Near-Space Wide-Swath Radar Imaging With Multiaperture Antenna

Near-space, defined as the altitude region between 20 and 100 km, offers many capabilities that are not accessible for low Earth-orbit (LEO) satellites or airplanes because it is above storm and not constrained by orbital mechanics and high fuel consumption. Hence, a high flying speed can be obtained for the maneuvering vehicles operating in near-space. This offers a promising solution to simultaneous high-resolution and wide-swath synthetic aperture radar (SAR) imaging. As such, one near-space wide-swath SAR imaging technique is presented in this letter. The system configuration, signal model, and imaging scheme are described. An example near-space SAR system is designed, and its imaging performance is analyzed. Simulation results show that near-space maneuvering vehicle SAR indeed seems to be a promising solution to wide-swath SAR imaging.

On the nonlinear integral transform of an ocean wave spectrum into an along-track interferometric synthetic aperture radar image spectrum

We present a new nonlinear integral transform relating the ocean wave spectrum to the along-track interferometric synthetic aperture radar (AT-INSAR) image spectrum. The AT-INSAR, which is a synthetic aperture radar (SAR) employing two antennas displaced along the platform's flight direction, is considered to be a better instrument for imaging ocean waves than the SAR. This is because the AT-INSAR yields the phase spectrum and not only the amplitude spectrum as with the conventional SAR. While the SAR and AT-INSAR amplitude spectra depend strongly on the modulation of the normalized radar cross section (NRCS) by the long ocean waves, which is poorly known, the phase spectrum depends only weakly on this modulation. By measuring the phase difference between the signals received by both antennas, AT-INSAR measures the radial component of the orbital velocity associated with the ocean waves, which is related to the ocean wave height field by a well-known transfer function. The nonlinear integral transform derived in this paper differs from the one previously derived by Bao et al. [1999] by an additional term containing the derivative of the radial component of the orbital velocity associated with the long ocean waves. By carrying out numerical simulations, we show that, in general, this additional term cannot be neglected. Furthermore, we present two new quasi-linear approximations to the nonlinear integral transform relating the ocean wave spectrum to the AT-INSAR phase spectrum.

移动机器人数学模型近似线性化及反馈镇定

研究了非线性控制理论中的近似线性化方法在移动机器人控制上的应用问题。针对机器人控制领域中多输入多输出(MIMO)仿射非线性系统,研究了一种基于平衡流形的近似线性化算法,并用此算法解决了一类完整约束正交轮式全方位移动机器人(WMR)的镇定问题。仿真分析表明,此方法不仅能够实现系统的镇定,而且降低了因平衡工作点变动给系统稳定性带来的影响,同时也大大地简化了对非线性系统的综合设计过程,具有良好的控制效果和实用性。

基于LMI全方位移动机器人H_∞鲁棒控制

针对机器人控制领域中一类多输入多输出(MIMO)高阶线性时不变系统,根据模型自身的结构特点,给出了基于线性矩阵不等式(LMI)的通过局部反馈H∞控制实现整个系统对不确定扰动具有鲁棒性的充分条件及相关推论,并在此基础上提出了一种解决该类型系统H∞控制问题的新算法。通过对一完整约束移动机器人系统的局部输出反馈H∞控制仿真,说明了此算法具有良好的控制效果和实用性。

移动机器人数学模型的近似线性化

针对机器人控制领域中一类多输入多输出(MIMO)仿射非线性系统,提出了一种基于平衡流形的近似线性化状态反馈镇定算法,并用此算法解决了一类完整约束轮式移动机器人(WMR)的镇定问题.仿真分析表明,此方法不仅能够实现系统的镇定,而且降低了因平衡工作点变动给系统稳定性带来的影响,同时也大大地简化了对非线性系统的综合设计过程,具有良好的控制效果和实用性.

一类载人潜水器的改进LQG控制研究

针对一类载人潜水器(MSV,MannedSubmersibleVehicle)在动力定位中多自由度之间存在的强耦合、非线性,以及系统参数的时变特性,文章采用带遗忘因子的递推最小二乘法和平方根法对系统参数进行辨识,然后在状态空间进行多输入多输出(MIMO)线性系统的最优控制研究。仿真结果表明,该两种改进LQG控制方法对于外界扰动以及系统的参数时变具有良好的控制效果,控制精度得到提高,为实际载人潜水器控制系统的多自由度动力定位控制提供了坚实的依据。

基于FNN's-I型多变量系统的模糊神经网络自适应控制

基于多变量T-S模型，根据文[l]中的FNN's-I型模糊神经网络结构，针对多输入多输出(MIMO)受控对象，提出了实用的多变量控制结构和算法，该方法在较少的先验知识的情况下能在线自学习有关模糊神经网络控制器的参数。最后将该控制方法应用于一实例仿真实验中，结果表明该方法是可行的、有效的。