基于卡尔曼滤波的在线量子态估计优化算法

针对连续弱测量中存在高斯测量噪声的问题, 提出一种基于卡尔曼滤波的在线量子状态估计的预测-修正-投影优化算法。首先,在常规在线卡尔曼滤波算法预测状态时间更新和估计状态测量更新的基础上, 通过增加对量子态的约束条件, 将其应用于在线的量子状态估计中, 将量子态在线估计问题转化为一个带有量子态约束条件的卡尔曼滤波优化问题。其次,通过将待优化问题的求解分解成两个凸优化子问题,一个是基于在线卡尔曼滤波算法求解无约束条件下的量子测量更新问题, 另一个是利用量子约束条件信息, 通过求解矩阵投影问题来获得估计状态。最后,将所提算法应用到4量子位系统状态的在线估计数值实验中, 进行了性能对比实验。实验结果表明, 所提算法具有更优的在线状态估计精度, 并且能够以更少的采样次数和耗时, 实现较高精度的量子状态在线估计。     

FTC of hidden Markov process with application to resource allocation in air operation

This paper investigates the feedback control of hidden Markov process(HMP) in the face of loss of some observation processes.The control action facilitates or impedes some particular transitions from an inferred current state in the attempt to maximize the probability that the HMP is driven to a desirable absorbing state.This control problem is motivated by the need for judicious resource allocation to win an air operation involving two opposing forces.The effectiveness of a receding horizon control scheme based on the inferred discrete state is examined.Tolerance to loss of sensors that help determine the state of the air operation is achieved through a decentralized scheme that estimates a continuous state from measurements of linear models with additive noise.The discrete state of the HMP is identified using three well-known detection schemes.The sub-optimal control policy based on the detected state is implemented on-line in a closed-loop,where the air operation is simulated as a stochastic process with SimEvents,and the measurement process is simulated for a range of single sensor loss rates.     

New coordination scheme for multi-robot systems based on state space models

A new coordination scheme for multi-robot systems is proposed.A state space model of the multi robot system is defined and constructed in which the system's initial and goal states are included along with the task definition and the system's internal and external constraints.Task accomplishment is considered a transition of the system state in its state space(SS)under the system's constraints.Therefore,if there exists a connectable path within reachable area of the SS from the initial state to the goal state,the task is realizable.The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS.Moreover,if there is no connectable path,which means the task cannot be performed successfully,the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system's SS.This might be done via adjusting the system's configuration and/or task constraints.Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.     

基于扩张状态观测器的航天器时延状态反馈控制

研究了刚性航天器的时延姿态稳定控制问题。首先建立了基于修正罗德里格斯参数(modified rodrigues parameters, MRPs)的航天器非线性状态模型,具有确定上界的时延项在状态反馈控制律中体现。通过构造Lyapunov Krasovskii 泛函进行稳定性分析,由此得到保证系统渐近稳定的线性矩阵不等式,依此设计状态反馈控制系数矩阵。考虑到航天器三轴间的耦合非线性项,利用扩张状态观测器(extended state observer, ESO) 方法,设计了二阶非线性扩张状态观测器,以获得航天器系统内部状态向量并用于状态反馈控制律。为便于工程实际应用,仿真中将MRPs响应输出转换为欧拉角响应,仿真结果表明,本文所设计的控制系统能保证航天器三轴姿态稳定。     

时延网络控制系统的区域极点配置设计

针对存在时变有界时延的网络控制系统,在一定假设条件下,基于分离原理讨论了状态观测器和状态反馈控制器的设计方法。状态观测器通过在开环预测和闭环预测间切换以补偿时延的影响,同时考虑时延的时变性以及回路中长时延的存在,闭环预测也是在多个模型间切换,从而将状态观测器建模成具有多个子系统的离散切换系统。在此基础上,利用预测状态作为控制器的输入,设计了具有圆盘区域极点约束的状态反馈控制器。最后以线性矩阵不等式可行解的方式分别给出了控制器和观测器的构造方法,仿真结果说明了所提出方法的有效性。     

