陆用运动体控制系统发展现状与趋势

孙健; 邓方; 陈杰

doi:10.16383/j.aas.2018.c180600

陆用运动体控制系统发展现状与趋势

doi: 10.16383/j.aas.2018.c180600

孙健^1,2, ,,
邓方^1,2,,
陈杰^1,2,3,

1.
北京理工大学自动化学院北京 100081
2.
北京理工大学复杂系统智能控制与决策国家重点实验室北京 100081
3.
同济大学上海 201804

基金项目:

国家自然科学基金 61621063

长江学者创新团队 IRT1208

国家自然科学基金 61720106011

国家自然科学基金 61522303

详细信息

作者简介:
邓方北京理工大学自动化学院教授.2004年和2009年分别获得北京理工大学控制科学与工程专业学士学位和博士学位.主要研究方向为非线性系统辨识, 故障诊断.E-mail:dengfang@bit.edu.cn

陈杰中国工程院院士, 同济大学教授, 北京理工大学自动化学院教授.1986年、1996年和2001年分别获得北京理工大学控制理论与应用专业学士学位、硕士学位和博士学位.主要研究方向为复杂系统智能控制与优化, 多智能体协同控制.E-mail:chenjie@bit.edu.cn

通讯作者:
孙健北京理工大学教授.2001年于吉林工学院获得电气工程及其自动化专业学士学位, 2004年于中国科学院长春光学精密机械与物理研究所获得机械电子工程专业硕士学位, 2007年于中国科学院自动化研究所获得控制理论与控制工程专业博士学位.主要研究方向为网络化控制系统, 信息物理融合系统安全性, 多智能体系统.本文通信作者.E-mail:sunjian@bit.edu.cn

计量
- 文章访问数: 1645
- HTML全文浏览量: 455
- PDF下载量: 1078
- 被引次数: 0
出版历程
- 收稿日期: 2018-09-06
- 录用日期: 2018-10-11
- 刊出日期: 2018-11-20

Control System of Ground-based Moving Platforms: State of the Art and Future Trends

SUN Jian^{1,2
, ,},
DENG Fang^{1,2
,},
CHEN Jie^{1,2,3
,}

1.
School of Automation, Beijing Institute of Technology, Beijing 100081
2.
Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing 100081
3.
Tongji University, Shanghai 201804

Funds:

National Natural Science Foundation of China 61621063

Program for Changjiang Scholars and Innovative Research Team in University IRT1208

National Natural Science Foundation of China 61720106011

National Natural Science Foundation of China 61522303

More Information

Author Bio:
Professor at the School of Automation, Beijing Institute of Technology. He received his bachelor and Ph. D. degrees in control science and engineering from Beijing Institute of Technology in 2004 and 2009, respectively. His research interest covers nonlinear system identification and fault diagnosis

Academician of Chinese Academy of Engineering, Professor at Tongji University and School of Automation, Beijing Institute of Technology. He received his bachelor, master, and Ph. D. degrees in control science and application from Beijing Institute of Technology in 1986, 1996, and 2001, respectively. His research interest covers intelligent control and optimization of complex systems, an multi-agent cooperative control

Corresponding author: SUN Jian Professor at Beijing Institute of Technology. He received his bachelor degree from Jilin Institute of Technology in 2001, master degree from Changchun Institute of Optics, Fine Mechanics, and Physics, Chinese Academy of Sciences in 2004, Ph. D. degree from Institute of Automation, Chinese Academy of Sciences in 2007. His research interest covers networked control systems, security of cyber-physical-systems, and multi-agent systems. Corresponding author of this paper

摘要

摘要: 在高技术战争的背景下，陆用运动体控制系统呈现出数字化、智能化、网络化、无人化的发展趋势.面向未来作战需求，陆用运动体控制系统必须更加高效、可靠、自主与智能.本文针对陆用运动体控制系统的环境与态势感知，火力指挥与控制，多平台协同以及维修保障与健康管理对当前主要研究成果和最新进展做了简要综述.在总结国内外的现有研究成果的基础上，指出了目前存在的挑战与未来的研究方向.
- 陆用运动体 /
- 态势感知 /
- 火力指挥与控制 /
- 协同控制 /
- 健康管理
Abstract: Under the background of high-tech war, ground-based moving platforms present a trend of digitalization, intelligence, networking and unmanned. Facing the requirements of the wars in future, ground-based moving platforms are required to be more efficient, reliable, autonomous and intelligent. This paper concentrates on main results and new advances of four aspects of the control system of ground moving platforms, that is, environmental and situational sensing, fire control and command control, coordination among multiple platforms and maintenance and health management. On the basis of summarizing the existing research results, some existing challenges and future research directions are pointed out.
- Ground-based moving platforms /
- situation awareness /
- fire command and control /
- collaborative control /
- health management
注释:

1) 本文责任编委丁进良

HTML全文

参考文献(98)

