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Asynchronous H_∞ control for Unmanned Aerial Vehicles: Switched Polytopic System Approach

IEEE/CAA Journal of automatica Sinica 2015年第2期2卷 207-216页

作者： Zhaolei Wang Qing Wang Chaoyang Dong School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing Aerospace Automatic Control Institute School of Aeronautical Science and Engineering Beijing University of Aeronautics and Astronautics

This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles (UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then, considering updating lags of controller's switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H∞control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H∞controller are derived in the form of linear matrix inequality (LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method. Finally, a numerical example based on a highly maneuverable technology (HiMAT) vehicle is given to verify the validity of the proposed method. © 2014 Chinese Association of Automation.

关键词： Flight envelopes Linear matrix inequalities Lyapunov functions Numerical methods Robust control Robustness (control systems) Unmanned aerial vehicles (UAV) Vehicles

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Fault diagnosis in neutral point indirectly grounded system basedon information fusion

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Journal of Harbin institute of Technology(New Series) 2003年第4期10卷 434-437页

作者：于飞鞠丽叶刘喜梅崔平远钟秋海 Dept. of Automatic Control Beijing Institute of Technology Information and Control Engineering Institute Qingdao University of Science and Technology Deep Space Exploration Research Center Harbin Institute of Technology

In neutral point indirectly grounded systems, phase-to-ground fault is putting new demands on fault diagnosis technology. Information fusion is applied to detect the phase-to-ground fault, which integrates several sources of information, including line current, line voltage, zero sequence current and voltage, and quintic harmonic wave component. This method is testified through the simulation of Matlab. Simulation results show that the precision and reliability of the detection has been greatly increased.

关键词： information fusion fault diagnosis neutral point indirectly grounded system phase-to-ground fault

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Fluid-based moderate collision avoidance for UAV formation in 3-D low-altitude environments

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Chinese Journal of Aeronautics 2025年第6期38卷

作者： ZHANG, Menghua WANG, Honglun LI, Zhiyu WANG, Yanxiang ZHANG, Xianglun TANG, Qiang MA, Shichao WU, Jianfa School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China AVIC Xi'an Flight Automatic Control Research Institute Xi'an710076 China Shenyuan Honors College of Beihang University Beijing100191 China Beijing Institute of Control Engineering Beijing100194 China Science and Technology on Space Intelligent Control Laboratory Beijing100194 China

Aiming to address the Unmanned Aerial Vehicle (UAV) formation collision avoidance problem in Three-Dimensional (3-D) low-altitude environments where dense various obstacles exist, a fluid-based path planning framework named the Formation Interfered Fluid Dynamical System (FIFDS) with Moderate Evasive Maneuver Strategy (MEMS) is proposed in this study. First, the UAV formation collision avoidance problem including quantifiable performance indexes is formulated. Second, inspired by the phenomenon of fluids continuously flowing while bypassing objects, the FIFDS for multiple UAVs is presented, which contains a Parallel Streamline Tracking (PST) method for formation keeping and the traditional IFDS for collision avoidance. Third, to rationally balance flight safety and collision avoidance cost, MEMS is proposed to generate moderate evasive maneuvers that match up with collision risks. Comprehensively containing the time and distance safety information, the 3-D dynamic collision regions are modeled for collision prediction. Then, the moderate evasive maneuver principle is refined, which provides criterions of the maneuver amplitude and direction. On this basis, an analytical parameter mapping mechanism is designed to online optimize IFDS parameters. Finally, the performance of the proposed method is validated by comparative simulation results and real flight experiments using fixed-wing UAVs. © 2024 Chinese Society of Aeronautics and Astronautics

关键词： Drones

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Distributed formation control of multiple aerial vehicles based on guidance route

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Chinese Journal of Aeronautics 2023年第3期36卷 368-381页

作者： Jinyong CHEN Rui ZHOU Guibin SUN Qingwei LI Ning ZHANG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Information Systems Engineering Laboratory Nanjing 210007China AVIC Xi’an Flight Automatic Control Research Institute Xi’an 710076China

Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based strategy has been demonstrated to be applicable to fixed-wing ***,it requires a global coordinator and there exists control lag,due to its own *** this reason,this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned ***,a hop-count scheme is introduced to achieve distributed implementation,in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local ***,the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape *** addition,the stall protection and collision avoidance are also ***,three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.

关键词： Formation shape control Fixed-wing aircraft Guidance route Hop-count estimation Model predictive control

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Study on Intermittent Gliding control of a Saucer-shaped Aircraft 33

Study on Intermittent Gliding Control of a Saucer-shaped Air...

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第三十三届中国控制会议

作者： JIANG Lan WU Sentang XING Zhihui BAO Yiming School of Automation Science and Electrical Engineering Beihang University Beijing Aerospace Automatic Control Institute

ISBN: (纸本)9781479947249

In connection with the requirement of improve endurance and range of aircraft in modern warfare,we have designed an intermittent gliding control law for a saucer-shaped aircraft in this *** control law uses an optimal flight envelope lower bound control *** this method,raise of height is not controlled when the saucer-shaped aircraft is climbing in a thermal lift,thus to make full use of atmospheric energy in circle-climbing *** the saucer-shaped aircraft exceeds the range of updraft,it transfers to gliding condition from climbing *** result shows that intermittent gliding flight using this control law can significantly improve the endurance and range of the saucer-shaped *** method is also beneficial to achieve the combat target of long-endurance,long-range and cruising attack for small UAVs and missiles.

