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Distributed Event-Triggered Cooperative Formation control of Fixed-Wing UAV 1

International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Yue, keyuan Yuan, Jianquan Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789811694929

ISBN: (纸本)9789811694912

In order to save the communication bandwidth between the fixed-wing unmanned aerial vehicles (UAVs), a cooperative formation control algorithm based on event-triggered communication mechanism is proposed in this paper. The aircraft uses a state estimator to estimate the states of other aircrafts, and when the state of the aircraft itself exceeds a certain threshold, its state information is sent to the neighboring aircraft through the data link, so that the neighboring aircraft updates the states of its estimator. Taking the established autopilot model with a 6-dof inner-loop attitude stabilization loop as the formation control object, a multi-aircraft outer-loop formation controller is designed based on the consensus algorithm. Through numerical simulation, under the condition of ensuring certain control performance of the aircraft cluster, the communication between aircrafts is reduced and bandwidth resources are saved, which verifies the effectiveness of the proposed algorithm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fixed wings

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Low-Light Image Enhancement Method for Consistency Judgment of Multi-view Multi-target for UAV Swarm 7th

Low-Light Image Enhancement Method for Consistency Judgment ...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Li, WeiXue Song, Chuang Hao, MingRui Zhang, Hang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733392

To address the challenges posed by low-light images in multi-drone detection tasks, which lead to significant differences in target image features across different perspectives and poor accuracy in target association under multiple viewpoints, this paper proposes an enhanced network architecture based on MIRNet for low-light image enhancement. The goal is to improve the stability of target features in multi-view scenarios. By incorporating Sobel convolution to capture target edges and texture features, and by designing a residual contextual block combined with an attention mechanism and a pixel loss function that emphasizes the central region, the model not only acquires richer features but also focuses more on the central region's target characteristics. Experimental results demonstrate that the proposed approach effectively enhances image brightness, contrast, and target texture, exhibiting substantial advantages in both objective and subjective evaluation metrics. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Image enhancement

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Near minimum-time feedback attitude control with multiple saturation constraints for agile satellites

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Chinese Journal of Aeronautics 2016年第3期29卷 722-737页

作者： Liu Xiangdong Xin Xing Li Zhen Chen Zhen Sheng Yongzhi School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Agile satellites are of importance in modern aerospace applications, but high mobility of the satellites may cause them vulnerable to saturation during attitude maneuvers due to limited rating of actuators, This paper proposes a near minimum-time feedback control law for the agile satellite attitude control system. The feedback controller is formed by specially designed cascaded sub-units. The rapid dynamic response of the modified Bang Bang control logic achieves the near optimal property and ensures the non-saturation properties on three-axis. To improve the dynamic performance, a model reference control strategy is proposed, in which the oniline near optimal attitude maneuver path is generated by the cascade controller and is then tracked by a nonlinear back-stepping controller. Furthermore, the accuracy and the robustness of the control system are achieved by momentum-based on-line inertial identification. The rapid attitude maneuvering can be applied for tasks including the move to move case. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy in terms of the saturation-free property and rapidness.

关键词： Actuator saturation Attitude control Identification Momentum transfer Satellites

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Distributed Cooperative Search Based on DRH-NSGA Under Communication Constraint

Distributed Cooperative Search Based on DRH-NSGA Under Commu...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Si, Jia Shuai Cheng, Jin Hao, Ming Rui Liu, Zhen Chang Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811966125

For unmanned aerial vehicle (UAV) cooperative search mission under communication distance limitation environment, considering that the computation scale of rolling time domain optimization increases exponentially with the change of predicted steps and the problem that searching performance metrics are difficult to be selected, the distributed receding horizon non-dominated sorting genetic algorithm (DRH-NSGA) is proposed, and the distributed receding horizon (DRH) process is optimized by non-dominated sorting genetic algorithm (NSGA),and the cooperative search problem in dynamic environment is solved. Firstly, the motion and sensor models of UAV are established. Considering the possibility of interference or communication interruption during UAV communication, the communication interruption probability is added based on the communication distance constraint. In this paper, the environment awareness map is constructed, considering the motion characteristics of time-sensitive targets, and based on the updating of target probability by using Bayesian theory, the updating of time-sensitive target prediction transition probability is added to improve the accuracy of moving target existence probability map. Finally, the search performance index is designed reasonably, and the RH framework is used to optimize the search path. The simulation results show that the distributed cooperative search algorithm based on DRH-NSGA can shorten the single step planning time while ensuring the convergence speed and ensure the real-time decision-making of UAV search. At the same time, it can effectively take into account the search of moving targets after covering the search area. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Collaborative Search Method of Heterogeneous UAVs in Gray Area 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Wang, Hongmin Bu, Yunong Zhao, Jiajia Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

A collaborative search planning method based on an information map is proposed for the problem of multi-moving target detection in gray areas using a heterogeneous UAV swarm. This method takes into account the detection probability and false alarm probability of sensors, the heterogeneity and flight constraints of UAVs, and the random movement of targets. The mathematical planning model for the collaborative search of multiple UAVs is built by balancing short-term gain, long-term gain, and coordination gain. An information map for search is designed, incorporating target existence probability, environmental uncertainty, and revisiting pheromones. Different planning schemes are designed based on the heterogeneous characteristics of UAVs. Through numerical simulations in typical collaborative search scenarios, the effectiveness of the proposed method is validated. The simulation results show that the proposed method can make search trajectory decisions for each UAV within seconds. The organic combination of short-term, long-term, and coordination gain can guide the UAV swarm to capture more targets. Comparative simulation results demonstrate that the proposed method can capture more targets with fewer false alarms, effectively improving the task efficiency of heterogeneous multi-UAV collaborative search. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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Research Status and Application of Mission Assignment Method and Cooperative Positioning and Navigation for Cluster Aircraft