[1]	方浩, 王雪源, 陈杰.陆用运动体系统协同中的智能优化与控制.控制理论与应用, 2018, 35(7):900-917 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=kzllyyy201807002 Fang Hao, Wang Xue-Yuan, Chen Jie. Intelligent optimization and control in multi-system collaboration of ground-based moving platforms. Control Theory & Applications, 2018, 35(7):900-917 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=kzllyyy201807002
[2]	陶勇, 胡卫东.基于知识的雷达目标识别研究.现代雷达, 2009, 31(1):62-65 doi: 10.3969/j.issn.1004-7859.2009.01.016 Tao Yong, Hu Wei-Dong. A study on knowledge-based radar target recognition. Modern Rader, 2009, 31(10):62-65 doi: 10.3969/j.issn.1004-7859.2009.01.016
[3]	赵晖, 王文光, 孙进平, 洪文, 毛士艺.基于知识的SAR图像目标检测.系统工程与电子技术, 2009, 31(6):1314-1318 doi: 10.3321/j.issn:1001-506X.2009.06.012 Zhao Hui, Wang Wen-Guang, Sun Jin-Ping, Hong Wen, Mao Shi-Yi. Target detection in SAR images based on knowledge. Systems Engineering and Electronics, 2009, 31(6):1314-1318 doi: 10.3321/j.issn:1001-506X.2009.06.012
[4]	李丽荣, 王从庆.神经网络在精确打击目标识别中的应用研究.现代防御技术, 2013, 41(3):185-191 doi: 10.3969/j.issn.1009-086x.2013.03.034 Li Li-Rong, Wang Cong-Qing. Research and application of neural network in targets recognition of accurate strike. Modern Defence Technology, 2013, 41(3):185-191 doi: 10.3969/j.issn.1009-086x.2013.03.034
[5]	陈伟涛, 杨沛, 刘朝阳, 盛思佳. BP神经网络在雷达目标识别中的应用.电子科技, 2010, 23(12):18-19 http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs200504003 Chen Wei-Tao, Yang Pei, Liu Chao-Yang, Sheng Si-Jia. Application of BP neural network in radar target recognition. Electronic Sci. And Tech., 2010, 23(12):18-19 http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs200504003
[6]	周浩, 韦道知, 金凤杰. RBF神经网络在目标识别中的应用研究.弹箭与制导学报, 2008, 28(5):215-216 doi: 10.3969/j.issn.1673-9728.2008.05.064 Zhou Hao, Wei Dao-Zhi, Jin Feng-Jie. The study on target recognition based on RBF neural network. Journal of Projectiles, Rockets, Missiles and Guidance, 2008, 28(5):215-216 doi: 10.3969/j.issn.1673-9728.2008.05.064
[7]	惠保国.基于深度学习的自动目标识别技术.第四届中国指挥控制大会论文集.北京, 中国: 电子工业出版社, 2016. 314-319 http://cpfd.cnki.com.cn/Article/CPFDTOTAL-ZHKZ201607001068.htm Hui Bao-Guo. Auto target recognition technology based on deep learning. In: Proceedings of the 4th China Conference on Command and Control. Beijing, China: Publishing House of Electronics Industry, 2016. 314-319 http://cpfd.cnki.com.cn/Article/CPFDTOTAL-ZHKZ201607001068.htm
[8]	徐丰, 王海鹏, 金亚秋.深度学习在SAR目标识别与地物分类中的应用.雷达学报, 2017, 6(2):136-148 http://d.old.wanfangdata.com.cn/Periodical/ldxb201702002 Xu Feng, Wang Hai-Peng, Jin Ya-Qiu. Deep learning as applied in SAR target recognition and terrain classification. Journal of Radars, 2017, 6(2):136-148 http://d.old.wanfangdata.com.cn/Periodical/ldxb201702002
[9]	陈晓荣, 陈淑芬.变维卡尔曼滤波实现运动目标的跟踪.仪器仪表学报, 2006, 27(9):1163-1166 doi: 10.3321/j.issn:0254-3087.2006.09.043 Chen Xiao-Rong, Chen Shu-Fen. Variable dimension of Kalman filter for target tracking. Chinese Journal of Scientific Instrument, 2006, 27(9):1163-1166 doi: 10.3321/j.issn:0254-3087.2006.09.043
[10]	张爱民, 高鹏, 张峰贞, 王殷廷.变维卡尔曼滤波算法的机动目标跟踪性能研究.计算机与数字工程, 2014, 42(1):57-60 doi: 10.3969/j.issn.1672-9722.2014.01.016 Zhang Ai-Min, Gao Peng, Zhang Feng-Zhen, Wang Yin-Ting. Maneuvering target tracking performance of VD-Kalman filter algorithm. Computer and Digital Engineering, 2014, 42(1):57-60 doi: 10.3969/j.issn.1672-9722.2014.01.016
[11]	陈海, 单甘霖.基于IMMCKF的机动目标跟踪算法.电光与控制, 2011, 18(10):1-5 doi: 10.3969/j.issn.1671-637X.2011.10.001 Chen Hai, Shan Gan-Lin. Maneuvering target tracking based on IMMCKF algorithm. Electronics Optics and Control, 2011, 18(10):1-5 doi: 10.3969/j.issn.1671-637X.2011.10.001
[12]	郭志, 董春云, 蔡远利, 于振华.时变转移概率IMM-SRCKF机动目标跟踪算法.系统工程与电子技术, 2015, 37(1):24-30 http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201501005 Guo Zhi, Dong Chun-Yun, Cai Yuan-Li, Yu Zhen-Hua. Time-varying transition probability based IMM-SRCKF algorithm for maneuvering target tracking. Systems Engineerning and Electronics, 2015, 37(1):24-30 http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201501005
