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Impact angle control guidance for a moving target with general field-of-view constraints

Impact angle control guidance for a moving target with gener...

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第42届中国控制会议

作者： Xiangyu Tang Jianglong Yu Siting Peng Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing Electro-Mechanical Engineering Institute Institute of Artificial Intelligence Beihang University

This paper studies the impact angle control guidance problem with general field-of-view(FOV) constraints for a moving target. Firstly, the control Lyapunov function(CLF) is constructed based on the state-dependent Riccati equation(SDRE)technique, and a nominal controller is designed to intercept the moving target at the desired impact angle without FOV *** control barrier functions(CBFs) are designed according to the FOV constraints. Secondly, the CLF that guarantees stability is combined with the CBFs that guarantee forward invariance of the constraint sets. The minimum modification framework is used to numerically solve the guidance command through quadratic programming to ensure that the look angle of the missile always remains within the constraint interval during the interception process. Finally, the effectiveness of the proposed guidance law is verified by numerical examples.

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MA-RRT* Algorithm for Path Planning with Maximum Rotation Angle Constraint and Adaptive Crossing Threat Zone

MA-RRT* Algorithm for Path Planning with Maximum Rotation An...

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第42届中国控制会议

作者： Jiong Luo Yong Heng Qi Li Yongzhao Hua Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Beijing Institute of Electronic System Engineering Institute of Artificial Intelligence Beihang University

With the gradual diversification of modern application scenes,the demand for UAV path planning is becoming more and more *** paper first introduces a possible battle scenario,and the problems that must be considered in path planning in this scene are analyzed:the maximum rotation angle constraint and the demand that the UAV can cross the threat zone *** rotation angle and Adaptive crossing threat zone RRT*(MA-RRT*) algorithm is proposed to solve the above *** algorithm improves the reconnection process of neighbor set in RRT*,and adds the maximum rotation angle constraint to the RRT* framework,so that the generated path strictly meets this *** addition,the above process also reduces the time consumption of RRT*,and the speed advantage of MA-RRT*becomes more and more obvious with the increase of iteration ***,the obstacle information is regarded as one of the components of the node cost of the path,and the original obstacle is regarded as a soft *** enables the path to adaptively cross the threat zone,which is more in line with the actual *** compare our algorithm with RRT* in numerical simulation,which verifies the effectiveness and time consumption advantages of the algorithm.

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Improved Auction Algorithm for Weapon Target Assignment with Firepower-Health Model

Improved Auction Algorithm for Weapon Target Assignment with...

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第42届中国控制会议

作者： Shuobo Wang Yong Heng Yongzhao Hua Xiwang Dong Zhang Ren Institute of Artificial Intelligence Beihang University Beijing Institute of Electronic System Engineering School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

This paper proposes an improved auction algorithm to optimize the efficiency of dynamic weapon target assignment(WTA) ***,the dynamic battlefield environment of firepower-health model is analyzed and the constraints of weapon assignment problem are *** firepower-health model is about the idea of adding constraints of weapon firepower and target health to promote the result of assignment more ***,in order to improve the computing speed of WTA algorithm,the penalty mechanism is introduced in the compensation auction *** main idea of improved algorithm is to reduce the extra consuming of the weapon during the assignment,from which penalty mechanism can optimize the assignment results and reduce the number of algorithm iterations by punishing the overkilled target under certain ***,the simulation results based on the dynamic firepower-health model show that the proposed algorithm can meet the requirements of firepower allocation,and can promote the effectiveness of assignment with high real-time response.

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Dubins-A*: A New Global Path Planning Scheme for Fixed-Wing UAV with Irregular Obstacles Avoidance

Dubins-A*: A New Global Path Planning Scheme for Fixed-Wing ...

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International Conference on Electronics technology (ICET)

作者： Junyi Xu Mengji Shi Fan Tang Xinyu Sun Jiangfeng Yue Boxian Lin Kaiyu Qin School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China The Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu China National Laboratory on Adaptive Optics Chengdu China

ISBN: (数字)9798350363951

ISBN: (纸本)9798350363968

Path planning for a fixed-wing unmanned aerial vehicles (UAV) in irregular obstacle environments is a complex problem that requires consideration of the kinematic constraints of the UAV, the shape and distribution of obstacles, and the safety and efficiency of flight. With this in mind, this paper presents a new global path planning algorithm Dubins-A * for fixed-wing UAV based on Dubins curves and the A * algorithm. Firstly, an obstacle avoidance path generation algorithm, termed Dubins-avoid which utilizes Dubins curves to navigate around arbitrary polygonal obstacles, is designed. Subsequently, global path planning is executed using the path generated by the Dubins-avoid algorithm in conjunction with the A * algorithm’s search strategy. To enhance robustness, a backtracking mechanism is incorporated to circumvent local minima, alongside an updating node mechanism designed to decrease the number of explored nodes. The effectiveness and superiority of the Dubins$A^{*}$ algorithm are demonstrated through testing in three distinct scenarios.

