Zhang Ren's research while affiliated with Beihang University (BUAA) and other places

Publications (399)

Article
This paper studies the distributed time-varying output formation tracking problem for heterogeneous multi-agent systems with both diverse dimensions and parameters. The output of each follower is supposed to track that of the virtual leader while accomplishing a time-varying formation configuration. First, a distributed trajectory generator is prop...
Article
A distributed cyber‐security and fault tolerance formation problem is considered in this paper. This is done though a multi‐agent system in which all agents concentrate on a formation reference function and accomplish a desired time‐varying formation even in the presence of malicious attacks and multiple faults. To achieve the resilient control tas...
Chapter
This paper constructed a collaborative combat effectiveness evaluation system with considering the characteristics and limitations of the vehicles. Firstly, multiple hypersonic vehicles formation problem is converted to an optimization problem based on the collaborative combat effectiveness evaluation system. Secondly, the relative distance and ang...
Chapter
This paper investigates the distributed convex time-varying optimization issue for multi-agent systems described by second-order with local disturbances produced by exosystems. Assuming each agent possessing a local cost function, the objective of this paper is to realize zero optimal tracking error considering the influences of extra disturbances...
Chapter
An improved auction algorithm named compensation auction algorithm (CAA) is proposed for the air-to-air confrontation problem in attack scenarios. First, in order to represent the conflict in assignment, a damage benefit function is established according to the guidance rules. Secondly, a multi-constraint dynamic model of multi-weapon attacking mul...
Chapter
In the scenario that multiple missiles intercept one active defense target with multiple defenders. The missiles aim to finish the tasks that intercept the target from different directions to achieve saturation and evade from the defenders at the same time and each defender aim at different missile. Different from the existing results, multiple def...
Article
In this paper, Nash equilibrium seeking problems for N-coalition noncooperative games played by double-integrator agents are investigated, where feedback controllers are designed to steer the physical processes to a generalized Nash equilibrium (GNE). Each coalition can be considered as a virtual player in an N-player game that tries to minimize it...
Article
Cooperative guidance issues with impact time consensus against a maneuvering target are considered in this paper. Different from the existing achievements, the expected impact time does not need to be predesigned, which is coordinated by multiple missiles using the neighboring information. First, the impact time consensus command is generated by us...
Chapter
In this paper, we propose an algorithm that estimate 3D relative pose transformation based on range measurements between robots and pose estimates produced by VI-SLAM system. Specifically, we prove that 5 range measurements is needed at least to estimate 4 degrees-of-freedom relative pose transformation for nonsingular configurations. Additionally,...
Chapter
Cooperative guidance of multiple missiles against a non-cooperative target with angle constraint and time constraint is investigated. Firstly, guidance model is constructed from guidance kinematics. Secondly, an exponentially convergent state observer and an extended-state-observer (ESO) are designed respectively to estimate unknown target informat...
Chapter
This paper presents a novel robust cooperative guidance law against high-maneuvering target based on state information obtained from networked distributed estimation. To attack the target accurately, a distributed state estimation algorithm is proposed by two steps: local filter and interaction fusion. During the interaction fusion step, the accura...
Chapter
In UAV path planning tasks, classical algorithms can only solve the tasks where environment is knowable and can be changed into mathematical model. For the tasks with unknown environment information is difficult to solve. However, such tasks can be easily solved by human. In this paper, we first bulid a UAV path planning environment and train the a...
Article
The finite-time output time-varying formation tracking (TVFT) problem for heterogeneous nonlinear multiagent system (MAS) is investigated in this article, where the dynamics of the agents can be nonidentical, and leader’s input is unknown. The target of this article is that the outputs of followers need to track leader’s output and realize the desi...
Article
This paper investigates the robust $H_{\infty }$ fault-tolerant output time-varying formation tracking (TVFT) problem for heterogeneous nonlinear multi-agent system, whose object is that the outputs of followers need to track leader's output and achieve the desired formation under the influences of actuator faults and external disturbances. In or...