[13]	谭顺成, 王国宏, 王娜. IMM-Singer模型的机动目标跟踪算法.火力与指挥控制, 2012, 37(2):32-34 doi: 10.3969/j.issn.1002-0640.2012.02.009 Tan Shun-Cheng, Wang Guo-Hong, Wang Na. Maneuvering target tracking algorithm based on IMM-singer model. Fire Control and Command Control, 2012, 37(2):32-34 doi: 10.3969/j.issn.1002-0640.2012.02.009
[14]	Deng F, Chen J, Bai Y Q. Identification of ballistic parameters based on virtual ballistic trajectory data from firing tables. In: Proceedings of the 29th Chinese Control Conference. Beijing, China, 2010. 1236-1241 http://ieeexplore.ieee.org/document/5573436/
[15]	赵东华, 张怀智, 郭胜强, 黄鹏波, 谷智国.基于二分法的弹道解算决定火炮射击诸元.火力与指挥控制, 2012, 37(12):182-183 doi: 10.3969/j.issn.1002-0640.2012.12.048 Zhao Dong-Hua, Zhang Huai-Zhi, Guo Sheng-Qiang, Huang Peng-Bo, Gu Zhi-Guo. Researched on determining firing data of gun based on solving ballistic equations with binary search. Fire Control and Command Control, 2012, 37(12):182-183 doi: 10.3969/j.issn.1002-0640.2012.12.048
[16]	秦鹏飞, 崔青春, 李硕, 刘爱峰, 熊涛.基于大口径火炮的实时弹道解算方法研究.火炮发射与控制学报, 2015, 36(1):68-72 doi: 10.3969/j.issn.1673-6524.2015.01.015 Qin Peng-Fei, Cui Qing-Chun, Li Shuo, Liu Ai-Feng, Xiong Tao. Research on the real-time ballistic algorithm based on a type of large caliber cannon. Journal of gun launch and control, 2015, 36(1):68-72 doi: 10.3969/j.issn.1673-6524.2015.01.015
[17]	邱晓波, 窦丽华, 单东升.机动条件下坦克行进间射击解命中问题分析.兵工学报, 2010, 31(1):1-6 http://d.old.wanfangdata.com.cn/Periodical/bgxb201001001 Qiu Xiao-Bo, Dou Li-Hua, Shan Dong-Sheng. Solution of hit problem of firing on the move on target under maneuvering. Acta Armentarii, 2010, 31(1):1-6 http://d.old.wanfangdata.com.cn/Periodical/bgxb201001001
[18]	许建, 苏坡, 戎永杰, 严智文.基于蒙特卡洛法的末敏弹命中点散布研究.弹箭与制导学报, 2015, 35(6):29-32 http://d.old.wanfangdata.com.cn/Periodical/djyzdxb201506008 Xu Jian-Sheng, Su Po, Rong Yong-Jie, Yan Zhi-Wen. Research on the hitting point distribution of terminal sensing ammunition based on Monte-Carlo method. Journal of Projectiles, Rockets, Missiles and Guidance, 2015, 35(6):29-32 http://d.old.wanfangdata.com.cn/Periodical/djyzdxb201506008
[19]	陈敬志, 陈华, 王宣世.空舰导弹火控系统精度分析研究.现代防御技术, 2013, 41(3):38-41 doi: 10.3969/j.issn.1009-086x.2013.03.008 Chen Jing-Zhi, Chen Hua, Wang Xuan-Shi. Accuracy analysis for airship missile fire control system. Morden Defence Technology, 2013, 41(3):38-41 doi: 10.3969/j.issn.1009-086x.2013.03.008
[20]	李魁武, 裴益轩, 霍勇谋.自行高炮射击精度综合补偿技术研究.兵工学报, 2015, 36(2):214-219 doi: 10.3969/j.issn.1000-1093.2015.02.004 Li Kui-Wu, Pei Yi-Xuan, Huo Yong-Mou. Rsearch on firing precision comprehensive compensation method of self-propelled anti-aircraft Gun. Acta Armentarii, 2015, 36(2):214-219 doi: 10.3969/j.issn.1000-1093.2015.02.004
[21]	齐劲松, 贾志强, 唐杰, 王高峰.基于龙芯2F+1A的四余度火控计算机系统设计.测控技术, 2014, 33(12):69-71 doi: 10.3969/j.issn.1000-8829.2014.12.019 Qi Jin-Song, Jia Zhi-Qiang Tang Jie, Wang Gao-Feng. Fourfold-redundancy fire control computer system based on Loongson-2F and Loongson-1A. Measurement and Control Technology, 2014, 33(12):69-71 doi: 10.3969/j.issn.1000-8829.2014.12.019
[22]	齐劲松, 郭江宇, 吴玉生, 王玮冬.基于龙芯3A+2H的火控计算机系统设计.测控技术, 2014, 33(7):85-87 doi: 10.3969/j.issn.1000-8829.2014.07.024 Qi Jin-Song, Guo Jiang-Yu, Wu Yu-Sheng, Wang Wei-Dong. Design of fire-control computer system based on Loongson 3A+2H. Measurement and Control Technology, 2014, 33(7):85-87 doi: 10.3969/j.issn.1000-8829.2014.07.024
[23]	邓方, 崔静, 方浩, 李凤梅, 郭素.基于改进粒子群优化的弹道并行求解算法.北京理工大学学报, 2015, 35(4):391-396 http://d.old.wanfangdata.com.cn/Periodical/bjlgdxxb201504012 Deng Fang, Cui Jing, Fang Hao, Li Feng-Mei, Guo Su. A parallel method of ballistic based on the improved particle swarm optimization algorithm. Transactions of Beijing Institute of Technology, 2015, 35(4):391-396 http://d.old.wanfangdata.com.cn/Periodical/bjlgdxxb201504012
[24]	陈晨, 陈杰, 张娟, 王高鹏.网络化防空火控系统体系结构研究.兵工学报, 2009, 30(9):1253-1258 doi: 10.3321/j.issn:1000-1093.2009.09.020 Chen Chen, Chen Jie, Zhang Juan, Wang Gao-Peng. Research on architecture of networked air defense fire control system. Acta Armentarii, 2009, 30(9):1253-1258 doi: 10.3321/j.issn:1000-1093.2009.09.020
