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Sliding mode tracking control for miniature unmanned helicopters

Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： Xian Bin Guo Jianchuan Zhang Yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

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Robust tracking control design for a flexible air-breathing hypersonic vehicle

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Journal of Central South University 2014年第1期21卷 130-139页

作者：张垚鲜斌刁琛赵勃郭建川 Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle(AHV) which is subjected to system parametric uncertainties and unknown additive time-varying *** longitudinal dynamic model for the flexible AHV was used for the control ***-gain observers were designed to compensate for the system uncertainties and additive *** gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop *** uniformly ultimately bounded tracking of the vehicle's velocity,altitude and attack angle were achieved under aeroelastic effects,system parametric uncertainties and unknown additive ***/Simulink simulation results were provided to validate the robustness of the proposed control *** simulation results demonstrate that the tracking errors stay in a small region around zero.

关键词： hypersonic vehicles nonlinear robust control flexible mode small gain theorem Lyapunov

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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Adaptive Backstepping Tracking Control of a 6-DOF Unmanned Helicopter

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： Bin Xian Jianchuan Guo Yao Zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of Automation.

关键词： Backstepping Closed loop control systems Closed loop systems Controllers Flight dynamics Helicopters

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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Event trigger based nonlinear flight control for a small size unmanned helicopter 41

Event trigger based nonlinear flight control for a small siz...

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第41届中国控制会议

作者： Xun Gu Bin Xian Xu Zhang The institute of Robotics and Autonomous System School of Electrical and Information EngineeringTianjin University School of Electronic and Communication Engineering Guiyang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Compared with the traditional periodic control methodology,the event trigger based control strategy is an advanced control strategy to make optimal utilization of resources while remaining the control performance at the same *** this paper,the limited on board computing resource is considered,and the event trigger based nonlinear control strategy is proposed for a small size unmanned helicopter under the effect of the unknown external *** stability of the control strategy is proved via the Lyapunov based analysis,and the effectiveness of the proposed control strategy is verified via the numerical simulation The simulation results show that the proposed event trigger based control strategy has a good attitude tracking performance under the effect of the unknown external disturbances while reducing the computing resources greatly.

关键词： event trigger nonlinear controller unmanned helicopter numerical simulation

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Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle Using Optical Flow 33

Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle...

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第三十三届中国控制会议

作者： XIAN Bin LIU Yang ZHANG Xu CAO Meihui Wang Fu The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479947249

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle(UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Nano Quadrotor UAV,Optical Flow,autonomous Control

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Saliency-SLAM: Saliency Prediction for Visual SLAM

Saliency-SLAM: Saliency Prediction for Visual SLAM

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2023 Tianjin University-IET Electrical and Information Engineering Doctoral Forum, TJU IET 2023

作者： Jin, Sheng Meng, Qinghao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (纸本)9781839539824

This paper proposes a novel approach for visual simultaneous localization and mapping (vSLAM), called Saliency-SLAM. This method effectively emulates the visual attention mechanism by integrating a saliency prediction model. In contrast to conventional vSLAM methods, which treat all feature points as equally significant, salient feature points are given greater importance in Saliency-SLAM. Therefore, we construct a novel saliency dataset specifically for vSLAM task to train a saliency prediction model by integrating multi-level visual information. Then, we propose to use the salient value of predicted result as the weight of significance for the feature points during the optimization process. Exhaustive experiments have been conducted on the KITTI dataset, demonstrating that our proposed method outperforms existing approaches in terms of localization accuracy. © The Institution of Engineering & Technology 2023.

关键词： Forecasting

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Active Camera View Planning Based on Deep Reinforcement Learning in Indoor Exploration 42

Active Camera View Planning Based on Deep Reinforcement Lear...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Hao-Yu Meng, Qing-Hao Dai, Xu-Yang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning (DRL), which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network (CNN). Second, the DRL-based camera view planning method is trained through the proximal policy optimization (PPO) algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4% (33.86 m2 for traditional vs. 35.21 m2 for the suggested method). Meanwhile, the kind of semantic information newly observed in each step increases by 21% (2.9 for traditional vs. 3.5 for the proposed method) on average, indicating the improvement in the efficiency of information acquisition. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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Event Trigger Based Robust Geometry Controller Design for the Agile Flight of the Unmanned Helicopter

Event Trigger Based Robust Geometry Controller Design for t...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Gu, Xun Xian, Bin The Institute of Robotics and Autonomous System School of Electrical and Information Engineering Tianjin University Tianjin30072 China School of Electronic and Communication Engineering Guiyang University Guizhou55000 China

ISBN: (纸本)9789811966125

This paper investigates on the event trigger based agile flight for the unmanned helicopter. Firstly, to eliminate the singularity inherent in the Euler angle representation and the ambiguous behavior caused by the quaternion representation, the attitude controller is designed on special euclidean space. Then, by considering the modelling uncertainties and unknown external disturbances existed in the helicopter’s agile flight, the robust-integral-signum-error(RISE) method is combined. Moreover, based on the optimal onboard computational resources, an event trigger based position controller is developed. And, the stability of the closed loop is proved. At last, numerical simulations are provided, and the simulation results show good tracking performance under the effect of the modelling uncertainties and unknown external disturbances. The computational resource can be saved about 85% in the position loop for the unmanned helicopter. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robust control

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