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	Trajectory tracking control of a quad-rotor UAV based on command filtered backstepping (EI CONFERENCE) 会议论文 OAI收割 2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012, July 15, 2012 - July 17, 2012, Dalian, China Gong X.; Bai Y.; Peng C.; Zhao C.; Tian Y. 收藏 \| 浏览/下载：30/0 \| 提交时间：2013/03/25 A quad-rotor unmanned aerial vehicle is an under-actuated strong coupled nonlinear system with parameters uncertainty and unknown external aerodynamic disturbance. The trajectory tracking control system with a nested double-loops structure is designed in this paper according to the coupling characteristic between the attitude angles and translational position. A PD control algorithm is proposed in the translational outer-loop to export the desired attitude signals to the attitude inner-loop. An adaptive backstepping control algorithm is designed in the inner-loop with respect to the uncertain rotational inertia and un-modeled disturbance while in order to reduce the computational complexity the command filtered approach is introduced into the designing procedure. And finally the numerical simulation results are presented for the trajectory tracking stabilization of a Quad-rotor which demonstrates the excellent performance of the proposed control system and illustrate its robustness in face of disturbance and uncertain parameters. 2012 IEEE.
	Analysis of zenith pass problem in a roll-pitch optics seeker (EI CONFERENCE) 会议论文 OAI收割 2011 International Conference on Electronics and Optoelectronics, ICEOE 2011, July 29, 2011 - July 31, 2011, Dalian, China 作者: Jiang H. 收藏 \| 浏览/下载：29/0 \| 提交时间：2013/03/25 There are mainly two kind of structures for a missile two-axes seeker which is always mentioned as elevate-azimuth and roll-pitch. The elevate-azimuth structured seeker has been studied for a long time and it is applied in all sort of missiles. Not only structure design but also control algorithm of the elevate-azimuth seeker are deeply developed. But for elevate-azimuth seeker there are several disadvantages such as big size and large abaxial angle blind. So the elevate-azimuth seeker gimbal angle is designed up to 65 according to relative references. In modern air war it is important for a missile to have the ability of "first recognize" and "first attack". That means the air to air missile seeker is required to be a system with large gimbal angle and large abaxial launch angle. With the mentioned requirement roll-pitch seeker with its advantages smart size and large gimbal angle is studied widely and deeply. The pitch angle of roll-pitch is up to 90 while its roll angle up to n 360. But there are also some disadvantages for the roll-pitch seeker the most troublesome one is the zenith pass problem. The zenith pass problem is brought about from the gimbal kinematics it is said that when target moves in the center of image plane roll servo command gotten from the kinematics algorithm will go to infinite. Math model of zenith pass problem is proposed in this paper and two ways to solve the problem are brought forward. 2011 IEEE.
	Dynamic closed-loop test for real-time drift angle adjustment of space camera on the Earth (EI CONFERENCE) 会议论文 OAI收割 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Optical Test and Measurement Technology and Equipment, April 26, 2010 - April 29, 2010, Dalian, China 作者: Xu S.; Wang D. 收藏 \| 浏览/下载：35/0 \| 提交时间：2013/03/25 In order to eliminate the influence of aircraft attitude angle to the image quality of space camera and assure that the drift angle of space camera could be accurately adjusted at the orbit a novel closed-loop test method is provided for real-time drift angle adjustment of space camera on the Earth. A long focal length dynamic aim generator is applied to simulate the image motion and the variety drift angle and to detect the precision of the image motion compensation machinery and the capability of the drift angle control system. The computer system is used to control the dynamic aim generator accomplish the data processing transmit and receive the data information. The seamless connection and the data transmission between the aim generator and the aircraft simulation devices are constituted. The command parameter and drift angle data transmitted by the simulation devices are received by the space camera at the real time then the photos are taken and the draft angle is adjusted simultaneously. It is shown that the drift angle can be accurately tracked by the space camera at the real time and the detective method satisfies the test requirement. 2010 Copyright SPIE - The International Society for Optical Engineering.
	Research of automatic test technology of parameters used in a dual-CCD TV measure-system (EI CONFERENCE) 会议论文 OAI收割 2nd International Symposium on Advanced Optical Manufacturing and Testing Technologies: Optical Test and Measurement Technology and Equipment, November 2, 2005 - November 5, 2005, Zian, China 作者: Wang L.; Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：20/0 \| 提交时间：2013/03/25 This paper describes a kind of automatic test technology of the parameters used in a dual-CCD TV measure-system (TV -MS) .The TV -MS is the ground control equipment of the anti-tank missile and integrates the technologies of optical machine and electronics. It is important and key component. The main technical parameters of the TV -MS are field of view zero point precision sensitivity anti-jamming ability zooming time and focus time etc. To insure the TV -MS satisfying the tactical and technical requirements and discover fault and reason a fast and accurate equipment satisfying the test technical parameters of the TV -MS is urgently needed in manufacture and service. Firstly the parameter test system converted optical signal to electronic signal implemented automatic control of the invariant illumination of parallel pipeline output. Secondly data and command delivering displaying or printing are realized by using 80C196KB. The experiment result shows that the approach of automatic testing of the Parameters used in a dual-CCD TV -MS is successful and it can be used for all tests of the functions and parameters of the TV -MS. The main innovations are to realize the fast veracious measure of technical parameters of the dual-CCD TV-MS and integrate the technologies of optics machineries and electronics. An advanced means is provided to judge the technical states find malfunctions and discover the reasons in producing and maintaining process. The equipment suited for anti-tank missile systems is given.
	指挥控制系统中若干问题的理论方法研究学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院自动化研究所, 1999 作者: 胡绍勇收藏 \| 浏览/下载：54/0 \| 提交时间：2015/09/02 指挥控制系统数学建模威胁判断武器目标分配解命中二值神经网络模糊运算遗传算法武器系统总体设计实例推理 Command and Control System Math Model Threat Judgement. Weapontarget Assignment Hit Solving Two-state Neural Networks Fuzzy