[25]	陈杰, 陈晨, 夏元清, 张娟.网络化防空火控系统中的航迹融合.控制理论与应用, 2009, 26(9):977-982 http://d.old.wanfangdata.com.cn/Periodical/kzllyyy200909008 Chen Jie, Chen Chen, Xia Yuan-Qing, Zhang Juan. Track fusion in networked antiaircraft fire-control system. Control Theory and Applications, 2009, 26(9):977-982 http://d.old.wanfangdata.com.cn/Periodical/kzllyyy200909008
[26]	王磊, 罗雪山, 舒振. C4ISR体系结构服务视图及其演化的形式化描述方法.国防科技大学学报, 2011, 33(3):134-139 doi: 10.3969/j.issn.1001-2486.2011.03.026 Wang Lei, Luo Xue-Shan, Shu Zhen. Formalized description of service view and evolution within C4ISR architecture. Journal of National University of Defense Technology, 2011, 33(3):134-139 doi: 10.3969/j.issn.1001-2486.2011.03.026
[27]	王钦钊, 谷晓伟, 李小龙, 王春忠.基于高机动条件下的坦克火控系统.兵工自动化, 2012, 31(3):19-21 doi: 10.3969/j.issn.1006-1576.2012.03.006 Wang Qin-Zhao, Gu Xiao-Wei, Li Xiao-Long, Wang Chun-Zhong. Tank fire control system under high-speed state. Ordnance Industry Automation, 2012, 31(3):19-21 doi: 10.3969/j.issn.1006-1576.2012.03.006
[28]	郑岩, 谭庆昌, 王树范, 徐杰.车载火控系统自动跟踪的卡尔曼滤波.红外与激光工程, 2010, 39(2):346-351 doi: 10.3969/j.issn.1007-2276.2010.02.033 Zheng Yan, Tan Qing-Chang, Wang Shu-Fan, Xu Jie. Kalman filter for automatic tracking on the vehicular fire control system. Infrared and Laser Engineering, 2010, 39(2):346-351 doi: 10.3969/j.issn.1007-2276.2010.02.033
[29]	张品, 董为浩, 高大冬.一种优化的贝叶斯估计多传感器数据融合方法.传感技术学报, 2014, 27(5):643-648 doi: 10.3969/j.issn.1004-1699.2014.05.014 Zhang Pin, Dong Wei-Hao, Gao Da-Dong. An optimal method of data fusion for multi-sensors based on bayesian estimation. Chinese Journal of Sensors and Actuators, 2014, 27(5):643-648 doi: 10.3969/j.issn.1004-1699.2014.05.014
[30]	司迎利, 杨新宇, 陈勇, 向静波, 郭世伟.基于全局状态估计的多传感器加权数据融合算法.红外技术, 2014, 36(5):360-364 http://d.old.wanfangdata.com.cn/Periodical/hwjs201405004 Si Ying-Li, Yang Xin-Yu, Chen Yong, Xiang Jing-Bo, Guo Shi-Wei. Multi-sensor weighted data fusion algorithm based on global state estimation. Infrared Technology, 2014, 36(5):360-364 http://d.old.wanfangdata.com.cn/Periodical/hwjs201405004
[31]	曾喆昭, 王耀南.基于正交基神经网络算法的多传感器数据融合方法.传感技术学报, 2007, 20(6):1368-1370 doi: 10.3969/j.issn.1004-1699.2007.06.038 Zeng Zhe-Zhao, Wang Yao-Nan. Multi-sensor information fusion approach based on the neural network. Chinese Jurnal of Sensors and Actuators, 2007, 20(6):1368-1370 doi: 10.3969/j.issn.1004-1699.2007.06.038
[32]	李启元, 段立, 姜涛.网络化指挥控制系统同步特性分析.海军工程大学学报, 2014, 26(5):48-52 http://d.old.wanfangdata.com.cn/Periodical/hjgcdxxb201405011 Li Qi-Yuan, Duan Li, Jiang Tao. Analysis of synchronous characteristics of network command and control system. Journal of Naval University of Engineering, 2014, 26(5):48-52 http://d.old.wanfangdata.com.cn/Periodical/hjgcdxxb201405011
[33]	王文普, 刘光耀, 杨慧, 郭弋.指挥控制系统网络化作战能力评估方法.指挥控制与仿真, 2015, 37(5):1-4 doi: 10.3969/j.issn.1673-3819.2015.05.001 Wang Wen-Pu, Liu Guang-Yao, Yang Hui, Guo Yi. Evaluation method for network-based operational capability of C3I. Command Control and Simulation, 2015, 37(5):1-4 doi: 10.3969/j.issn.1673-3819.2015.05.001
[34]	王连锋, 刘卫东.导弹阵地空袭目标威胁评估.指挥控制与仿真, 2009, 31(4):33-36 doi: 10.3969/j.issn.1673-3819.2009.04.009 Wang Lian-Feng, Liu Wei-Dong. Threat evaluation of air attack target missile position. Command Control and Simulation, 2009, 31(4):33-36 doi: 10.3969/j.issn.1673-3819.2009.04.009
[35]	马瑾, 刘成, 李一兵, 刘锋, 刘昶.基于摄影图像的战场信息获取技术研究.装甲兵工程学院学报, 2007, 21(3):53-56 doi: 10.3969/j.issn.1672-1497.2007.03.013 Ma Jin, Liu Cheng, Li Yi-Bing, Liu Feng, Liu Chang. Research on the acquisition technique of battle field information based on image. Journal of Academy of Amored Force Engineering, 2007, 21(3):53-56 doi: 10.3969/j.issn.1672-1497.2007.03.013
[36]	朱丰, 胡晓峰.基于深度学习的战场态势评估综述与研究展望.军事运筹与系统工程, 2016, 30(3):22-27 doi: 10.3969/j.issn.1672-8211.2016.03.004 Zhu Feng, Hu Xiao-Feng. Survey and research Prospect of battlefield situation assessment based on deep learning. Military Operations Research and Systems Engineering, 2016, 30(3):22-27 doi: 10.3969/j.issn.1672-8211.2016.03.004
