An optimal control strategy of winner-take-all(WTA)model is proposed for target tracking and cooperative competition of multi-UAVs(unmanned aerial vehicles).In this model,firstly,based on the artificial potential fiel...An optimal control strategy of winner-take-all(WTA)model is proposed for target tracking and cooperative competition of multi-UAVs(unmanned aerial vehicles).In this model,firstly,based on the artificial potential field method,the artificial potential field function is improved and the fuzzy control decision is designed to realize the trajectory tracking of dynamic targets.Secondly,according to the finite-time convergence high-order differentiator,a double closed-loop UAV speed tracking the controller is designed to realize the speed control and tracking of the target tracking trajectory.Numerical simulation results show that the designed speed tracking controller has the advantages of fast tracking,high precision,strong stability and avoiding chattering.Finally,a cooperative competition scheme of multiple UAVs based on WTA is designed to find the minimum control energy from multiple UAVs and realize the optimal control strategy.Theoretical analysis and numerical simulation results show that the model has the fast convergence,high control accuracy,strong stability and good robustness.展开更多
The collective formation control problem of a cluster of rotorcraft unmanned aerial vehicles(UAVs)is investigated in this article.The consensus tracking towards formation centroid with following UAVs forming a predefi...The collective formation control problem of a cluster of rotorcraft unmanned aerial vehicles(UAVs)is investigated in this article.The consensus tracking towards formation centroid with following UAVs forming a predefined configuration around the leader is considered as the objective.Unlike prior studies,the information of the central reference trajectory,which is deemed as a virtual leader in the leader-follower topology,is not directly accessible for partial nodes through the communication network.Therefore,a novel distributed formation tracking control scheme is promoted.Besides,a decentralized saturation observer is employed to estimate the reference acceleration signal of the virtual leader.In the absence of linear velocity measurement,two sliding manifolds are proposed by introducing the relative discrepancy terms of position and velocity.Then a smooth saturation operator in the form of a sigmoid function is applied to generate the command force input.Moreover,under the dilemma of constrained capabilities of the airborne sensors equipped on the rotorcrafts,the angular velocity is difficult to acquire.Two cascaded auxiliary attitude error systems are established on each rotorcraft system to synthesize the rotating torque with no need to require the angular velocity measurement.Due to the strong coupling and nonlinearity of the rotorcraft UAV system,the command angular velocity and the derivatives of command input are hard to obtain.Then a continuous nonlinear differentiator is proposed to work with the difficulties in deriving the explicit expression of system derivatives.Thereafter,a detailed stability analysis is conducted progressively on the angular control loop,reference trajectory observer loop,and the position control loop.A simulation scheme for a cluster of four rotorcraft UAVs tracking sinusoidal trajectory are presented and the formation control results are proven advantageous in comparison with the control protocol in previous literature.展开更多
The prediction of protein coding regions in DNA sequences is an important problem in computational biology. It is observed that nucleotides in the protein coding regions or exons of a DNA sequence show period-3 proper...The prediction of protein coding regions in DNA sequences is an important problem in computational biology. It is observed that nucleotides in the protein coding regions or exons of a DNA sequence show period-3 property. Hence identification of the period-3 regions helps in predicting the gene locations within the billions long DNA sequence of eukaryotic cells. The period-3 property exhibited in exons of eukaryotic gene sequences enables signal processing based time-domain and frequency domain methods to predict these regions efficiently. Several approaches based on signal processing tools have, therefore, been applied to this problem, to predict these regions effectively. This paper describes novel and efficient comb filter-based techniques for the prediction of protein coding region based on the period-3 behavior of codon sequences. The proposed method is then validated on Burset/Guigo1996, HMR195 and KEGG standard datasets using various prediction measures. It is shown that cascaded differentiator comb (CDC) filter can be used for prediction of protein coding region with better prediction efficiency, and involves less computational complexity compared with the other signal processing techniques based on period-3 property.展开更多
基金This work was supported by the National Natural Science Foundation of China(71462018,71761018)the Science and Technology Program of Education Department of Jiangxi Province in China(GJJ171503).
文摘An optimal control strategy of winner-take-all(WTA)model is proposed for target tracking and cooperative competition of multi-UAVs(unmanned aerial vehicles).In this model,firstly,based on the artificial potential field method,the artificial potential field function is improved and the fuzzy control decision is designed to realize the trajectory tracking of dynamic targets.Secondly,according to the finite-time convergence high-order differentiator,a double closed-loop UAV speed tracking the controller is designed to realize the speed control and tracking of the target tracking trajectory.Numerical simulation results show that the designed speed tracking controller has the advantages of fast tracking,high precision,strong stability and avoiding chattering.Finally,a cooperative competition scheme of multiple UAVs based on WTA is designed to find the minimum control energy from multiple UAVs and realize the optimal control strategy.Theoretical analysis and numerical simulation results show that the model has the fast convergence,high control accuracy,strong stability and good robustness.
基金supported by the National Natural Science Foundation of China(Grant Nos.62350048 and U20B2071)。
文摘The collective formation control problem of a cluster of rotorcraft unmanned aerial vehicles(UAVs)is investigated in this article.The consensus tracking towards formation centroid with following UAVs forming a predefined configuration around the leader is considered as the objective.Unlike prior studies,the information of the central reference trajectory,which is deemed as a virtual leader in the leader-follower topology,is not directly accessible for partial nodes through the communication network.Therefore,a novel distributed formation tracking control scheme is promoted.Besides,a decentralized saturation observer is employed to estimate the reference acceleration signal of the virtual leader.In the absence of linear velocity measurement,two sliding manifolds are proposed by introducing the relative discrepancy terms of position and velocity.Then a smooth saturation operator in the form of a sigmoid function is applied to generate the command force input.Moreover,under the dilemma of constrained capabilities of the airborne sensors equipped on the rotorcrafts,the angular velocity is difficult to acquire.Two cascaded auxiliary attitude error systems are established on each rotorcraft system to synthesize the rotating torque with no need to require the angular velocity measurement.Due to the strong coupling and nonlinearity of the rotorcraft UAV system,the command angular velocity and the derivatives of command input are hard to obtain.Then a continuous nonlinear differentiator is proposed to work with the difficulties in deriving the explicit expression of system derivatives.Thereafter,a detailed stability analysis is conducted progressively on the angular control loop,reference trajectory observer loop,and the position control loop.A simulation scheme for a cluster of four rotorcraft UAVs tracking sinusoidal trajectory are presented and the formation control results are proven advantageous in comparison with the control protocol in previous literature.
文摘The prediction of protein coding regions in DNA sequences is an important problem in computational biology. It is observed that nucleotides in the protein coding regions or exons of a DNA sequence show period-3 property. Hence identification of the period-3 regions helps in predicting the gene locations within the billions long DNA sequence of eukaryotic cells. The period-3 property exhibited in exons of eukaryotic gene sequences enables signal processing based time-domain and frequency domain methods to predict these regions efficiently. Several approaches based on signal processing tools have, therefore, been applied to this problem, to predict these regions effectively. This paper describes novel and efficient comb filter-based techniques for the prediction of protein coding region based on the period-3 behavior of codon sequences. The proposed method is then validated on Burset/Guigo1996, HMR195 and KEGG standard datasets using various prediction measures. It is shown that cascaded differentiator comb (CDC) filter can be used for prediction of protein coding region with better prediction efficiency, and involves less computational complexity compared with the other signal processing techniques based on period-3 property.