关键词： Shape Navigation Kinematics Autonomous aerial vehicles Search problems Path planning Robustness

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Fixed-Time Distributed Optimization for Networked Multi-Agent Systems with Unknown Disturbances Over Signed Graph

Fixed-Time Distributed Optimization for Networked Multi-Agen...

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International Conference on Electronics technology (ICET)

作者： Xian Qing Kaiyu Qin Zhiqiang Li Mengji Shi Boxian Lin Yuehong Dai School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu China National Laboratory on Adaptive Optics Chengdu China

ISBN: (数字)9798350363951

ISBN: (纸本)9798350363968

In this paper, the distributed optimization problem for networked multi-agent systems with unknown disturbances over signed graph is addressed. A novel robust fixed-time distributed optimization scheme is proposed. This scheme is divided into two components: a distributed observer-based optimization algorithm and a robust tracking controller. The distributed observer-based optimization algorithm makes the virtual state of each agent achieve bipartite consensus in fixed-time and obtain the optimal solution of the global convex objective function under the signed graph. The robust tracking controller is designed to eliminate the effect of external bounded disturbance, so that the actual state of the agent converges to the virtual state. The distributed optimization scheme can suppress the disturbances and obtain the optimal solution, and the convergence time is independent of the initial values of agents. Finally, some simulation results are given to verify the proposed fixed-time distributed optimization scheme.

关键词： Upper bound Simulation Linear programming Delays Optimization Multi-agent systems Convergence

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Adaptive Containment control for Uncertain Networked Agent Systems with Second-Order Dynamics

Adaptive Containment Control for Uncertain Networked Agent S...

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Data Driven control and Learning Systems (DDCLS)

作者： Long You Boxian Lin Jiangfeng Yue Mengji Shi Kaiyu Qin Zili Ren School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu China National Laboratory on Adaptive Optics Chengdu China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

This article proposes a neural network-based adaptive distributed containment controller for second-order integral multi-agent systems with nonlinear dynamics and external disturbances. Firstly, the proposed controller effectively suppresses the effects of nonlinear dynamics and external disturbances while achieving containment control. Secondly, for the adaptive update law of neural networks, unlike existing studies, we simultaneously consider the influence of position error and velocity error on the convergence speed of the weight matrix. Further, two positive definite matrices are constructed to prove the stability of the system based on Lyapunov theory, and the upper bound for the containment errors is provided. Finally, the effectiveness of the proposed method is verified through numerical simulation experiments.

关键词： Learning systems Upper bound Neural networks control systems Numerical simulation Stability analysis Nonlinear dynamical systems

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Aerodynamic and aeroacoustic impact of the axial distance upon contra-rotating rotors during hovering condition

Aerodynamic and aeroacoustic impact of the axial distance up...

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AIAA Aviation and Aeronautics Forum and Exposition, AIAA AVIATION Forum 2023

作者： Li, Pengyu Yang, Yannian Zhang, Haoyu Liu, Yu Li, Qingxi Noack, Prof. Bernd Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South Guangdong510640 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong Shenzhen518055 China AVIC General Aircraft Research Institute Zhuhai Shenzhen Key Laboratory of Complex Aerospace Flows Guangdong519040 China School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

Contra-rotating rotors have the advantage of compactness and redundancy, which can be observed in many unmanned aerial vehicles. One significant installation parameter for the contra-rotating rotors is the axial distance between the upper and lower rotors, which influences both the time-averaged and unsteady loading of the rotors, as well as the aeroacoustic noise emission. Through experimental methods, each rotor is mounted to a six-component balance to study the impact of the axial distance on the two rotors, and an microphone arc-array is used to study the noise emission and directivity in an anechoic chamber. Two rotors are set at the same rotational speed for all axial distance settings. The results indicate that the increase of axial distance is advantageous for the aerodynamic performance increase and noise reduction, especially in the axial range of 0.1 diameter. The recovery of aerodynamic performance is due to the fully developed slipstream which reduces the mutual influence between the two rotors. The noise reduction is mainly due to the reduced velocity fluctuation alleviates the inter actiontonal noise, although the broadband noise becomes larger as the axial distance increases. © 2023, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Noise abatement

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Adaptive Learning of Human Driving Behavior for Nonlinear Vehicle Systems via Fuzzy Modelling

Adaptive Learning of Human Driving Behavior for Nonlinear Ve...

