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Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

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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Modeling and free vibration analysis of sandwich folded cantilever trapezoidal plate with variable thickness based on FSDT

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Mechanics of Advanced Materials and Structures 2025年

作者： Yang, Shaowu An, Ran Yang, Hailong College of Mechanical Engineering & Beijing Key Laboratory of Measurement and Control of Mechanical and Electrical System Beijing Information Science and Technology University Beijing China Institute of Engineering Thermophysics Chinese Academy of Sciences Beijing China

The variable-thickness folded wing structure is simplified in this study as a variable-thickness folded cantilever trapezoidal sandwich plate laminated with porous foam metal aluminum and carbon fiber, and its free vibration properties are investigated. Based on the first-order shear deformation theory (FSDT), the motion and boundary conditions equations are derived using Hamilton’s principle. The coordinate transformation and mapping relations are used to convert the equations of motion into new coordinates. Finally, the intrinsic frequency is calculated using the Galerkin approach. A comparison with other literature is conducted to ensure that the model and calculation approach are correct and accurate. The effects of the studied parameters on the intrinsic frequency are investigated, including the porosity distribution coefficient, the folding angle, the side lengths and angles of the trapezoidal shape, and the slope of the variable thickness function to provide referable design data for future aircraft wings. It can be observed that changes in the properties of porous foam metal materials have a relatively minor impact on the system’s inherent frequency, whereas variations in geometric dimensions significantly influence the in-plane modes of the system, thereby substantially affecting the inherent frequency. These modal variations include modal transformation and modal mutation. © 2025 Taylor & Francis Group, LLC.

关键词： Metal foams

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H_∞ consensus control of a class of second-order multi-agent systems without relative velocity measurement

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Chinese Physics B 2010年第7期19卷 188-192页

作者：张文广曾德良郭振凯 Beijing Key Laboratory of Measurement and Control New Technology and System for Industrial Process Control & Computer Engineering SchoolNorth China Electric Power University School of Mathematics and Information Ludong University

This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.

关键词： consensus control H∞ second-order multi-agent systems

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Self-supervised Depth Completion with Adaptive Online Adaptation 23

Self-supervised Depth Completion with Adaptive Online Adapta...

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7th International Conference on Machine Learning and Soft Computing, ICMLSC 2023

作者： Chen, Yang Tan, Yang Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China

ISBN: (纸本)9781450398633

Although depth completion has achieved remarkable performance relying on deep learning in recent years, these models tend to suffer a performance degradation when exposed to new environments. Online adaptation, where the model is trained in a self-supervised manner during testing, seems a promising technique to alleviate the drop. However, continuous online adaptation may cause the model to over-adapt and miss the optimal parameters, resulting in oscillation or even degradation of the model performance, in addition to wasting computational resources. Therefore, this paper proposes an adaptive online adaptation framework to make model adaptively trigger online adaptation when encountering novel environments and stop adaptation when model has adapted to the current environment. In detail, we design a trigger to detect the familiarity of model to the current scenario based on image similarity and then launch online adaptation when the scenario is novel. Besides, we elaborate a stopper to monitor the error between prediction and depth input and convert online adaptation to inference when online adaptation does not bring improvement for model. Experimental results demonstrate that our method improves the accuracy of model prediction and increases average running speed of the model on each frame in online adaptation. © 2023 ACM.

关键词： Deep learning

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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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STATE FEEDBACK STABILIZATION FOR A CLASS OF NONLINEAR TIME-DELAY systemS VIA DYNAMIC LINEAR controlLERS

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Journal of systems Science & complexity 2014年第3期27卷 453-462页

作者： CHAI Lin QIAN Chunjiang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Department of Electrical and Computer Engineering University of Texas at San AntonioSan AntonioTX 78249USA

The dynamic linear state feedback control problem is addressed for a class of nonlinear systems subject to ***,using the dynamic change of coordinates,the problem of global state feedback stabilization is solved for a class of time-delay systems under a type of nonhomogeneous growth *** the aid of an appropriate Lyapunov-Krasovskii functional and the adaptive strategy used in coordinates,the closed-loop system can be globally asymptotically stabilized by the dynamic linear state feedback *** growth condition in perturbations are more general than that in the existing *** correctness of the theoretical results are illustrated with an academic simulation example.