基于非最小状态空间模型的控制器设计及仿真

针对传统的状态空间方法在引进状态观测器后系统比较复杂、鲁棒性差的特点,提出了一种非最小状态空间模型描述方法。这种形式中的所有状态变量都能直接测量,适合实际工程应用。在此基础上,结合线性二次型最优控制方法求出状态反馈增益,设计了控制器结构。最后,对控制系统进行了仿真,并与传统的PID控制器进行了比较,结果表明该算法可以很好地满足精度和动态特性要求,特别具有较强的抗干扰性和鲁棒性。     

非线性微分〖CDF*2〗代数系统的自适应状态观测器设计

针对非线性微分-代数系统,给出了可观性判据,提出了基于非线性微分-代数方程的自适应状态观测器设计方法。根据状态观测器工作点变化在线配置极点,获得合适的观测器的反馈增益阵,保证观测器在大范围内稳定工作。理论分析了存在模型误差时观测器的鲁棒性,证明如果模型稳态无差,观测器也是稳态无差的。以化工过程中的典型微分-代数系统为例,仿真结果证明了用该方法设计的观测器能够稳定收敛到状态真值,具有较好的动态性能。     

具有随机偏差的最优多段卡尔曼估值器

提出了具有随机偏差的最优多段卡尔曼估值器。针对状态模型与观测模型同时具有偏差且偏差模型噪声与状态模型噪声相关的情况 ,给出了具有随机偏差的状态方程的增广状态 ,并通过U V变换对卡尔曼估值器的协方差矩阵解耦得到了最优多段卡尔曼估值器。结果表明 ,多段卡尔曼估值器不仅是最优的 ,而且降低了计算的复杂度     

New coordination scheme for multi-robot systems based onstate space models

A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.     

基于两级采样的粒子滤波检测前跟踪算法

针对粒子滤波检测前跟踪算法中高维状态采样效率低的问题,提出了一种基于两级采样的粒子滤波检测前跟踪算法。根据状态向量中各分量对量测有无直接影响,把粒子的高维状态采样转换为两个序列低维采样,提高了粒子采样效率,进而可获得更高的检测概率和估计精度。仿真结果验证了算法的有效性。     

航空军械综合系统维护的半马尔可夫模型

以航空军械综合系统的多状态维护过程为研究对象,对其建立了半马尔可夫的数学模型。在系统维护的等待阶段,运用阶段以及交替阶段中运用该模型,得到了系统在各个不同状态的概率及有效性指数。这些结果对维护实践具有重要的指导意义。     

非线性关联大系统的鲁棒观测器研究

本文研究一类含有参数不确定性的非线性关联大系统的鲁棒状态观测器设计问题，设计了一种非线性鲁棒状态观测器，并证明了状态误差按指数渐近收敛到零。最后给出了一个数值算例，说明了本文的结论及鲁棒状态观测器的设计方法。     

基于状态机学习算法的TLS实现库安全性分析

通过状态机学习算法,可以提取传输层安全(transport layer security,TLS)协议的实现库状态机模型来分析其安全性。当前在状态机学习中需要解决状态机学习时间随目标系统状态数增长而呈指数级增长的问题。提出一种改进的状态机学习算法,通过TLS协议特定套接字约简所需测试序列;结合检查点算法构造测试序列的前缀树,简化目标系统对测试序列测试步骤。测试结果表明,提出的改进算法能够大幅减少状态机学习过程生成的等价查询数量,加速状态机学习过程。同时通过学习到的状态机模型,分析其异常状态,找到一个OpenSSl的逻辑错误,证明学习到的模型是有效的。     

同轨热备份GEO星座网络可靠性建模

地球同步轨道（GEO）通信卫星星座系统具有拓扑结构复杂、系统状态难以准确划分等特点.在分析包含三颗正常工作卫星和一颗同轨热备份卫星的GEO星座体系拓扑关系基础上,借助Markov过程对系统运行状态进行划分和聚合.依据Kolmogorov定理建立各聚合状态停留概率的微分方程组,通过Laplace变换及其逆变换进行星座网络可靠性指标的推导.分析备份星失效率变动时系统访问安全状态集、劣化状态集、警戒状态集和故障状态集共四类状态集的概率敏感性,为提高星座网络可靠性及制定备份策略提供定量支持.案例对某卫星通信公司设计的GEO星座体系的可靠性进行建模,对比了备份星在不同失效率下系统可靠度的变动.     