[37]	李姜, 郭立红.基于改进支持向量机的目标威胁估计.光学精密工程, 2014, 22(5):1354-1362 http://d.old.wanfangdata.com.cn/Periodical/gxjmgc201405033 Li Jiang, Guo Li-Hong. Target threat assessment using improved SVM. Optics and Precision Engineering, 2014, 22(5):1354-1362 http://d.old.wanfangdata.com.cn/Periodical/gxjmgc201405033
[38]	刘海波, 王和平, 沈立顶.基于SAPSO优化灰色神经网络的空中目标威胁评估.西北工业大学学报, 2016, 34(1):25-32 doi: 10.3969/j.issn.1000-2758.2016.01.004 Liu Hai-Bo, Wang He-Ping, Shen Li-Ding. Target threat assessment using SAPSO and grey neural network. Journal of Northwestern Polytechnical University, 2016, 34(1):25-32 doi: 10.3969/j.issn.1000-2758.2016.01.004
[39]	邢清华, 刘付显.区域防空部署优化系统建模.系统工程与电子技术, 2006, 28(5):712-715 doi: 10.3321/j.issn:1001-506X.2006.05.020 Xing Qing-Hua, Liu Fu-Xian. Modeling on area air defense optimization deployment system. Systems Engineering and Electronics, 2006, 28(5):712-715 doi: 10.3321/j.issn:1001-506X.2006.05.020
[40]	刘健.地面防空作战部署方案优选与改进方法.火力与指挥控制, 2005, 30(2):97-99 doi: 10.3969/j.issn.1002-0640.2005.02.028 Liu Jian. Optimum selection and improvement of disposition schemes for ground air-defence operation. Fire Control and Command Control, 2005, 30(2):97-99 doi: 10.3969/j.issn.1002-0640.2005.02.028
[41]	韩松臣, 石德平.基于模拟退火算法的防空作战布局优化.航空学报, 1999, 20(5):478-480 doi: 10.3321/j.issn:1000-6893.1999.05.021 Han Song-Chen, Shi De-Ping. Optimization for air-defense combat configuration via simulated annealing algorithm. Acta Aeronautica Et Astronautica Sinica, 1999, 20(5):478-480 doi: 10.3321/j.issn:1000-6893.1999.05.021
[42]	刘铭, 李为民, 王颖龙, 刘毅静.基于遗传算法的区域防空部署优化研究.系统工程与电子技术, 2003, 25(2):191-193 doi: 10.3321/j.issn:1001-506X.2003.02.018 Liu Ming, Li Wei-Min, Wang Ying-Long, Liu Yi-Jing. Optimization of the regional air defense disposition based on genetic algorithms. Systems Engineering and Electronics, 2003, 25(2):191-193 doi: 10.3321/j.issn:1001-506X.2003.02.018
[43]	Cai H, Liu J, Chen Y, Wang H. Survey of the research on dynamic weapon-target assignment problem. Journal of Systems Engineering and Electronics, 2006, 17(3):559-565. doi: 10.1016/S1004-4132(06)60097-2
[44]	Lloyd S P, Witsenhausen H S. Weapons allocation is NP-complete. In: Proceedings of the IEEE Summer Conference on Simulation. Reno, USA: IEEE, 1986. 1054-1058
[45]	Ahuja R K, Kumar A, Jha K C, Orlin J B. Exact and heuristic algorithms for the weapon-target assignment problem. Operations Research, 2007, 55(6):1136-1146 doi: 10.1287/opre.1070.0440
[46]	Lee M Z. Constrained weapon-target assignment:enhanced very large scale neighborhood search algorithm. IEEE Transactions on Systems, Man, and Cybernetics-Part A:Systems and Humans, 2010, 40(1):198-204 doi: 10.1109/TSMCA.2009.2030163
[47]	Malhotra A, Jain R K. Genetic algorithm for optimal weapon allocation in multilayer defence scenario. Defence Science Journal, 2001, 51(3):285-293 doi: 10.14429/dsj.51.2239
[48]	王玮, 程树昌, 张玉芝.基于遗传算法的一类武器目标分配方法研究.系统工程与电子技术, 2008, 30(9):1708-1711 doi: 10.3321/j.issn:1001-506X.2008.09.027 Wang Wei, Cheng Shu-Chang, Zhang Yu-Zhi. Research on approach for a type of weapon target assignment problem solving by genetic algorithm. Systems Engineering and Electronics, 2008, 30(9):1708-1711 doi: 10.3321/j.issn:1001-506X.2008.09.027
[49]	Lu H Q, Zhang H J, Zhang X J, Han R X. An improved genetic algorithm for target assignment, optimization of naval fleet air defense. In: Proceedings of the 6th World Congress on Intelligent Control and Automation. Dalian, China: IEEE, 2006. 3401-3405 http://ieeexplore.ieee.org/document/1712999/
[50]	马海涛, 赵伟东.基于遗传算法的弹炮混编防空群火力分配.火力与指挥控制, 2006, 31(4):36-38 doi: 10.3969/j.issn.1002-0640.2006.04.011 Ma Hai-Tao, Zhao Wei-Dong. The fire distribution problem of ADG made up of AGM based on genetic algorithm. Fire Control and Command Control, 2006, 31(4):36-38 doi: 10.3969/j.issn.1002-0640.2006.04.011
