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Distributed formation-aggregation control algorithm for a cluster of quadrotors

Journal of the Franklin Institute 2023年第3期360卷 1560-1581页

作者： Sun, Yongbin Li, Jiayi Wang, Zixuan He, Xiuyu Fu, Qiang Zou, Yao School of Automation Science and Electrical Engineering Beihang University Beijing100191 China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing100083 China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing100083 China

This paper focuses on the solution to a formation-aggregation problem concerned with a cluster of quadrotors. In particular, all the quadrotors are steered towards a target region while reaching an expected formation configuration. However, only a subset of quadrotors, treated as leaders, have access to the projections onto the target region;and in the meantime, each quadrotor just exchanges information with its neighbors. It is assumed that the quadrotors without the knowledge of the target region, treated as followers, are within the convex hull of the leaders in the expected configuration. A distributed formation-aggregation control algorithm is proposed under the hierarchical framework. To be specific, resorting to an auxiliary dynamic system with a distributed idea, a command force is first synthesized in the position loop for the concerned formation-aggregation objective. Next, an applied thrust and a command attitude are extracted from the synthesized command force. Finally, an applied torque is synthesized in the attitude loop such that the attitude tracking to the command one is realized. In terms of the Lyapunov theory, it is shown that the leaders are capable of guiding the overall quadrotor cluster into the target region in the expected configuration. Simulations are carried out to validate the theoretical results. © 2022 The Franklin Institute

关键词： Computer networks

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Modeling and Virtual Simulation Environment Design for Falcon-Like Flapping-Wing Aircraft

Modeling and Virtual Simulation Environment Design for Falco...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Zhao, Xuena Liu, Zhijie Li, Guang He, Wei Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education China School of Intelligence Science and Technology China Beijing100083 China School of Engineering and Materials Science Queen Mary University of London London United Kingdom

ISBN: (纸本)9798350337020

bionic flapping-wing aircraft is a strongly coupled and underactuated system, and its dynamic modeling and intelligent control are still a major challenge. In this paper, we develop an 3-dimensional dynamic model for the flapping-wing aircraft designed by our team. The aerodynamic performance of the wing is analysed by the blade element method and a theoretical calculation model is obtained. Based on wind tunnel experiment, an aerodynamic model is identified for the V-Tail, the attitude control ruddervators. Further, we build a virtual simulation environment based on gym, which is verified by the outdoor flight data. This work provides the basis for intelligent control of flapping wing aircraft. © 2023 IEEE.

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Adaptive control of an axially moving beam with actuator failure

Adaptive control of an axially moving beam with actuator fai...

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第43届中国控制会议

作者： Xueli Liu Shuang Zhang Nan Feng Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of EducationUniversity of Science and Technology Beijing Institute of Artificial Intelligence University of Science and Technology Beijing

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper introduces an adaptive boundary control scheme proposed for moving beam systems,considering both actuator faults and boundary disturbances. The adaptive control law is constructed to reduce the vibration of the moving beam by using backstepping technique and an auxiliary variable. The examination of stability of the moving beam system,incorporating both actuator fault and boundary disturbance,is conducted through the application of the Lyapunov energy function ***,the proposed adaptive control scheme is validated for its effectiveness through simulation analyses.

关键词： Adaptive control actuator failure moving beam

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Imitation Learning of Robotic Arm with Hierarchical Training Based on Human Videos

Imitation Learning of Robotic Arm with Hierarchical Training...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jichuan Liu Jun Shi Jingyi Hou Zhijie Liu Wei He Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China Chinese Aeronautical Establishment Beijing P. R. China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

Human videos encapsulate a diverse spectrum of operational behaviors, serving as invaluable pedagogical resources for imitation learning. In this paper, we introduce an algorithmic framework aimed at emulating expert operational skills gleaned from human videos. The proposed algorithm computes the positional movements of individual steps within a robotic arm by quantifying the disparities between successive frames of the videos, which enables the emulation of skills exhibited in the demonstrations. In detail, we begin by utilizing image translation to seamlessly transition human demonstrations into the realm of the robotic arm, mitigating morphological differences across the multi-joint mechanical structure. Subsequently, we incorporate a keypoint detection network to extract structured information from the transformed images, generating a latent representation that encapsulates motion details for the learning process of the policy network. Experimental results affirm the efficacy of our approach in replicating operational skills.

关键词： Training Automation Imitation learning Semantics Emulation Manipulators Feature extraction

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Spatial adaptivity with boundary refinement for smoothed particle hydrodynamics fluid simulation

Spatial adaptivity with boundary refinement for smoothed par...

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作者： Xu, Yanrui Song, Chongming Wang, Xiaokun Ban, Xiaojuan Wang, Jiamin Zhang, Yalan Chang, Jian School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China Beijing Key Laboratory of Knowledge Engineering for Materials Science University of Science and Technology Beijing Beijing China National Centre for Computer Animation Bournemouth University Poole United Kingdom Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China

Fluid simulation is well-known for being visually stunning while computationally expensive. Spatial adaptivity can effectively ease the computational cost by discretizing the simulation space with varying resolutions. Adaptive methods nowadays mainly focus on the mechanism of refining the fluid surfaces to obtain more vivid splashes and wave effects. But such techniques hinder further performance gain under the condition where most of the vast fluid surface is tranquil. Moreover, energetic flow beneath the surface cannot be adequately captured with the interior of the fluid still being simulated under coarse discretization. This article proposes a novel boundary-distance based adaptive method for smoothed particle hydrodynamics fluid simulation. The signed-distance field constructed with respect to the coupling boundary is introduced to determine particle resolution in different spatial positions. The resolution is maximal within a specific distance to the boundary and decreases smoothly as the distance increases until a threshold is reached. The sizes of the particles are then adjusted towards the resolution via splitting and merging. Additionally, a wake flow preservation mechanism is introduced to keep the particle resolution at a high level for a period of time after a particle flows through the boundary object to prevent the loss of flow details. Experiments show that our method can refine fluid–solid coupling details more efficiently and effectively capture dynamic effects beneath the surface. © 2023 The Authors. Computer Animation and Virtual Worlds published by John Wiley & Sons Ltd.

