsored by the Open Fund of National Defense Key Discipline Laboratory of Micro-Spacecraft Technology(Grant No.HIT.KLOF.MST.201302)
文摘Recent advances in the application of the nonlinear energy sink under a sinusoidal excitation make it possible to investigate metal-rubber vibration absorber. To provide such a vibration absorber for the integrated spacecraft platform,we analyze the targeted energy transfer of the simplified model with nonlinear energy sink using the complex-variables averaging method. Theoretical study shows two quasi-periodic responses that are essentially different in this nonlinear system. The steady-state response which is one of two quasi-periodic responses is caused by the linear instability of system,and another one appears as a result of the nonlinear normal modes between the linear and nonlinear oscillators,resulting from the energy transfer of different oscillators,and it can be used to vibration absorber. Secondly,this paper also discusses the performance of the proposed nonlinear absorber by using the phase portraits. All conclusion derived by the analytic model is verified numerically and the results are consistent with numerical simulations.
文摘In the background of signal detection for high frequency （I/F） radar, the sea clutter is quite significant and can mask some weak target signals. A new clutter rejection method named “nonlinear projection” is given to improve the SNR of the target. This approach is based on the recent observation that HF sea clutter may be modeled as a nonlinear deterministic dynamical system. After approximating the multidimensional reconstruction of the clutter by a low-dimensional attractor, projections onto this attractor can separate the clutter from other components. Real sea clutter, simulated target data and real target data are used to show that a nonlinear clutter rejection method is a promising technique to suppress sea clutter and enhances target detection.
基金Project supported by National High-Technology Research and De-velopment Program(Grant No .863 -2001AA422420-02)
文摘As a new method for dealing with any nonlinear or non-Ganssian distributions, based on the Monte Carlo methods and Bayesian filtering, particle filters （PF） are favored by researchers and widely applied in many fields. Based on particle filtering, an improved extended Kalman filter （EKF） proposal distribution is presented. Evaluation of the weights is simplified and other improved techniques including the residual resampling step and Markov Chain Monte Carlo method are introduced for target tracking. Performances of the EKF, basic PF and the improved PF are compared in target tracking examples. The simulation results confirm that the improved particle filter outperforms the others.
基金This project was supported by the National Natural Science Foundation of China (50405017) .
文摘For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter （EKF） proposal function is applied to Bayesian target tracking. Markov chain Monte Carlo （MCMC） method, the resampling step, ere novel techniques are also introduced into Bayesian target tracking. And the simulation results confirm the improved particle filter with these techniques outperforms the basic one.
文摘A marginalized particle filtering （MPF） approach is proposed for target tracking under the background of passive measurement. Essentially, the MPF is a combination of particle filtering technique and Kalman filter. By making full use of marginalization, the distributions of the tractable linear part of the total state variables are updated analytically using Kalman filter, and only the lower-dimensional nonlinear state variable needs to be dealt with using particle filter. Simulation studies are performed on an illustrative example, and the results show that the MPF method leads to a significant reduction of the tracking errors when compared with the direct particle implementation. Real data test results also validate the effectiveness of the presented method.
基金supported by the National Natural Science Foundation of China (No. 51375109)
文摘This paper draws attention to the issue of the vibration absorption of nonlinear mechani- cal system coupled to nonlinear energy sink （NES） under the impact of the narrow band stochastic excitation. Firstly, based on the complex-averaging method and frequency detuning methodology, response regimes of oscillators have been researched under the linear impact of coupling a nonlinear attachment with less relativistic mass and an external sinusoidal forcing, of which results turn out that the quasi-periodicity response regime of system which occurs when the external excitation amplitude exceeds the critical values will be the precondition of the targeted energy transfer. Secondly, basing on the path integration method, vibration suppression of NES has been researched when it is affected by a main oscillator with a narrow band stochastic force in the form of trigono- metric functions, of which results show that response regimes are affected by the amplitude of stochastic excitation and the disturbance strength. Finally, all these conclusions have been approved by the numerical verification and coincided with the theoretical analysis; meanwhile, after the com- paring analysis with the optimal linear absorber, it turns out that the NES which is affected by the narrow band stochastic force could also suppress the vibration of system with a better effect.
基金the National Natural Science Foundation of China (413090503)
文摘Based on the principle of statistical linear regression, a set of n ＋ 2 sigma points instead of 2n ＋ 1 sigma points used in the unscented Kalman filter （UKF）, is constructed to approximate the system state. And filter accuracy is second order. Real-time of modified UKF is improved. In order to describe accurately the maneuvering target, the ＂current＂ statistical model is used. And the equation of acceleration error covariance is modified at every sample time of the filter. The modified adaptive UKF is presented for estimating the position, velocity and acceleration of maneuvering target. Monte Carlo simulations show the modified adaptive UKF acquires good performance for tracking position of maneuvering target. The modified adaptive UKF has better computational efficiency than UKF.
文摘风电大规模并网导致系统惯量严重降低,恶化了系统的频率稳定性。针对上述问题,该文结合非线性预测理论以及扩张状态观测理论(extended state observer,ESO)提出双馈风机参与电网频率调节的短期频率支撑方法。首先,建立与系统频率偏差和风机转速相关的目标状态方程,并计算不同控制目标量对应的预测阶;其次,根据非线性预测理论计算预测矩阵,对未来时刻状态跟踪误差进行预测,并求得非线性控制律;最后,引入扩张状态观测器对非线性控制律中的复杂李导数运算进行观测,减轻控制律所需的计算负担。通过MATLAB/SIMULINK搭建含风电系统进行仿真验证,结果表明,所提方法有效地改善了电网的频率响应,并且无需单独设计转速恢复环节,能够实现风机转速的自恢复。
文摘针对柱体驰振抑制问题提出了非线性吸能器(nonlinear targeted energy transfer,NTET)的振动调控策略,从理论和实验研究了非线性吸能器对驰振抑制的影响规律。采用准稳态理论描述流体力,基于能量法建立了柱体驰振与NTET耦合的动力学理论模型,通过实验结果验证了理论模型的有效性。线性动力学分析表明,增大NTET的弹簧预拉力会增加耦合阻尼比和耦合频率,导致柱体发生驰振的起振风速减小。非线性动力学分析发现,驰振响应抑制效果受NTET线性和非线性刚度的共同影响。存在最优线性刚度,使得振动幅值抑制效果最佳;NTET非线性刚度越大,驰振抑制效果越好;NTET弹簧预拉力越小、弹簧刚度越大,柱体振幅越低。该研究可为工程中柱体结构驰振调控策略的有效设计提供有用的理论支撑和实验数据。