Chapter
This paper proposes a hierarchical distributed formation tracking controller for continuous multi-agent systems (MASs). Firstly, a zero-sum game-based regulation controller is designed according to a min-max game cost function with respect to the control-player and a disturbance-player using reinforcement learning (RL). The H∞ robust property again...
Chapter
This paper combines the artificial intelligence algorithm with the modeling and simulation for variable pitch systems of wind turbine, and proposes a fault prediction using the artificial neural network technique of multi-layer perceptron. The operating principle of the variable pitch system is analyzed by building the dynamic model, and the fault...
Chapter
In the multi-sensor multi-target tracking (MSMTT) problem, the matching of the measurements and the targets will generate a huge computational burden, resulting in an unsatisfactory real-time performance of the maneuvering targets tracking. In order to reduce the computational burden, this paper proposes a self-organizing feature map (SOM) neural n...
Article
In this article, time-varying group formation (TVGF) tracking problems for general linear multiagent systems (GLMASs) with switching interaction topologies are investigated. Different from previous studies, a novel TVGF tracking approach is proposed, where all agents are divided into three types: the virtual leader, the group leader, and the follow...
Article
This article studies the distributed formation optimal tracking problems for Euler–Lagrange systems, where each agent only has access to local cost function and other relative state information with its neighbors. Different from existing works, the effects of time-varying formation, parametric uncertainties, external disturbances and optimal perfor...
Article
To address the data security issue of distributed state estimation, this paper proposes a novel consensus-based cubature information filtering algorithm for sensitive nonlinear target tracking under restricted communication. Through a privacy-preserving approach via state decomposition, the algorithm can protect the privacy of local information fro...
Article
This paper studies the distributed output-feedback consensus tracking problem for nonlinear multi-agent systems (MASs) subject to dynamic output constraints and input saturation. Firstly, a neural-network (NN) based high gain observer is designed to provide estimation for unmeasured state of each agent. To address the dynamic output constraints pro...
Article
This article investigates the practical time-varying output formation tracking (TVOFT) problem for heterogeneous nonlinear multiagent systems (MASs) having multiple leaders, where agents herein could have heterogeneous dynamics and interact with each other under event-triggered communications. It is required that the outputs of followers not only t...
Article
Full-text available
This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader’s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader’s position and...
Chapter
In this paper, the resilient time-varying formation control for second-order discrete-time multi-agent systems (DMASs) under communication link attacks and actuator faults is investigated. The number or proportion of edge attacks around each agent, including deception attacks and denial-of-service (DOS) attacks, is bounded. A discrete-time distribu...
Chapter
The cooperative guidance issues for multiple missiles against a maneuvering target with collision avoidance and obstacle dodging mechanism are considered. Firstly, a fully head-on guidance law is designed by using backstepping control and trajectory shaping techniques, which provides a great reference trajectory for the leader missile. Secondly, ba...
Article
This paper studies the multi-agent differential game based problem and its application to cooperative synchronization control. A systematized formulation and analysis method for the multi-agent differential game is proposed and a data-driven methodology based on the reinforcement learning (RL) technique is given. First, it is pointed out that typic...
Article
Nash equilibrium seeking problems for $N$ -coalition noncooperative games are studied in this paper, where the players in the game possess second-order fully-actuated dynamics with disturbances and uncertainties. The players in one coalition focus on the minimization of the coalition cost instead of individual costs. Moreover, only measurements o...
Chapter
This literature investigate the dynamic formation tracking problem of multiple Lagrange systems with linear nonautonomous leader over directed topology. In order to estimate the leader system, a distributed control scheme is proposed firstly by constructing adaptive distributed observer. Secondly, this paper design a nonlinear function to decrease...
Article
The practical output containment problem for heterogeneous nonlinear multiagent systems under external disturbances generated by an exosystem is investigated in this article. It is required that the outputs of followers converge to the predefined convex combination of leaders' outputs. One of the major challenges in solving such a problem lies in d...