关键词： Dynamic linear controller global stabilization nonlinear time-delay systems state feed-back control.

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A game theoretical approach for distributed resource allocation with uncertainty

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International Journal of Intelligent Computing and Cybernetics 2017年第1期10卷 52-67页

作者： Lei Xue Changyin Sun Fang Yu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast UniversityNanjingPeople’s Republic of China

Purpose-The paper aims to build the connections between game theory and the resource allocation problem with general *** proposes modeling the distributed resource allocation problem by Bayesian *** this paper,three basic kinds of uncertainties are ***,the purpose of this paper is to build the connections between game theory and the resource allocation problem with general ***/methodology/approach-In this paper,the Bayesian game is proposed for modeling the resource allocation problem with *** basic game theoretical model contains three parts:agents,utility function,and decision-making ***,the probabilistic weighted Shapley value(WSV)is applied to design the utility function of the *** achieving the Bayesian Nash equilibrium point,the rational learning method is introduced for optimizing the decision-making process of the ***-The paper provides empirical insights about how the game theoretical model deals with the resource allocation problem uncertainty.A probabilistic WSV function was proposed to design the utility function of ***,the rational learning was used to optimize the decision-making process of agents for achieving Bayesian Nash equilibrium *** comparing with the models with full information,the simulation results illustrated the effectiveness of the Bayesian game theoretical methods for the resource allocation problem under ***/value-This paper designs a Bayesian theoretical model for the resource allocation problem under *** relationships between the Bayesian game and the resource allocation problem are discussed.

关键词： Game theory Multi-agent systems Bayesian games Resource allocation under uncertainty Paper type Research paper

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Secure Encoding Scheme for Consensus of Second-order Multi-Agent systems 41

Secure Encoding Scheme for Consensus of Second-order Multi-A...

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第41届中国控制会议

作者： Bingya Zhao Ya Zhang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

We consider the problem of consensus of a second-order multi-agent system in the situation where an eavesdropper tends to impact the security of the network.A secure encoding scheme that guarantees both consensus and security of the multiagent network is *** the network,the agents transmit messages to one another through digital channels,and there exists an eavesdropper whose aim is to overhear the state information of the agents in the *** of transmitting the states of themselves,the agents in the network send states of auxiliary systems to defend against the *** concept of topological entropy is utilized to restrict the eigenvalues of the encoding matrix.A sufficient condition is given to guarantee that the network achieves consensus,and the eavesdropper cannot get the accurate estimation of the state of any agent.A simulation example is given to show the performance of the agents and the eavesdropper under the designed encoding scheme.

关键词： Multi-agent system secure encoding scheme consensus topological entropy maximum transmission rate

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Distributed Detectability and Filter Design in Homogeneous Sensor Networks 33

Distributed Detectability and Filter Design in Homogeneous S...

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第三十三届中国控制会议

作者： ZHANG Ya TIAN Yu-Ping School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

This paper studies distributed filtering problem of homogeneous sensor *** part of sensors can get observations of the process and consensus based filters are *** the distributed detectability and the suboptimal filter design are *** converting the stability problem of estimation errors of sensors under time-varying topologies to the robust stability problem of some uncertain system,two sufficient distributed detectability conditions are *** is LMI-based and the other is given by the eigenvalues of the process matrix and Laplacian matrices.A suboptimal algorithm to design the consensus based filter gains is proposed and the convergence of the algorithm is *** examples are given to illustrate the results.

关键词： Distributed filter,Detectability,Consensus,Multi-agent systems,Sensor networks

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Model Predictive Tracking control for Rigid Manipulators with Disturbance Rejection 41

Model Predictive Tracking Control for Rigid Manipulators wit...

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第41届中国控制会议

作者： Yihui Lu Linyan Han Jinhao Liu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence of disturbances will lead to poor control accuracy and even *** a two-degree-of-freedom(2-DoF) rigid manipulator,a composite algorithm combing model predictive control(MPC) and a generalized proportional integral observer(GPIO) is *** the proposed method,feedback linearization technology is used to decouple the *** order to improve the ability of disturbance rejection,a GPIO is used to estimate the lumped disturbances and the estimated values are added to the control law by feedforward *** is conducted to validate the proposed algorithm.

关键词： Model Predictive control(MPC) Manipulator Generalized Proportional Integral Observer(GPIO) Feedback Linearization

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