任意初始状态下迭代学习控制的频域分析

针对广义受控对象G(s) ,提出了一种迭代学习控制器在频域中设计的思想 ,给出了在任意初始状态下迭代学习控制算法收敛的充分条件 ,证明了经过逐次迭代后系统实际输出信号对期望输出信号的逼近特性 ,输出跟踪误差将一致有界 ,且与期望状态及期望输入无关。进一步讨论了反馈控制在迭代学习控制器中的作用。仿真结果表明了该算法的有效性。     

一种基于视频图像的挖掘机工作状态识别方法

为了实现违法用地现象的实时监测,对土地间的挖掘机等施工机械的工作状态识别是非常重要的.实际场景下,因随机噪声和光照变化的影响,给挖掘机工作状态识别带来极大的挑战.本文提出一种基于视频图像的挖掘机工作状态识别方法,首先,对同一品牌挖掘机工作装置的各种姿态建立混合local binary features (LBF)形状回归模型并进行离线训练;其次,利用上述模型预测输入视频帧中挖掘机工作装置的形状信息,构建挖掘机的工作状态特征描述子;最后,利用support vector machine (SVM)分类器自动判别挖掘机的工作状态—-工作状态或非工作状态.实验结果表明,该方法很好地克服了多姿态导致形状变化的影响,对挖掘机工作状态识别准确率达到了93.53%.     

Worst-Case Investment Strategy with Delay

This paper considers a worst-case investment optimization problem with delay for a fund manager who is in a crash-threatened financial market. Driven by existing of capital inflow/outflow related to history performance, we investigate the optimal investment strategies under the worst-case scenario and the stochastic control framework with delay. The financial market is assumed to be either in a normal state(crash-free) or in a crash state. In the normal state the prices of risky assets behave as geometric Brownian motion, and in the crash state the prices of risky assets suddenly drop by a certain relative amount, which induces to a dropping of the total wealth relative to that of crash-free state. We obtain the ordinary differential equations satisfied by the optimal investment strategies and the optimal value functions under the power and exponential utilities, respectively. Finally, a numerical simulation is provided to illustrate the sensitivity of the optimal strategies with respective to the model parameters.     

一类大型互联非线性时滞系统的鲁棒控制

对一类大型互联非线性不确定时滞系统进行了分散状态反馈控制设计。通过子系统状态的线性变换,得到分散状态反馈控制律。当状态反馈控制律作用于该系统时,闭环系统是全局一致渐近稳定的,且控制器的设计无需解任何的矩阵不等式,并给出仿真算例说明该结论的可行性和有效性。     

Weights Transferring Effect of State Variable Weight Vector

Via analyzing the weights transferring effect of state variable weight vector from viewpoint of weight varying rate, the law of weights transferring between factors and the mechanism of variable weight synthesis is revealed. Furthermore, considering the balance level of factor state vector, the general principle of how to select the appropriate state variable weight vector in decision making is discussed. Simultaneously, a method of determining the parameter of exponential-type state variable weight vector is given. Finally, an example is given to illustrate the developed approach.     

基于随机用户均衡的交通配流演化动态系统模型

首先提出一个刻画交通配流演化的动态系统模型.该模型描述了路径流量日复一日的动态调整过程,而且其稳定状态对应于Logit随机用户均衡状态.随后分析了该模型的几个特征,包括模型稳定状态与随机用户均衡状态的等价性、模型稳定点的唯一性和模型收敛性.所提出模型被刻画作一个离散的动态系统,且具有一般的形式,文中也给出了它的一个具体形式.最后,利用一个数值算例对该动态系统模型的应用及性质进行了说明.该研究有助于更好地理解路径流量日复一日的动态调整过程.