关键词： Saucer-shaped,UAV,intermittent gliding control

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Recognition of vortex structures in turbulent refractive index field using wavelet transformation

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Journal of Beijing institute of Technology 2012年第1期21卷 101-105页

作者：祁振强冯浩楠 Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control School of Instrumentation Science and Optoelectronics Engineering Beijing University of Aeronautics and Astronautics

When the light wave propagates through the hypersonic flow field, the aero-optic distortion happens. It is necessary to recognize the vortex structure for studying the light propagation model. A new vortex structure recognition method is proposed in this paper. Firstly, the refractive index field, which is transformed from the turbulent density field, is changed to gray scale images with a- bundant texture information equivalently. Then, wavelet transform is performed to decompose these images and the entropy values of the wavelet base coefficients are calculated. Comparing the entropy value to a given threshold, the modules with lower entropy are considered to be the large-scale vortex modules while those with higher entropy are small-scale vortex modules. The computer simulation results show that the proposed method is valid to recognize the vortex structures. This paper provides basis for investigation on the optics propagation model in terms of the turbulence vortex structures.

关键词： aero-optic refractive vortex structures wavelet transform

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A novel architecture for ahead branch prediction

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Frontiers of Computer science 2013年第6期7卷 914-923页

作者： Wenbing JIN Feng SHI Qiugui SONG Yang ZHANG School of Compnter Science and Technology Beijing Institute of Technology Beijing 100081 China Department of Trade and Military Industry North Automatic Control Technology Institute Taiyuan 030006 China School of Information Science and Engineering Hebei University of Science and Technology Shijiazhuang 050018 China

In theory, branch predictors with more compli- cated algorithms and larger data structures provide more accurate predictions. Unfortunately, overly large structures and excessively complicated algorithms cannot be implemented because of their long access delay. To date, many strategies have been proposed to balance delay with accuracy, but none has completely solved the issue. The architecture for ahead branch prediction （A2BP） separates traditional pre- dictors into two parts. First is a small table located at the front-end of the pipeline, which makes the prediction brief enough even for some aggressive processors. Second, oper- ations on complicated algorithms and large data structures for accurate predictions are all moved to the back-end of the pipeline. An effective mechanism is introduced for ahead branch prediction in the back-end and small table update in the front. To substantially improve prediction accuracy, an indirect branch prediction algorithm based on branch history and target path （BHTP） is implemented in AZBE Experiments with the standard performance evaluation corpora- tion （SPEC） benchmarks on gem5/SimpleScalar simulators demonstrate that AzBP improves average performance by 2.92% compared with a commonly used branch target bufferbased predictor. In addition, indirect branch misses with the BHTP algorithm are reduced by an average of 28.98% com- pared with the traditional algorithm.

关键词： branch prediction branch speculation branch target buffer indirect branch instruction pipeline

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Adaptive Neural Network Dynamic Surface control of Hypersonic Vehicle 34

Adaptive Neural Network Dynamic Surface Control of Hypersoni...

引用

第三十四届中国控制会议

作者： LIU Shuguang FANG Yangwang TANG Qiang HUANG Hanqiao ZHANG Xianglun Aeronautics and Astronautics Engineering College Air Force Engineering University Science and Technology on Aircraft Control Laboratory Flight Automatic Control Research Institute

ISBN: (纸本)9781467374439

A novel adaptive neural network dynamic surface control is proposed for hypersonic vehicle. Based on the hypersonic vehicle model characteristics, the adaptive neural network dynamic surface control attitude controller and the neural networks velocity controller are designed, respectively. By combining Nussbaum gain function with decoupled backstepping, the problems of unknown control directions and control singularity from hypersonic vehicles model in strict-feedback form are simultaneously solved. Furthermore, the norm of the ideal weighting vector in neural network systems is considered as the estimation parameter, such that only one parameter is adjusted at each recursive step. Based on decoupled backstepping method and Lyapunov stability theorem, the semi-global stability of the flight control system is proved. Simulation results show that the new controller can guarantee the expected tracking performance.

关键词： Hypersonic vehicle,adaptive control,dynamic surface control,neural networks

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Impact of wind power generating system integration on frequency stabilization in multi-area power system with fuzzy logic controller in deregulated environment

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Frontiers in Energy 2015年第1期9卷 7-21页

作者： Y. K. BHATESHVAR H. D. MATHUR H. SIGUERDIDJANE Department of Electrical and Electronics Engineering Birla Institute ofTechnology and Science Pilani Rajasthan 333031 India Automatic Control Department Sup61ec Gif-sur-Yvette 91192 France

Among the available options for renewable energy integration in existing power system, wind power is being considered as one of the suited options for future electrical power generation. The major constraint of wind power generating system （WPGS） is that it does not provide inertial support because of power electronic converters between the grid and the WPGS to facilitate frequency stabilization. The proposed control strategy suggests a substantial contribution to system inertia in terms of short-term active power support in a two area restructured power system. The control scheme uses fuzzy logic based design and takes frequency deviation as input to provide quick active power support, which balances the drop in frequency and tie-line power during transient conditions. This paper presents a comprehensive study of the wind power impact with increasing wind power penetration on frequency stabilization in restructured power system scenario. Variation of load conditions are also analyzed in simulation studies for the same power system model with the proposed control scheme. Simula- tion results advocates the justification of control scheme over other schemes.

关键词： two area power system automatic generationcontrol wind power generating system （WPGS） deregu-lated environment fuzzy logic controller （FLC）

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Nonlinear Adaptive Robust Force control of Hydraulic Load Simulator

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Chinese Journal of Aeronautics 2012年第5期25卷 766-775页

作者： YAO Jianyong JIAO Zongxia YAO Bin SHANG Yaoxing DONG Wenbin Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing 210094 China School of Mechanical Engineering Purdue Universiiy West Lafayette IN 47907 USA Beijing Aerospace Automatic Control Institute Beijing 100854 China

This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.

关键词： hydraulic load simulator adaptive control robust control nonlinear control hydraulic actuators Lyapunov functions

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