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Behavior-based cooperative control method for fixed-wing UAV swarm through a virtual tube considering safety constraints

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Chinese Journal of Aeronautics 2025年

作者： Siyi YUE Duo ZHENG Mingjun WEI Zhichen CHU Defu LIN School of Astronautics Engineering Beijing Institute of Technology Beijing 100081 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Yungang Street Beijing 100074 China

Unmanned Aerial Vehicle (UAV) swarm collaboration enhances mission effectiveness. However, fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments. Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment, this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints. Considering the fixed-wing UAV swarm flight problem in complex environment, a virtual tube model based on generator curve is established. The tube keeping, centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary. On this basis, a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace. This cooperative control method eliminates the need for respective pre-planned trajectories, reduces communication requirements, and achieves a high level of intelligence. Simulation results show that the proposed behavior-based UAV swarm cooperative control method is able to make the fixed-wing UAV swarm, which is faster and unable to hover, fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes, and the spacing between the UAVs is larger than the minimum safe distance during the flight.

关键词： Unmanned aerial vehicles (UAV) UAV swarm Distributed cooperative control Swarm flight safety Behavior-based method Virtual tube airspace

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Attitude control of Multiple Rigid Bodies with Uncertainties and Disturbances

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 2-10页

作者： Yuanqing Xia Ning Zhou Kunfeng Lu Yong Li the School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology the Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopted to reject the uncertainties and disturbances. Using the Lyapunov approach and graph theory, it is shown that the control laws can guarantee a group of rigid bodies to track the desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid bodies in the formation. Simulation examples are provided to illustrate the feasibility and advantage of the control algorithm. © 2014 Chinese Association of Automation.

关键词： Adaptive control systems Algorithms Attitude control Environmental regulations Graph theory Rigid structures Sliding mode control Synchronization

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Autonomous Tracking control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit

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Journal of Beijing Institute of Technology 2020年第4期29卷 466-473页

作者： Jing Li Qingbin Wu Junzheng Wang Hui Qin Jiehao Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of TechnologyBeijing 100081China

Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent *** this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering *** on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are *** the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference *** experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.

关键词： autonomous tracking control four-wheel independent steering robot pure pursuit lateral error

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

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Sliding angle reconstruction and robust lateral control of autonomous vehicles in presence of lateral disturbance

Sliding angle reconstruction and robust lateral control of a...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2009

作者： Hao, Fang Lihua, Dou Jie, Chen Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 Beijing China

ISBN: (纸本)9781424438044

In this paper the problem of path following control of autonomous vehicles subject to sliding is addressed. First a kinematic model is built which takes sliding effects into account by introducing two additional tire sliding angles. Since the tire sliding angles cannot be directly measured by sensors, an adaptive robust Luenberger observer is designed. With this observer, the tire cornering stiffness instead of the sliding angles is identified in presence of time-varying lateral disturbance. The Lyapunov stability theory guarantees that the estimated cornering stiffness would converge to a neighborhood of the real value when control inputs excitated the system persistently. But due to the existence of the lateral disturbance which causes loss of accuracy of the sliding angle reconstruction, the previously designed anti-sliding controller whose effectiveness completely depends on the estimation of the sliding angles cannot yield satisfactory results. To overcome this problem a tire-oriented kinematic model is built in which the inaccuracy of the sliding angle reconstruction is modeled in form of additive disturbances to the kinematic model. By transforming the tire-oriented kinematic model into a perturbed chained system, a sliding mode controller, which is robust to both the sliding effects and the negative effects of the lateral disturbance is designed with the help of the natural algebraic structure of the chained systems. Simulation results show that the proposed methods can provide accurate estimation of the sliding angles and guarantee high anti-sliding control accuracy even in presence of time-varying lateral disturbance. © 2009 IEEE.

关键词： Tires

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Unsupervised Learning of Gaussian Mixture Model with Application to Image Segmentation

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电子学报(英文版) 2010年第3期19卷 451-456页

作者： LI Bo LIU Wenju DOU Lihua School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China

Density estimation via Gaussian mixture modeling has been successfully applied to image segmentation, speech processing and other fields relevant to clustering analysis and Probability density function (PDF) modeling. Finite Gaussian mixture model is usually used in practice and the selection of number of mixture components is a significant problem in its application. For example, in image segmentation, it is the donation of the number of segmentation regions. The determination of the optimal model order therefore is a problem that achieves widely attention. This paper proposes a degenerating model algorithm that could simultaneously select the optimal number of mixture components and estimate the parameters for Gaussian mixture model. Unlike traditional model order selection method, it does not need to select the optimal number of components from a set of candidate models. Based on the investigation on the property of the elliptically contoured distributions of generalized multivariate analysis, it select the correct model order in a different way that needs less operation times and less sensitive to the initial value of EM. The experimental results show the effectiveness of the algorithm.