Article
The adaptive practical optimal time-varying formation tracking problems of the disturbed high-order multi-agent systems with a noncooperative leader are considered. Different from the former achievements, the effects of the leader’s unknown control input and followers’ external disturbances are both considered in the optimal time-varying formation...
Article
This paper investigates the time-varying output formation tracking problem of heterogeneous multi-agent systems subjected to model uncertainties and external disturbances via adaptive event-triggered mechanism. Firstly, an adaptive distributed event-triggered observer is constructed to acquire the leader’s state and a time-varying formation output...
Conference Paper
Full-text available
Augmented reality (AR) technology has been introduced into the robotics field to narrow the visual gap between indoor and outdoor environments. However, without signals from satellite navigation systems, flight experiments in these indoor AR scenarios need other accurate localization approaches. This work proposes a real-time centimeter-level indoo...
Preprint
Full-text available
The penetration trajectory optimization problem for the hypersonic gliding vehicle (HGV) encountering two interceptors is investigated. The HGV penetration trajectory optimization problem considering the terminal target area is formulated as a nonconvex optimal control problem. The nonconvex optimal control problem is transformed into a second-orde...
Article
Aiming at intercepting large maneuvering targets precisely, the guidance law of advanced self-seeking missiles requires not only inertial line-of-sight (LOS) angular rate but also target maneuvering acceleration. Moreover, the semi-strapdown stabilization platform has lost the ability to measure the inertial LOS angular rate directly, which needs t...
Article
Task coupling based layered cooperative guidance design and analysis issues for multiple missiles system are investigated. First, to deal with cooperative guidance problems with multiple task requirements, a task coupling based layered cooperative guidance structure is constructed by the leader layer and the follower layer. Then, for the leader mis...
Article
Full-text available
A new distributed leaderless cooperative guidance algorithm is suggested for multi-directional saturation strikes against maneuvering targets. First, the finite-time disturbance observer (FDO) is used to estimate the target’s unknown maneuvers. After that, the guidance laws along the line-of-sight (LOS) direction and the LOS normal direction are de...
Preprint
Full-text available
Augmented reality (AR) technology has been introduced into the robotics field to narrow the visual gap between indoor and outdoor environments. However, without signals from satellite navigation systems, flight experiments in these indoor AR scenarios need other accurate localization approaches. This work proposes a real-time centimeter-level indoo...
Article
The distributed formation tracking control problem with multiple leaders under actuator faults and constraints is investigated in this article. All followers in the multiagent system should achieve a desired time-varying formation and track the convex combination of multiple leaders. To accomplish the control task, an active reconfigurable control...
Article
Full-text available
The penetration trajectory optimization problem for the hypersonic gliding vehicle (HGV) encountering two interceptors is investigated. The HGV penetration trajectory optimization problem considering the terminal target area is formulated as a nonconvex optimal control problem. The nonconvex optimal control problem is transformed into a second-orde...
Article
Time-varying group formation tracking problems for general linear multi-agent systems with unknown control input and switching topologies are studied. There are two kinds of agents, leaders and followers. Leaders with unknown control input can generate unpredictable and maneuverable trajectories. Followers accomplish macroscopic moving guided by si...
Article
Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader’s unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It’s proved by Lyapunov stability the...
Article
In this brief, the time-varying output formation tracking (TVOFT) problem for directed multi-agent systems is studied, where the leader has unknown input and each follower has nonidentical dynamics. The main object of this brief is to construct fully distributed controller so that the outputs of followers track the leader’s output and realize the e...
Chapter
In large-scale activities or performances, the formation of unmanned vehicles on the large platform has become a shocking means of artistic expression. How to achieve low-cost and reliable cooperative control and highly reliable formation in a limited observation area with viewing Angle constraints is a very valuable area of research. This paper pu...
Article
This article investigates a fully data-driven method to solve the robust output formation tracking control problem for the multiagent system (MAS) under actuator faults. The outputs of the followers are controlled to track those of multiple leaders with respect to a convex point while achieving an expected time-varying formation. To obviate the req...
