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Fault-tolerant cooperative control for multiple UAVs based on sliding mode techniques

Science China(Information Sciences) 2017年第7期60卷 54-66页

作者： Peng LI Xiang YU Xiaoyan PENG Zhiqiang ZHENG Youmin ZHANG College of Mechatronics Engineering and Automation National University of Defense Technology Department of Mechanical and Industrial Engineering Concordia University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University

This paper proposes a fault-tolerant cooperative control(FTCC) design approach for multiple unmanned aerial vehicles(UAVs), where the outer-loop control and the inner-loop fault accommodation are explicitly considered. The reference signals for the inner-loop of the follower UAV can be directly produced by resorting to a proportional control. In the presence of actuator faults, the estimation of the fault information can be completed within finite time. Moreover, the control of the inner-loop is reconfigured based on the fault information adaptation and sliding mode techniques, such that the deleterious effects due to failed actuators can be compensated within finite time. Simulations of UAV cooperative flight are conducted to illustrate the effectiveness of this FTCC scheme.

关键词： fault-tolerant cooperative control unmanned aerial vehicle actuator faults finite-time fault ac commodation

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Design and control of multiple wing-sail land yacht robot 15

Design and control of multiple wing-sail land yacht robot

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15th IEEE International Conference on mechatronics and automation, ICMA 2018

作者： Chen, Jiqing Ye, Zhou Yang, Rong Cai, Ganwei Li, Jing Li, Hengyu College of Mechatronic Engineering Guangxi University Guangxi Manufacturing System and Advanced Manufacturing Technology Key Laboratory 100 East University Road Nanning Guangxi China School of Mechatronics Engineering Automation Shanghai University 149 Yanchang Road Zhabei District Shanghai China

ISBN: (纸本)9781538660720

More and more robots are applied to scientific expedition, but they encounter severe limitations on continuous working as most of them powered by batteries or fuel. Base on this, a multiple wing-sail land-yacht robot is designed and manufactured. Land yacht robot is a new type of mobile robot powered by wind through the use of sail. It includes frame body, wing-sail driven system, turning system, wing-sail rotation system and control system. After assembly, land-yacht robot is test by start wind speed and linear motion experiment. It shows that robot can start up when wind speed in 3m/s. the velocity of robot can reach 3.11m/s when wind speed is 13.6m/s. The results indicate that the multiple wing-sail land-yacht robot could satisfy the requirements of scientific expedition. © 2018 IEEE.

关键词： Wind

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Parallel Optimization Method for Product Configuration and Supplier Selection Based On Interval

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IOP Conference Series. Earth and Environmental Science 2019年第5期252卷 052106-052106页

作者： Li, Guoxi Zheng, Jian Zhang, Meng College of Mechatronics Engineering and Automation National University of Defense Technology Changsha China

In order to realize the rapid product design and development under the uncertain environment, an optimization decision theory and method of product configuration and supplier selection based on interval information is proposed. This study proposes to combine the product configuration and supplier selection, consider multiple uncertain factors existing in the process of development, and express multiple uncertainties with interval numbers, establish an integrated optimization model for interval-based product configuration and supplier selection with product cost, delivery period and product performance as the objective function. By redefining the Pareto dominance relation of the objective function value as interval, the NSGA-II algorithm is improved, and then a series of configuration options are obtained by directly solving the interval type integration model. Finally, the typical lathe products are used to verify the method.

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Research on Online Target Allocation of Multiple Air-defense Missiles

Research on Online Target Allocation of Multiple Air-defense...

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第30届中国控制与决策会议

作者： Qiu Hongze He Lei Ma Jianjun Zheng Zhiqiang College of Mechatronics Engineering and Automation National University of Defense Technology College of Information System and Management National University of Defense Technology

Weapon Target Assignment is a typical NP problem. In order to maximize the efficiency of air-defense missile cooperative operation in warship formation and improve the speed and precision of solving the problem, an online target assignment model of air-defense missile based on interception geometry is established. Adaptive large neighborhood search is applied to solve the model. According to the special requirements of model solving, two kinds of destroy operators and two kinds of repair operators are designed for ALNS algorithm, and the adaptive layer is designed to select operators with high search efficiency to improve the search efficiency. Through case analysis, it is proved that the proposed algorithm can solve the problem quickly and efficiently.