[51]	吴玲, 卢发兴, 贾培发.动态武器目标分配问题中改进遗传算法的元级控制.清华大学学报(自然科学版), 2008, 48(S2):1762-1765 http://www.cnki.com.cn/Article/CJFDTOTAL-QHXB2008S2015.htm Wu Ling, Lu Fa-Xing, Jia Pei-Fa. Meta-level control of the anytime algorithm for the dynamic weapon-target allocation problem. Journal of Tsinghua University (Science and Technology), 2008, 48(S2):1762-1765 http://www.cnki.com.cn/Article/CJFDTOTAL-QHXB2008S2015.htm
[52]	Li K, Zhang Q, Battiti R. MOEA/D-ACO:a multiobjective evolutionary algorithm using decomposition and ant colony. IEEE Transactions on Cybernetics, 2013, 43(6), 1845-1859 doi: 10.1109/TSMCB.2012.2231860
[53]	Al Moubayed N, Petrovski A, Mccall J. D2MOPSO:MOPSO based on decomposition and dominance with archiving using crowding distance in objective and solution spaces. Evolutionary Computation, 2014, 22(1):47-77. doi: 10.1162/EVCO_a_00104
[54]	Bisht S. Hybrid genetic-simulated annealing algorithm for optimal weapon allocation in multilayer defence scenario. Defence Science Journal, 2004, 54(3):395-405 doi: 10.14429/dsj.54.2054
[55]	Khosla D, Nichols T. Hybrid evolutionary algorithms for network-centric command and control. In: Proceedings of SPIE 6249, Defense Transformation and Network-Centric Systems. Orlando, FL, USA: SPIE, 2006. DOI: 10.1117/12.782108
[56]	王小艺, 侯朝桢, 原菊梅, 郭飞, 郝伟.防空火力分配建模及优化方法研究.控制与决策, 2006, 21(8):913-917 doi: 10.3321/j.issn:1001-0920.2006.08.015 Wang Xiao-Yi, Hou Chao-Zhen, Yuan Ju-Mei, Guo Fei, Hao Wei. Modeling and optimization method on antiaircraft fire-power allocation. Control and Decision, 2006, 21(8):913-917 doi: 10.3321/j.issn:1001-0920.2006.08.015
[57]	陈华东, 王树宗, 王航宇.基于混合粒子群算法的多平台多武器火力分配研究.系统工程与电子技术, 2008, 30(5):880-883 doi: 10.3321/j.issn:1001-506X.2008.05.025 Chen Hua-Dong, Wang Shu-Zong, Wang Hang-Yu. Research of firepower assignment with multi-launcher and multi-weapon based on a hybrid particle swarm optimization. Systems Engineering and Electronics, 2008, 30(5):880-883 doi: 10.3321/j.issn:1001-506X.2008.05.025
[58]	丁铸, 马大为, 汤铭端, 张学锋.基于禁忌退火粒子群算法的火力分配.系统仿真学报, 2006, 18(9):2480-2483 doi: 10.3969/j.issn.1004-731X.2006.09.026 Ding Zhu, Ma Da-Wei, Tang Ming-Duan, Zhang Xue-Feng. TSAPSO:a hybrid search algorithm of tabu search and annealing particle swarm optimization for weapon-target assignment. Journal of System Simulation, 2006, 18(9):2480-2483 doi: 10.3969/j.issn.1004-731X.2006.09.026
[59]	Meng J, Egerstedt M. Distributed coordination control of multiagent systems while preserving connectedness. IEEE Transactions on Robotics, 2007, 23(4):693-703 doi: 10.1109/TRO.2007.900638
[60]	Zavlanos M M, Pappas G J. Potential fields for maintaining connectivity of mobile networks. IEEE Transactions on Robotics, 2007, 23(4):812-816 doi: 10.1109/TRO.2007.900642
[61]	Zavlanos M M, Jadbabaie A, Pappas G J. Flocking while preserving network connectivity. In: Proceedings of the 46th IEEE Conference on Decision and Control. New Orleans, LA, USA: IEEE, 2007. 2919-2923 http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=4434530
[62]	Spanos D P, Murray R M. Motion planning with wireless network constraints. In: Proceedings of the 2005 American Control Conference. Portland, USA: IEEE, 2005. 87-92 http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=1469913
[63]	Pereira G A S, Kumar V, Campos M F M. Closed loop motion planning of cooperating mobile robots using graph connectivity. Robotics and Autonomous Systems, 2008, 56(4):373-384 doi: 10.1016/j.robot.2007.08.003
[64]	Wei P, Chen L, Sun D. Algebraic connectivity maximization of an air transportation network:the flight routes' addition/deletion problem. Transportation Research Part E Logistics & Transportation Review, 2014, 61(2):13-27 http://www.sciencedirect.com/science/article/pii/S1366554513001750
[65]	Notarstefano G, Savla K, Bullo F, Jadbabaie A. Maintain-ing limited-range connectivity among second-order agents. In: Proceedings of the 2006 American Control Conference. Minneapolis, MN, USA: IEEE, 2006. 2124-2129
