Recent advances on recursive filtering and sliding mode design for networked nonlinear stochastic systems: A survey

Copyright © 2013 Jun Hu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Some recent advances on the recursive filtering and sliding mode design problems for nonlinear stochastic systems with network-induced phenomena are surveyed. The network-induced phenomena under consideration mainly include missing measurements, fading measurements, signal quantization, probabilistic sensor delays, sensor saturations, randomly occurring nonlinearities, and randomly occurring uncertainties. With respect to these network-induced phenomena, the developments on filtering and sliding mode design problems are systematically reviewed. In particular, concerning the network-induced phenomena, some recent results on the recursive filtering for time-varying nonlinear stochastic systems and sliding mode design for time-invariant nonlinear stochastic systems are given, respectively. Finally, conclusions are proposed and some potential future research works are pointed out.This work was supported in part by the National Natural Science Foundation of China under Grant nos. 61134009, 61329301, 61333012, 61374127 and 11301118, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant no. GR/S27658/01, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

Underwater Robots Part I: Current Systems and Problem Pose

International audienceThis paper constitutes the first part of a general overview of underwater robotics. The second part is titled: Underwater Robots Part II: existing solutions and open issues

MIT Space Engineering Research Center

The Space Engineering Research Center (SERC) at MIT, started in Jul. 1988, has completed two years of research. The Center is approaching the operational phase of its first testbed, is midway through the construction of a second testbed, and is in the design phase of a third. We presently have seven participating faculty, four participating staff members, ten graduate students, and numerous undergraduates. This report reviews the testbed programs, individual graduate research, other SERC activities not funded by the Center, interaction with non-MIT organizations, and SERC milestones. Published papers made possible by SERC funding are included at the end of the report

Collaborative tracking and positioning of unmanned aerial vehicles over wireless sensor networks

This is the author accepted manuscript. The final version is available from IEEE via the DOI in this record In recent years, wireless sensor networks have been widely applied in information acquisition and real-time monitoring of consumer electronics, particularly for tracking and positioning of consumer unmanned aerial vehicles (UAVs) in outdoor rescue scenarios. However, the challenging outdoor environments introduce reliability and security concerns in the sensor data acquisition process, and there remains a significant gap in related research efforts. To address this issue, this paper introduces an amplify-and-forward relaying strategy to ensure dependable signal transmission, while a residual saturation mechanism is applied to tackle randomly occurring measurement outliers. Additionally, a recursive extended Kalman filter is developed for target tracking to address the challenge of UAVs positioning within wireless sensor networks. The efficacy of the proposed filtering algorithm is validated through simulations of UAV target positioning. When compared with alternative methods, the proposed approach demonstrates superior accuracy in UAV positioning.National Natural Science Foundation of Chin

Formation Control Algorithms for Multi-UAV Systems with Unstable Topologies and Hybrid Delays

Multi-UAV systems rely on the communication network to exchange mission-critical data for their coordination and deployment, while communication delays could cause significant challenges to both tasks. The impact of the delays becomes even more severe if the delay, network structure and formation are all time-varying, a common challenge faced by real-world multiUAV systems. To address this challenge, we consider time-varying delays that exist in multiple channels caused by transmitting information and internal delays that exist in UAVs themselves caused by obtaining and processing their own data. We design an effective distributed formation control protocol for a multiUAV system to achieve time-varying formation; this protocol is particularly useful for dealing with time-varying multi-UAV network topologies as well. We provide rigorous convergence analysis for different scenarios with or without hybrid delays and obtain sufficient conditions for achieving the time-varying formation. Furthermore, we propose an algorithm for quantifying the maximum delay allowed by the system. Based on the designed formation algorithm, a deployment strategy is proposed to coordinate multi-UAV systems in a practical environment. Numerical analysis and UAV hardware experiments are conducted to evaluate the performance of the theoretical results and investigate the feasibility of generated flight trajectories