Research Status and Application of Mission Assignment Method...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Danting, Sheng Mingrui, Hao Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811966125

In order to solve the problem of multi-aircraft cluster cooperative combat, this paper tries to classify and sum up the existing achievements on task assignment method and cooperative positioning and navigation. Among the distributed methods of task allocation, the contract net-based method of task allocation and the distributed method of simulating the complex and orderly collective behavior of social creatures are briefly described. According to the method of cooperative positioning of swarm aircraft, it is divided into measuring the relative distance of aircraft, measuring the relative angle of aircraft and layered cooperative navigation system. Combining with the classical research and application, this paper analyzes and summarizes the existing task allocation methods and the achievements of cooperative positioning and navigation, and forecasts the future engineering application in this field. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft

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Design of Cooperative Combat Task Architecture for Unknown Wide Area Cluster Reconnaissance and Strike

Design of Cooperative Combat Task Architecture for Unknown W...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Bu, Yunong Chi, Qingxi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811581540

In the face of the requirements of information warfare in the future battlefield under the condition of high-intensity confrontation, cluster warfare has become the main trend of the development of some weapons and equipment. This makes us need to explore the cooperative operation mechanism of weapon equipment cluster, realize the rapid response of the cluster to the change of battlefield situation under the uncertain operation environment, complete the OODA cycle of operation, and improve the autonomous operation ability of the cluster. This paper takes the unknown wide area multi-target cooperative reconnaissance and strike task as the operational scenario, combs the task flow, function composition, network structure and data interaction relationship. Based on the task constraint, the architecture of cluster cooperative combat task is designed. The cooperative OODA closed-loop is preliminarily realized. It provides the basis for further exploring the overall technology of cooperative combat mission architecture. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Network architecture

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Common Aircraft Formation control Methods and Application Prospects of High Order Fully Actuated system Theory in Aircraft Formation control 7th

Common Aircraft Formation Control Methods and Application Pr...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Liu, Xinyu Hao, Mingrui Fan, Yu Zhen, Yan Yue, keyuan Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733279

This article provides a review of formation control for multiple aircrafts. Firstly, several commonly used aircraft formation control methods were introduced, including leader-follower approach, behavior based formation control, virtual structure method, and artificial potential field method. Considering that the controller design of these methods is mostly based on first-order differential equations and state space methods or uses fuzzy theory or neural networks, further solutions are needed in issues such as model accuracy, controller anti-interference, and controller stability analysis. Therefore, this article proposes the possibility of applying high-order fully actuated (HOFA) system theory in aircraft formation control. In response to the nonlinear, coupled, and real-time aircraft formation control problems, the development of HOFA system theory is introduced, and it is pointed out that fully actuated system (FAS) method has outstanding advantages in dealing with nonlinear, time-varying, hysteresis problems. The article summarizes the current research and practice of FAS theory in the field of single aircraft control and multi-spacecraft formation control, and then propose a new idea of designing FAS formation control method for multiple aircrafts. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Aircraft

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A Combat Intention Reasoning Method for Warship Formation Targets Based on Deep Learning 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Xu, Hongfeng Zhao, Jiajia Zhang, Hang Jiang, Jixiang Chen, Linxiu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

With the rapid development of science and technology, modern war presents the characteristics of mathematics and information. Grasping the operational intention of battlefield targets plays a crucial role in the trend of war. The target of warship formation is an important fighting force in modern war. How to analyze and reason the target’s fighting intention accurately and timely is one of the most important parts of modern battlefield situation cognition system. Aiming at the problems of too strong subjectivity, lack of objectivity and poor model robustness existing in traditional intention reasoning methods, this paper introduces the idea of deep learning data-driven, and takes the electromagnetic, state and formation characteristic information of ship formation targets as input, designs a deep learning-based ship formation target intention reasoning model. The effectiveness of the algorithm is verified by mathematical simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Deep learning

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Cluster Collaborative Search Method Based on Dynamic Adjustment of Parameters 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Si, JiaShuai Hao, MingRui Liu, ZhenChang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

In order to improve the ability of unmanned aerial vehicle(UAV) cluster collaborative search and obstacle avoidance, a multi-UAV collaborative search method based on dynamic parameter adjustment is proposed. Firstly, based on the distributed model predictive control (DMPC) model, a collaborative search problem model is designed considering the rapidity of target discovery, the rapidity of covering the task area and the obstacle avoidance between drones. Secondly, the jump grid decision method not only expands the feasible solution of the search decision, but also ensures that the UAV can track the navigation point of the decision smoothly. At last, a dynamic adjustment method of search parameters is proposed, which realizes threat avoidance in collaborative search process by adjusting search parameters online. The simulation results show that the cluster cooperative search method based on dynamic parameter adjustment can fully consider the maneuverability of UAVs and realize threat avoidance during cooperative search, and improve the robustness of the algorithm after some nodes are damaged. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Maneuverability

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