[66]	Zavlanos M M, Tahbaz-Salehi A, Jadbabaie A, Pappas G J. Distributed topology control of dynamic networks. In: Proceedings of the 2008 American Control Conference. Seattle, WA, USA: IEEE, 2008. 2660-2665 http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=4586894
[67]	Mesbahi M. On state-dependent dynamic graphs and their controllability properties. IEEE Transactions on Automatic Control, 2005, 50(3):387-392 doi: 10.1109/TAC.2005.843858
[68]	Yoonsoo K, Mesbahi M. On maximizing the second smallest eigenvalue of a state-dependent graph Laplacian. IEEE Transactions on Automatic Control, 2006, 51(1):116-120 doi: 10.1109/TAC.2005.861710
[69]	Xiao L, Boyd S. Fast linear iterations for distributed averaging. Systems and Control Letters, 2004, 53(1):65-78 doi: 10.1016/j.sysconle.2004.02.022
[70]	Cortes J, Martinez S, Bullo F. Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions. IEEE Transactions on Automatic Control, 2006, 51(8):1289-1298 doi: 10.1109/TAC.2006.878713
[71]	Schuresko M, Cortes J. Distributed motion constraints for algebraic connectivity of robotic networks. Journal of Intelligent and Robotic Systems, 2009, 56(1-2):99-126 doi: 10.1007/s10846-009-9328-8
[72]	Schuresko M D, Cortes J. Safe graph rearrangements for distributed connectivity of robotic networks. In: Proceedings of the 46th IEEE Conference on Decision and Control. New Orleans, LA, USA: IEEE, 2007. 4602-4607 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4435014
[73]	Olfati-Saber R. Flocking for multi-agent dynamic systems:algorithms and theory. IEEE Transactions on Automatic Control, 2006, 51(3):401-420 doi: 10.1109/TAC.2005.864190
[74]	Waydo S, Murray R M. Vehicle motion planning using stream functions. In: Proceedings of the 2003 IEEE Inter-national Conference on Robotics and Automation. Taipei, China: IEEE, 2003. 2484-2491 http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=1241966
[75]	Sullivan J, Waydo S, Campbell M. Using stream functions for complex behavior and path generation. In: Proceedings of the 2003 AIAA Guidance, Navigation, and Control Conference. Austin, Texas: AIAA, 2003. 3-5 http://www.mendeley.com/research/using-stream-functions-complex-behavior-path-generation/
[76]	Wang Q, Fang H, Chen J, Mao Y T, Dou L H. Flocking with obstacle avoidance and connectivity maintenance in multi-agent systems. In: Proceedings of the 51st IEEE Conference on Decision and Control. Hawaii, USA: IEEE, 2012. 4009-4014 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6426472
[77]	Daily R, Bevly D M. Harmonic potential field path plan-ning for high speed vehicles. In: Proceedings of the 2008 American Control Conference. Seattle, Washington: IEEE, 2008. 4609-4614 http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=4587222
[78]	郭腾飞, 王宏伦, 梁宵.基于流函数法的无人机航路规划.战术导弹技术, 2011, (5):27-32 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201102772751 Guo Teng-Fei, Wang Hong-Lun, Liang Xiao. Path planning based on stream function method for UAV. Tactical Missile Technology, 2011, (5):27-32 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201102772751
[79]	曹梦磊, 王宏伦, 梁宵.采用改进流函数法的无人机航路规划.电光与控制, 2012, 19(2):1-4 doi: 10.3969/j.issn.1671-637X.2012.02.001 Cao Meng-Lei, Wang Hong-Lun, Liang Xiao. Route plan-ning for UAVs using improved stream function method. Electronics Optics and Control, 2012, 19(2):1-4 doi: 10.3969/j.issn.1671-637X.2012.02.001
[80]	Arzen K E. A simple event-based PID controller. In: Proceedings of the 14th IFAC World Congress. Beijing, China: IFAC, 1999. 8687-8692
[81]	Aström K, Bernhardsson B. Comparison of periodic and event based sampling for first order stochastic systems. In: Proceedings of the 14th IFAC World Congress. Beijing, China: IFAC, 1999. 5006-5011
[82]	Tabuada P. Event-triggered real-time scheduling of stabilizing control tasks. IEEE Transactions on Automatic Control, 2007, 52(9):1680-1685 doi: 10.1109/TAC.2007.904277
[83]	Dimarogonas D V, Razzoli E, Johansson K H. Distributed event-triggered control for multi-agent systems. IEEE Transactions on Automatic Control, 2012, 57(5):1291-1297 doi: 10.1109/TAC.2011.2174666