Article
Full-text available
This paper focuses on the time-varying output formation (TVOF) tracking control of heterogeneous linear multi-agent systems (HL-MASs) with both delays and switching topologies, where the followers’ outputs can move along the reference trajectory generated by the leaders and maintain the desired time-varying formation. First, a distributed observer...
Article
This paper proposes a sensor network information fusion based distributed state estimation algorithm for tracking non-cooperative maneuvering target. In order to lower the communication burden and energy consumption, an event-triggered mechanism is introduced. The distributed state estimation algorithm for maneuvering target tracking is designed by...
Article
This paper is concerned with a scenario of multiple attackers trying to intercept a target with active defense. Three types of agents are considered in the guidance: The multiple attackers, the target and the defender, where the attackers aim to pursuit the target from different directions and evade from the defender simultaneously. The guidance en...
Article
Full-text available
Abstract This paper concerns the problem of formation‐containment control for general‐linear multi‐agent systems (MASs) with both communication delays and switching interaction topologies. On the one hand, the leaders can communicate with each other to form the desired formation and on the other, the followers need to enter the convex envelope span...
Article
Distributed adaptive cooperative time-varying formation tracking guidance problems of multiple aerial vehicles system against a maneuvering target are investigated. Different from the former results, the proposed cooperative guidance strategies are based on distributed time-varying formation tracking theories. Firstly, the leader aerial vehicle is...
Article
Predefined finite-time output containment control problem for nonlinear multi-agent systems with multiple dynamical leaders under directed topology is investigated, where the outputs of followers can converge to the predefined convex hull formed by the multiple leaders within a finite time, and the leaders can have unknown control inputs. Firstly,...
Article
With the rapid development of swarm intelligence, the consensus of multiagent systems (MASs) has attracted substantial attention due to its broad range of applications in the practical world. Inspired by the considerable gap between control theory and engineering practices, this article is aimed at addressing the mean square consensus problems for...
Article
Adaptive formation tracking problems for swarm systems with multiple leaders and switching topologies are studied in this paper. It is required that the followers form time-varying formations and track the positions of the leaders simultaneously, where the bio-inspired adaptive formation tracking control method is originated from the grey wolves wi...
Article
Time-varying group formation-containment tracking problems for general linear multiagent systems with unknown control input are investigated. Agents are classified into tracking leaders, formation leaders, and followers and assigned in groups. Tracking leaders with unknown control inputs provide unpredictable trajectories as macroscopic moving refe...
Article
This paper investigates the distributed time-varying formation (TVF) problems for general linear multi-agent systems (MASs) subject to matched bounded uncertainties based on an adaptive event-triggered mechanism. A TVF protocol was designed with an event-triggered mechanism by introducing adaptive weights into the formation control protocol and tri...
Article
The problem of distributed fusion and random observation loss for mobile sensor networks is investigated herein. In view of the fact that the measured values, sampling frequency and noise of various sensors are different, the observation model of a heterogeneous network is constructed. A binary random variable is introduced to describe the drop of...
Article
Robust multi-agent differential games and its application to cooperative guidance are investigated in this paper. The multi-agent system is modeled by general linear dynamics with norm-bound parameter uncertainties. The players in the game are divided into two teams. One team consists of a leader, and the other team consists of a fixed number of fo...
Article
Time-varying formation tracking control problems for the multi-UAV system are investigated in this paper, where a leader with dynamic input is considered. Based on the sliding mode control theory, continuous-time and discrete-time distributed formation tracking protocols are proposed by utilizing the neighboring relative information. Using Lyapunov...
Article
Full-text available
Cooperative interception of the target with strong maneuverability by multiple missiles with weak maneuverability in the three-dimensional nonlinear model is studied. Firstly, the three-dimensional nonlinear model of cooperative guidance is established. The three-dimensional reachable region is represented composed of lateral acceleration and longi...