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2017 IEEE 6th Data Driven control and Learning systems Conference (DDCLS’17)

作者： Xiangyang Li Wei Ai Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology IEEE Center for Advanced Control Technologies Department of Electrical and Computer EngineeringCleveland State University

ISBN: (纸本)9781509054626

Active disturbance rejection control(ADRC) exemplifies the spirit of the data-driven control(DDC) design strategy and shows much promise in obtaining consistent applications in industrial control systems with uncertainties, without the premise that the detailed mathematical model of the controlled system is given. Instead, it is shown that the information needed for the control system to work at high level of effectiveness can be extracted from the input-output data by the use of the extended state observer(ESO). On the other hand, it is shown in this paper that the robustness of ADRC depends on the effectiveness of ESO. Furthermore, taking advantage of the rich body of knowledge in the existing field of robust control, the estimation error in ESO is analysed and, for the purpose of improved robustness, a unique nonlinear component is added to the conventional ADRC law. The modified ADRC which is a kind of robust ADRC law is validated in simulation for a nonlinear time-varying system with parametric and functional uncertainties. It is shown that the proposed robust ADRC law provides more effective tracking performance than the conventional ADRC when the bandwidth of ESO is not wide enough.

关键词： Active Disturbance Rejection control(ADRC) Robust control Extended State Observer(ESO) Nonlinear Time-varying System

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Prescribed Time Performance Security Tracking control of Quadrotors Under Unknown Attacks 43

Prescribed Time Performance Security Tracking Control of Qua...

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43rd Chinese control Conference (CCC)

作者： Wang, Liping Pei, Hailong South China Univ Technol Guangdong Engn Technol Res Ctr Unmanned Aerial Ve Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

ISBN: (纸本)9798350366907;9789887581581

This paper investigates the prescribed time performance security tracking control problem of quadrotors under unknown attacks. First, by using a prescribed time performance function and coordinate transformation, the tracking error can remain within a given region in a prescribed time. In the backstepping design process, a first-order sliding mode differentiator is given to surmount the problem of "the explosion of complexity", and the Nussbaum function is developed to deal with the unknown attacks problem. A prescribed time performance security attitude tracking control method is designed to prove the boundedness of the closed-loop signals. Finally, the simulation results are enumerated to state the superiority and effectiveness of the designed control method.

关键词： quadrotor unmanned aerial vehicles unknown deception attack backstepping Nussbaum function

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A Ducted Fan UAV for Safe Aerial Grabbing and Transfer of Multiple Loads Using Electromagnets

A Ducted Fan UAV for Safe Aerial Grabbing and Transfer of Mu...

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2024 International Conference on Intelligent Robots and systems

作者： Yin, Zhong Pei, Hailong South China Univ Technol Guangdong Engn Technol Res Ctr Unmanned Aerial Ve Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp payloads. However, current widely adopted flying platforms pose safety hazards: unprotected high-speed rotating propellers can cause harm to the surroundings. Additionally, the space for carrying payloads on the fuselage is limited, and the restricted position of the payload also hinders efficient grasping. To address these issues, this paper presents a coaxial ducted fan UAV which is equipped with electromagnets mounted externally on the fuselage, enabling safe grasping and transfer of multiple loads in midair without complex additional actuators. It also has the capability to achieve direct human-UAV cargo transfer in the air. The forces acting on the loads during magnetic attachment and their influencing factors were analyzed. An ADRC controller is utilized to counteract disturbances during grasping and achieve attitude control. Finally, flight tests are conducted to verify the UAV's ability to directly grasp multiple loads from human hands in flight while maintaining attitude tracking.