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Chinese Automation Congress (CAC)

作者： Ran Yi Jie Lin Huai-Ning Wu School of Automation Science and Electrical Engineering Beihang University Beijing China The Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China The Peng Cheng Laboratory Shenzhen China

Artificial intelligence hopes machines perform tasks in a way naturally like a human being, a useful approach is behavior cloning (BC), which makes the machine learn human behavior. This paper addresses the online learning problem of human behavior based on a nonlinear human-in-the-loop (HiTL) vehicle system, where the human driver is modeled by a fuzzy controller. First, a Takagi-Sugeno (T-S) fuzzy model is constructed for the nonlinear vehicle control system. And a control model based on the parallel distributed compensation (PDC) technique is used to describe the human driver's behavior. A concurrent learning (CL)-based online adaptive law is then designed to learn the fuzzy feedback gain matrices of the fuzzy control model. Compaired with traditional approaches, the CL-based law removes the persistent excitation (PE) condition, mekes it more suitable for complex nonlinear systems. Finally, the simulation results are provided to demonstrate the effectiveness of the approach.

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Thermal Performance Enhancement of a Rectangular Channel with Dual Grooves

Thermal Performance Enhancement of a Rectangular Channel wit...

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Asian Aerospace and Astronautics Conference (AAAC)

作者： Lei Ren Daren Zheng Jianhong Sun Key Laboratory of Aircraft Environment Control and Life Support MIIT Nanjing University of Aeronautics and Astronautics Nanjing China Key Laboratory of Civil Aviation Emergency Science & Technology CAAC Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (数字)9798350355833

ISBN: (纸本)9798350355840

To improve the thermal performance of internal cooling in a grooved channel, a groove configuration with dual grooves is proposed and investigated. A numerical study on the thermal performance of a rectangular channel with dual grooves is presented in this paper. The groove configurations are developed from single groove only into dual grooves with different depths to enhance the thermal performance. The flow structure, the pressure loss penalty and the thermal performance index of the rectangular channel with different groove depths of 0 to 4 are evaluated at the Reynolds numbers ranging from 12,000 to 27,000. The results indicate that the depth value affects the velocity distribution within the dual grooves. The pressure loss penalty is the highest for dual groove depth equal to 1 mm, but the thermal performance index is the highest at low Reynolds number. The single groove, with depth of 0 mm yields the lowest pressure loss penalty and the thermal performance index is the highest at high Reynolds numbers.

关键词： Heating systems Cooling Distance measurement Performance analysis Heat transfer

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Privacy - Preserving Event - Triggered Predefined Time Containment control for Networked Agent Systems

Privacy - Preserving Event - Triggered Predefined Time Conta...

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International Conference on Information science and technology (ICIST)

作者： Weihao Li Jiangfeng Yue Mengji Shi Boxian Lin Kaiyu Qin School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu China National Laboratory on Adaptive Optics Chengdu China

ISBN: (数字)9798350353334

ISBN: (纸本)9798350353341

This paper addresses the privacy-preserving event-triggered predefined time containment control problem for net-worked agent systems. A novel containment control scheme is developed that integrates privacy protection with event-triggered mechanisms, optimizing network efficiency b y minimizing un-necessary data transmission while ensuring robust containment within a specified time frame. T he proposed control scheme ensures the confidentiality of agents' information through output masking, thereby maintaining both privacy and control accuracy. Furthermore, it provides a distinct advantage over traditional finite-time and fi xed-time co ntrol me thods by gu aranteeing con-vergence to the desired state within a predefined time, regardless of initial conditions. Finally, some simulation results are given to verify the effectiveness of the proposed containment control scheme.

关键词： Privacy Information science Data privacy Accuracy Event detection Simulation control systems Data communication Protection

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