关键词： Air defense of ship formation target allocation intercept geometry adaptive large neighborhood search algorithm

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Ion beam figuring of continuous phase plates based on the frequency filtering process

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Frontiers of Mechanical engineering 2017年第1期12卷 110-115页

作者： Mingjin XU Yifan DAI Xuhui XIE Lin ZHOU Shengyi LI Wenqiang PENG College of Mechatronics Engineering and Automation NationalUniversity of Defense Technology Changsha 410073 China College of Basic Education for Command Officer National Universityof Defense Technology Changsha 410073 China

Ion beam figuring （IBF） technology is an effective technique for fabricating continuous phase plates （CPPs） with small feature structures. This study proposes a multi-pass IBF approach with different beam diameters based on the frequency filtering method to improve the machining accuracy and efficiency of CPPs during IBF. We present the selection principle of the frequency filtering method, which incorporates different removal functions that maximize material removal over the topographical frequencies being imprinted. Large removal functions are used early in the fabrication to figure the surface profile with low frequency. Small removal functions are used to perform final topographical correction with higher fre- quency and larger surface gradient. A high-precision surface can be obtained as long as the filtering frequency is suitably selected. This method maximizes the high removal efficiency of the large removal function and the high corrective capability of the small removal function. Consequently, the fast convergence of the machining accuracy and efficiency can be achieved.

关键词： ion beam figuring （IBF） continuous phaseplates （CPPs） machining accuracy machining efficiency,frequency filtering process

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Elastohydrodynamic lubrication and wear modelling of the knee joint replacements with surface topography

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Biosurface and Biotribology 2018年第1期4卷 18-23页

作者： Leiming Gao Zikai Hua Robert Hewson Michael Skipper Andersen Zhongmin Jin Department of Aeronautics lmperial College LondonLondonUK School of Mechatronics Engineering and Automation Shanghai UniversityShanghaiPeople's Republic of China Department of Materials and Production Aalborg University9100 AalborgDenmark Southwest Jiaotong University ChengduPeople's Republic of China Tribology Research Ilnstitute School of Mechanical EngineeringUniversity of LeedsLeedsUK

This numerical study predicted wear of lubricated total knee replacements with the existing of textured surfaceand the possibility of surface designs to reduce *** the first part,a wear model of metal-on-polyethylene total kneereplacement was *** medial and lateral knee compartments was accounted for separately,with the contactforce and motion during walking cycles *** adapted Archard wear formula was employed where the wearfactor was an exponential function of the'Lambda ratio'(film thickness to the average roughness).Wear of the softbearing surface(polyethylene insert)was simulated with regularly geometry update until a steady-state wear *** the second part,the effect of surface topography of the knee replacements was *** surface texturingtechniques have shown promising benefit to machine components in many areas of engineering *** textureparameters were designed using the Taguchi method for the geometry,size,and distribution of the micro *** observed that the lateral compartment may benefit from surface texturing if dimples were properly designed,while the texturing showed hardly advantageous effect on the medial surface in terms of lubrication enhancement andwear *** results were presented in the 6th World Tribology Conference.

关键词： wear surface lubrication

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Hardware-in-the-Loop Simulation System for Guided Bombs

Hardware-in-the-Loop Simulation System for Guided Bombs

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IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)

作者： Chenglong Yang Hongwu Guo Taowen Jiang Yunyou Lu Maohua Zhang College of Mechatronics Engineering and Automation National University of Defense Technology Changsha P. R. China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

The aim of this work is to design and build a hardware-in-the-loop simulation (HILS) system for a guided bomb. This paper presents a design scheme, based on the guidance and control system of the guided bomb, and the corresponding test flow of a guided bomb control system to provide a support platform to verify its performance. The design HILS test based on actual conditions is also described. Based on the similarity theory, we provide three examples of simulation experiments. The simulation results confirm the effectiveness of the HILS system of the guided bomb.