关键词： Unmanned aerial vehicles (UAV)

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Pitch angle and altitude control for unmanned helicopter based on new approximation-free control

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REVIEW OF SCIENTIFIC INSTRUMENTS 2024年第11期95卷 115104页

作者： Jiang, Haixiang Yang, Hao Cen, Jian Gou, Xinpan Chen, Yuji Guangdong Polytech Normal Univ Sch Automat Guangzhou 51000 Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 51000 Peoples R China

This article introduces an enhanced non-approximated control technique for the pitch and altitude control systems of unmanned helicopters. It takes into account unpredictable external disturbances and system dynamics. The integration of prescribed performance control into unmanned helicopter systems significantly improves the transient and steady-state response capabilities. This approach avoids the computational complexities often associated with neural networks and fuzzy control methods. By avoiding the need for function approximation, which can introduce inaccuracies and computational overhead, the controller design process is streamlined. This method's simplicity and ability to handle unknown disturbances make it highly suitable for real-world implementation, where robustness and efficiency are paramount. Finally, simulations are conducted to showcase the improved transient and steady-state response capabilities achieved by the proposed approach.

关键词： Fuzzy control

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Periodically intermittent control for stochastic nonlinear delay systems with dynamic event-triggered mechanism

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2023年第16期33卷 9665-9683页

作者： Liu, Xiongding Deng, Feiqi Wei, Wu Wan, Fangzhe Yu, Peilin South China Univ Technol Sch Automat Sci & Engn Guangzhou Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou Peoples R China

In this article, the mean-square exponential stability of the stochastic nonlinear delay systems with dynamic event-triggered mechanism under periodically intermittent control scheme is concerned. First, to avoid Zeno behavior, the triggered mechanism contains with a fixed positive lower bound for the inter-execution time is constructed. Then, an auxiliary system with dynamic event-triggering mechanism under continuous control is introduced. Combining the Lyapunov theorem with Halanay inequality, the sufficient conditions and the mean-square exponential stability of the auxiliary system are obtained. In addition, by using the comparison theorem, the exponential stability of the system under intermittent control is also proved. Meanwhile, the lower bound of the duty cycle for a fixed period under intermittent controller is obtained. Furthermore, we apply the theoretical results to the consensus of stochastic nonlinear delay networked multi-agent systems (MASs) with dynamic event-triggered mechanism. Finally, numerical examples are given to verify the effectiveness of the proposed methods.

关键词： dynamic event-triggered mean-square exponential stability multi-agent systems periodically intermittent control stochastic delay systems

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Prescribed Time Attitude Tracking control of Unmanned Aerial Vehicles Under Unknown Attacks and Input Saturation 18

Prescribed Time Attitude Tracking Control of Unmanned Aerial...

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IEEE 18th International Conference on control and Automation (ICCA)

作者： Wang, Liping Pei, Hailong South China Univ Technol Guangdong Engn Technol Res Ctr Unmanned Aerial Ve Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510641 Peoples R China

ISBN: (纸本)9798350354416;9798350354409

This paper addresses the prescribed time performance attitude tracking control problem of un-manned aerial vehicles under unknown attacks and input saturation. The attitude error dynamic model is constructed under the framework of Lie group SO(3). By integrating a prescribed time performance function with coordinate transformation, the tracking error can remain within a given region in a prescribed time. In the backstepping design process, a first-order sliding mode differentiator is given to overcome the explosion of complexity problem, and nonlinear disturbance observer is developed to deal with the unknown attacks and input saturation. A prescribed time performance attitude tracking control method is designed to ensure that all of the closed-loop signals are bounded. Finally, the superiority and effectiveness of the designed controller are stated by the simulation results.

关键词： Lie groups

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autonomous Cooperative Hunting with Rule-Based and Self-Learning control for Multiagent systems

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JOURNAL OF INTELLIGENT & ROBOTIC systems 2024年第4期110卷 160页

作者： Luo, Jiaxiang Xu, Bozhe Li, Xiangyang Yao, Zhannan South China Univ Technol Sch Automat Sci & Engn Guangzhou Peoples R China Minist Educ Engn Ctr Precis Elect Mfg Equipment Guangzhou Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China

This paper considers the problem of autonomous cooperative hunting in an unknown dynamic environment, where a group of mobile agents collaborate to capture a moving target. Due to the decentralized decision-making nature of multi-agent systems and the presence of real-world constraints, it is a challenging task. To solve this problem, an artificial rule based hunting algorithm (AR-HA) is firstly developed based on the principles of attraction and repulsion with heading adjustment, and each agent is controlled by the designed rules. Then, to further enhance the stability of cooperative hunting, a self-learning algorithm based on Twin Delayed Deep Deterministic policy gradient (SL-TD3) is proposed. Each agent is governed by its own SL-TD3 controller and learns independently from its interaction with the environment, taking advantage of the reward function designed based on the control rules of AR-HA. Besides, in order to improve training efficiency, imitation learning is employed to initialize the actor network. Experiments on both virtual and real robots demonstrate the effectiveness of the proposed algorithms for autonomous cooperative hunting.