[84]	Nowzari C, Cortes J. Distributed event-triggered coordination for average consensus on weight-balanced digraphs, Automatica, 2016, 68: 237-244 http://www.sciencedirect.com/science/article/pii/S0005109816300164
[85]	Sun J, Yang Q, Liu X, Chen J. Event-triggered consensus for linear continuous-time multi-agent systems based on a predictor. Information Sciences, 2018, 459:278-289 doi: 10.1016/j.ins.2018.03.028
[86]	Zhu W, Pu H Z, Wang D. Event-based consensus of second-order multi-agent systems with discrete time. Automatica, 2017, 79:78-83 doi: 10.1016/j.automatica.2017.01.042
[87]	Cao M T, Xiao F, Wang L. Event-based second-order consensus control for multi-agent systems via synchronous periodic event detection. IEEE Transactions on Automatic Control, 2015, 60(9):2452-2457 doi: 10.1109/TAC.2015.2390553
[88]	Department of Defense. MIL-STD-2165A, Military standard testability program for systems and equipments. 1993
[89]	满强, 夏良华, 王亚彬, 徐英.复杂装备健康管理模式综述.火炮发射与控制学报, 2009, 30(2):92-96 doi: 10.3969/j.issn.1673-6524.2009.02.024 Man Qiang, Xia Liang-Hua, Wang Ya-Bin, Xu Ying. Health management mode summarization of complex equipment. Journal of Gun Launch & Control, 2009, 30(2):92-96 doi: 10.3969/j.issn.1673-6524.2009.02.024
[90]	王新军, 蔡艳平, 成曙.故障诊断技术在武器装备维修中的应用研究.中国修船, 2006, 19(S1):23-27 http://d.old.wanfangdata.com.cn/Periodical/zgxc2006z1009 Wang Xin-Jun, Cai Yan-Ping, Cheng Shu. Research on application of fault diagnosis technology in maintenance of weaponry and equipment. China Shiprepair, 2006, 19(S1):23-27 http://d.old.wanfangdata.com.cn/Periodical/zgxc2006z1009
[91]	朱大奇.基于知识的故障诊断方法综述.安徽工业大学学报, 2002, 19(3):197-204 doi: 10.3969/j.issn.1671-7872.2002.03.007 Zhu Da-Qi. Knowledge-based fault diagnosis methods. Journal of Anhui University of Technology, 2002, 19(3):197-204 doi: 10.3969/j.issn.1671-7872.2002.03.007
[92]	胡冬, 谢劲松, 吕卫民.故障预测与健康管理技术在导弹武器系统中的应用.导弹与航天运载技术, 2010, (04):24-30 doi: 10.3969/j.issn.1004-7182.2010.04.006 Hu Dong, Xie Jin-Song, Lv Wei-Min. Applications of PHM technology in missile weapon systems. Missiles and Space Vehicles, 2010, (04):24-30 doi: 10.3969/j.issn.1004-7182.2010.04.006
[93]	沈凡宇, 周圣林.装备故障预测技术现状及发展研究.装备制造技术, 2016, (08):123-126 doi: 10.3969/j.issn.1672-545X.2016.08.037 Shen Fan-Yu, Zhou Sheng-Lin. Research on equipment fault prediction technology status and development. Equipment Manufacturing Technology, 2016, (08):123-126 doi: 10.3969/j.issn.1672-545X.2016.08.037
[94]	王昌荣, 赵玉龙, 蒋有才.故障预测技术在武器装备中的应用及发展.价值工程, 2015, 34(05):41-43 http://d.old.wanfangdata.com.cn/Periodical/jzgc201505016 Wang Chang-Rong, Zhao Yu-Long, Jiang You-Cai. Application of fault prediction technology in weaponry and its development. Value Engineering, 2015, 34(05):41-43 http://d.old.wanfangdata.com.cn/Periodical/jzgc201505016
[95]	杨述明, 邱静, 刘冠军.面向装备健康管理的监测参数选择与健康评估方法研究.中国机械工程, 2012, 23(13):1513-1517 doi: 10.3969/j.issn.1004-132X.2012.13.001 Yang Shu-Ming, Qiu Jing, Liu Guan-Jun. Study on monitoring parameter selection and health evaluation method for equipment health management. China Mechanical Engineering, 2012, 23(13):1513-1517 doi: 10.3969/j.issn.1004-132X.2012.13.001
[96]	邱立军.武器装备故障预测与健康管理系统的关键技术.舰船电子工程, 2012, 32(05):17-18 doi: 10.3969/j.issn.1627-9730.2012.05.006 Qiu Li-Jun. Study of key technology for prognostics and health management system of weapon equipment. Ship Electronic Engineering, 2012, 32(05):17-18 doi: 10.3969/j.issn.1627-9730.2012.05.006
[97]	Yin X, Wang Z, Zhang B, Zhou Z, Gao Z. Health estimation of fan based on belief-rule-base expert system in turbofan engine gas-path. Advances in Mechanical Engineering, 2017, 9:1-11
[98]	胡茑庆, 胡雷, 陈凌, 高明.装备健康管理的现状、未来与挑战.国防科技, 2015, 36(1):10-15 http://d.old.wanfangdata.com.cn/Periodical/gfkj201501003 Hu Niao-Qing, Hu Lei, Chen Ling, Gao Ming. The status quo, future, and challenge of equipment health management. National Defense Science & Technology, 2015, 36(1):10-15 http://d.old.wanfangdata.com.cn/Periodical/gfkj201501003