关键词： Guided bomb Hardware-in-the-loop simulation Control system Experiment hardware-in-the-loop simulation control systems Simulation Systems Similarity theory design scheme Computer hardware

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Using the Receiver Clock Offset Abnormal to Prove the Existence of Spoofing Signal

Using the Receiver Clock Offset Abnormal to Prove the Existe...

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Chinese Control Conference (CCC)

作者： Ke Liu Wenqi Wu Zhijia Wu College of Mechatronics Engineering and Automation National University of Defense Technology Changsha P. R. China

To make the receiver get wrong positioning, the existence of spoofing signal causes the change of pseudorange and results in the abnormality of the receiver clock offset. Based on the relationship equation of satellite position, receiver position, receiver clock offset and pseudorange, Taylor expansion is made at two different points for the equation, and the least square method is used to solve it, then receiver clock offset calculated value can be obtained. We can get current receiver clock offset reference value by using second-order polynomial fitting and extrapolation for the previous data. The difference between the calculated value and the reference value is used as the influence of spoofing signal on the receiver clock offset. Combining the parameter matrix from two times Taylor expansion and the difference of receiver clock offset, we can get each satellite corresponding pseudorange bias value. Then we can use the bias values to modify the pseudorange, and use the least square iterative method to solve it and get the receiver's real position. From four schemes, including whole-satellite repeater deception jamming, whole-satellite generated spoofing, part-satellite repeater deception jamming and part-satellite generated spoofing, we verify the performance of the algorithm. The simulation results show that pseudorange bias values caused by the spoofing signal can be estimated effectively by the algorithm, and the existence of spoofing signal can be proved. Also, we can determine the signal's type, and get the receiver's real position by modifying the pseudorange.

关键词： Receivers Satellites Clocks Taylor series Repeaters Jamming Estimation

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Threat Evaluation in Air Defense Based on Improved KPCA-TOPSIS

Threat Evaluation in Air Defense Based on Improved KPCA-TOPS...

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IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)

作者： Xiaoma Liu Yang Han Hongze Qiu Zhiqiang Zheng College of Mechatronics Engineering and Automation National University of Defense Technology Changsha P. R. China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

Rapid and accurate threat evaluation(TE) of incoming targets is the key part in air defense. In order to evaluate the target threat effectively, a threat evaluation index system is constructed. On this basis, an improved kernel principal component analysis method (KPCA) based on hybrid kernel function is proposed to realize dimension reduction of the index data, particle swarm optimization (PSO) is utilized to optimize the parameters. The threat of targets is evaluated and ranked by the technique for order of reference by similarity to ideal solution method (TOPSIS) with the variance contributions of kernel principal components for weighing the processed data. The proposed method can avoid the subjectivity introduced by traditional methods and make dimension reduction of evaluation index data, thus decreasing the complexity of evaluation and improving real-time performance. The numerical experiment shows that the results obtained by this method are reasonable and realistic.

关键词： Kernel Indexes Principal component analysis Neural networks Optimization Feature extraction Complexity theory

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A Relevant Casual Relation Based Timestamp Order Consistency Control Method in DVE systems 3

A Relevant Casual Relation Based Timestamp Order Consistency...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunxiao Lv Wei Zhang College of Mechatronics Engineering and Automation National University of Defense Technology College of Computer National University of Defense Technology

In DVE systems,maintaining the consistency of event execution time is the core element to provide a unified view for all nodes in the ***,owing to the fluctuation of message transmission de

ISBN: (纸本)9781509053643;9781509053636

In DVE systems,maintaining the consistency of event execution time is the core element to provide a unified view for all nodes in the ***,owing to the fluctuation of message transmission de

关键词： Virtual environments Process control Delays Fluctuations Usability Control systems Clocks

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