关键词： Multiagent system Cooperative control Reinforcement learning Imitation learning Collision avoidance

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Interval estimator for uncertain descriptor systems: a block diagonal transformation-based solution

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ASIAN JOURNAL OF control 2023年第2期25卷 1271-1281页

作者： Liu, Longwen Xie, Wei Zhang, Langwen South China Univ Technol Coll Automat Sci & Technol Guangzhou 510641 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou Peoples R China Minist Educ Key Lab Syst Control & Informat Proc Shanghai Peoples R China

This paper investigates an interval observer (IO) design technique for a class of continuous-time descriptor systems with bounded uncertainties. By adopting a block diagonal transformation, these constraints on the descriptor system cooperativity and the system sensor noise are well relaxed under a framework of the descriptor IO dynamic structure. Moreover, the sufficient existence condition of the descriptor IO for any descriptor system more than just the detectable or regular ones is formulated as the rank condition. By means of the elementary transformation, the rank condition is further transformed into a set of constrained matrix equations, and a valid constructive design algorithm is proposed under the stepwise parameter design process. Finally, the correctness and superiority of the obtained methods are illustrated through two simulation examples.

关键词： block transformation bounded uncertainties descriptor system interval observer

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A novel hybrid optimization method of shuffled frog leaping algorithm and particle swarm optimization

A novel hybrid optimization method of shuffled frog leaping ...

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2nd International Conference on key Engineering Materials and Computer Science, KEMCS 2013

作者： Lin, Meijin Luo, Fei Xu, Yuge Luo, Long Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Technology South China University of Technology Gangdong Guangzhou 510641 China Foshan university Guangdong Foshan 528000 China

ISBN: (纸本)9783037857274

Shuffled frog leaping algorithm (SFLA) is a meta-heuristic algorithm, which combines the social behavior technique and the global information exchange of memetic algorithms. But the SFLA has the shortcoming of low convergence speed while solving complex optimization problems. Particle swarm optimization (PSO) is a fast searching algorithms, but easily falls into the local optimum for the diversity scarcity of particles. In the paper, a new hybrid optimization called SFLA-PSO is proposed, which introduced PSO to SFLA by combining the fast search strategy of PSO and global search strategy of SFLA. Six benchmark functions are selected to compare the performance of SFLA-PSO, basic PSO, wPSO and SFLA. The simulation results show that the proposed algorithm SFLA-PSO possesses outstanding performance in the convergence speed and the precision of the global optimum solution. © (2013) Trans Tech Publications, Switzerland.

关键词： Particle swarm optimization (PSO)

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Reduced-order interval observer design for continuous-time descriptor LPV systems with uncertainties

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INTERNATIONAL JOURNAL OF control 2023年第10期96卷 2515-2526页

作者： Liu, Long-Wen Xie, Wei Zhang, Lang-Wen South China Univ Technol Coll Automat Sci & Technol Guangzhou Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou Peoples R China Minist Educ Key Lab Syst Control & Informat Proc Shanghai Peoples R China

In this paper, a reduced-order interval observer (R-IO) design technique is developed for continuous-time descriptor linear-parameter-varying systems with unknown-but-bounded uncertainties. First, by introducing an intermediate variable, the R-IO design amounts to estimating the linear functional of the system states. Then, with a parameter-dependent Luenberger-like structure, the R-IO existence condition is eventually formulated into a set of differential-algebraic equations, not involving any linear transformation process. Further, a parametric solution to such an R-IO is derived through solving the equation set, which clearly shows the design degrees of freedom. Finally, the correctness of the proposed results is verified by a numerical system and an electrical circuit system.

关键词： Interval estimation reduced-order observer descriptor LPV system parametric method

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