关键词： Hydrodynamics

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Boundary control of a telescopic beam with elastic joints

Boundary control of a telescopic beam with elastic joints

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Tingting Meng Zhiji Han Xuena Zhao Shuang Zhang School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In this paper, an investigation is conducted on a beam system with elastic joints and a retractable configuration. Building upon the dynamics of the beam system, the dynamic characteristics of the retractable interface are comprehensively analyzed. The mathematical model of the system is established using the Hamiltonian principle. Subsequently, a boundary control stabilization system is designed based on the Lyapunov stability analysis theory. Finally, the designed controller’s effectiveness and the system’s ultimate stable state are validated through numerical simulations.

关键词： Automation Buildings Numerical simulation control systems Mathematical models Stability analysis Numerical models

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L₁ Adaptive control-Based Formation Tracking of Multiple Quadrotors Without Linear Velocity Feedback Under Unknown Disturbances

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IEEE Transactions on Automation Science and Engineering 2024年 22卷 5804-5815页

作者： Yang Hu Zhiqiang Miao Yaonan Wang Haoming Tang Xiangke Wang Wei He College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Changsha China College of Intelligence Science and Technology National University of Defense Technology Changsha China School of Intelligence Science and Technology and the Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China

This paper addresses the problem of formation control for a quadrotor swarm (QS) system with directed graph topology under external environmental disturbances and unreliable internal state acquisition. The proposed distributed robust control framework, based on a gemetric controller, incorporates ${\mathcal {L}}_control$ adaptive controllers and differentiator systems. First, the geometric formation controller is designed to implement the formation control of the nominal system. Then, ${\mathcal {L}}_control$ adaptive controllers are designed separately for each quadrotor’s position loop and attitude loop subsystems to address the effects of uncertainties such as external time-varying disturbances (matched and unmatched disturbances) and different mass variations of quadrotors. Furthermore, the differentiator system is devised to accurately estimate the higher-order derivatives of the non-directly-measurable velocity information and the virtual translation control signal, which enhances system accuracy while reducing computational complexity. The Lyapunov stability theory is employed to analyze the stability of the closed-loop system. Finally, the effectiveness and exceptional performance of this approach in QS formation control were validated through numerical simulation and experimental results. Note to Practitioners—The inspiration for this article comes from the issue of formation control in a cluster of quadrotor drones, which is also applicable to formation control in other types of drones. In this paper, a formation control algorithm based on ${\mathcal {L}}_control$ adaptive control strategy and arbitrary-order differentiation is designed. This algorithm can address not only the issue of time-varying wind disturbances frequently encountered during quadrotor drone flights but also the effects of unpredictable velocities and inconsistent masses of quadrotor drones. The disturbance rejection capability of this scheme enables quadrotor drones to be applied more safely and r

关键词： Quadrotors Formation control Adaptive control Topology Drones Autonomous aerial vehicles Uncertainty

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A linearization method for quadruped robots based on centroidal kinematics

A linearization method for quadruped robots based on centroi...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Weiqun Fan Pengxin Yang Nan Feng Shuang Zhang School of Intelligence Science and Technology University of Science and Technology Beijing Beijing P. R. China Institute of Artificial Intelligence University of Science and Technology Beijing China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In this article, for a three degree of freedom elbow quadruped robot, we first focus on linearizing the translational and rotational kinematic models of the quadruped robot, and retain more linearization terms to ensure the accuracy of the model. Furthermore, a model predictive controller is designed and the optimal ground reaction force of the supporting leg is solved using quadratic programming. Finally, simulations were designed for different gait types to verify the algorithm.

关键词： Legged locomotion Accuracy Tracking Heuristic algorithms Dynamics Kinematics Predictive models

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Modeling and Virtual Simulation Environment Design for Falcon-Like Flapping-Wing Aircraft

Modeling and Virtual Simulation Environment Design for Falco...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xuena Zhao Zhijie Liu Guang Li Wei He Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing (USTB) Beijing China School of Engineering and Materials Science Queen Mary University of London London UK

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Resilient Formation control Based on Watermarks for Networked Quadrotors under Deception Attacks

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhan, Weiwei Miao, Zhiqiang Zeng, Jianxin Chen, Yanjie Wu, Zheng-Guang He, Wei Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China Fuzhou University School of Mechanical Engineering and Automation Fuzhou350108 China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha410082 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China University of Science and Technology Beijing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence Beijing100083 China

This article addresses the problem of formation control of networked UAVs under deception attacks. A lightweight resilient formation control framework based on watermarks is proposed to achieve the desired formation configuration without extra monitoring attack status. Since deception attacks are covert, the shared information is watermarked before transmission to establish the protocol among networked UAVs. To facilitate the resilient formation controller design, a decoder is first developed to decipher the inverse transformation of deception attacks, where the watermark is the criterion for approximating the inverse transformation. The Gauss error function is introduced to eliminate some unrealistic input commands under deception attacks, obtaining the predefined input performance. Then, a resilient formation controller is developed to guarantee the global boundedness of all signals within the inner-loop and outerloop system, while the formation error converges to a small neighborhood of zero by solving the linear matrix inequality. Two challenging deception attack examples in simulations and experiments are conducted to verify the effectiveness and performance of the proposed resilient formation control framework. © 1967-2012 IEEE.

关键词： Inverse transforms

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