关键词：高斯混合模型图像分割无监督学习应用概率密度函数椭球等高分布模型估计高斯密度

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Short-term PV generation system direct power prediction model on wavelet neural network and weather type clustering

Short-term PV generation system direct power prediction mode...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yang, Ying Dong, Lei School of Automation Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9780769550114

With the increase of the capacity of PV generated systems, how to eliminate the problem caused by the randomness of power output for photovoltaic system becomes more significant. Most of the existing photovoltaic prediction is Based on the solar radiation. However, it's difficult to implement in China due to insufficient solar radiation station available and poor forecasting performance. In addition, indirect forecasting cannot consider the factors related with PV system. A novel power forecasting model using historical power is proposed to solve the problems. Furthermore, in order to adapt sudden weather changes, the future weather type was recognized by using self-organizing feature map(SOM). Then, PV power generation in each weather type could be forecasted from its corresponding forecast network and the over fitting issue of single network model could be addressed. Wavelet neural network is combined with wavelet analysis and neural network. It is compatible with the good time-frequency property and good fault tolerant ability of neural network. Wavelet neural network can optimize the forecasting model. The experimental results indicate that the prediction has high precision and can be applied in stable operation of photovoltaic generation system. © 2013 IEEE.

关键词： Solar radiation

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Dependency-Enhanced Reordering Model for Chinese-English SMT 35

Dependency-Enhanced Reordering Model for Chinese-English SMT

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第35届中国控制会议

作者： WANG Miaomiao XIE Guo DU Jinhua Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781509009107

This paper proposes a dependency-enhanced pre-reordering method for Chinese-English statistical machine translation(SMT).Firstly,two kinds of dependency structure-based rules are extracted based on the source-side dependency tree and corresponding word alignments between the source-side and the target-side *** a maximum entropy classifier is used to calculate the orientation probability in terms of swap or monotone between two *** a result,a reordering rule set is *** different ways are proposed to filter out the rule ***,the dependency parsing trees of the training data,development set and the test set are traversed,and if the syntactic sub-tree structure matches the rules in the rule set,the word orders will be ***,a reordered source-side sentence is generated and then fed into an SMT system for *** conducted on NIST Chinese-English MT data sets show that the proposed method significantly improves translation performance by 0.46 BLEU compared to the baseline system.

关键词： Statistical Machine Translation Word Alignment Dependency Syntactic Parsing

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A Positioning Algorithm of Autonomous Car Based on Map-matching and Environmental Perception 33

A Positioning Algorithm of Autonomous Car Based on Map-match...

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第三十三届中国控制会议

作者： XU Qian WANG Meiling DU Zhifang ZHANG Yi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Chongqing Jialing Huaguang Photoelectric Technology Co.Ltd.

ISBN: (纸本)9789881563842

Autonomous car is an important tool for transportation and military in the future,and its precise positioning is the basis of autonomous *** positioning algorithms based on map-matching for autonomous car make little use of environmental perception *** solve this problem,a positioning algorithm is proposed in this paper,which is based on map-matching and environmental perception for autonomous *** algorithm includes macroscopic road matching and microscopic precise *** for macroscopic road matching,the algorithm makes use of computational geometry to match the position of autonomous car to the corresponding road,based on GPS point and map information of the road *** for microscopic precise positioning,the algorithm makes use of the environmental perception,which is detected by the autonomous car to make precise *** road matching provides matching road to microscopic precise positioning,and microscopic precise positioning eliminates gross error produced in macroscopic road *** real car tests,the algorithm can match map quickly,improving the positioning precision with strong real-time.

关键词： Autonomous car,Map-matching,Environmental perception,Computational geometry

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Design and Implementation of the Knowledge Base for Battlefield Task Management system 33

Design and Implementation of the Knowledge Base for Battlefi...

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第三十三届中国控制会议

作者： Zhang Jia Wang Xiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

ISBN: (纸本)9781479947249

In order to reduce the operators on the battlefield, and obtain adequate knowledge and improve reaction speed to enhance combat efficiency, the paper builds a knowledge base of battlefield mission management system to manage a variety of required knowledge on the battlefield and supervise each mission profile. Knowledge is presented by production method and is reasoned by forward reasoning method. According to different levels of battlefield tasks, task links are used to organize knowledge. Take combat preparation mission profile as an example, we design every data sheet of the knowledge base. The knowledge base of the battlefield management system could enhance the reusability, sharing and timeliness of knowledge on the battlefield.

关键词： Battlefield Task Management Knowledge Base Task Links Mission Profile

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