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Fault-tolerant time-varying formation tracking for second-order multi-agent systems with actuator faults and a non-cooperative target

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IFAC-PapersOnLine 2018年第24期51卷 68-73页

作者： Hua, Yongzhao Dong, Xiwang Li, Qingdong Ren, Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

Fault-tolerant time-varying formation tracking problems for second-order multi-agent systems with actuator faults and a non-cooperative target are studied. The followers can accomplish the given formation and track the trajectory of the target at the same time. A fault-tolerant time-varying formation tracking protocol is constructed for each follower by using the neighboring information firstly. Based on the adaptive mechanism, the proposed protocol is independent of any global information about the topology and the bounds of actuator failures. Then, in light of Lyapunov theory, it is proved that the desired formation tracking can be achieved by the followers under the influences of actuator failures and the unknown control input of the target. Finally, the theoretical results are verified by a simulation example. © 2018

关键词： Multi agent systems Actuators Fault tolerance Target tracking Actuator failures Fault tolerant control Formation tracking Global informations Neighboring information Non cooperative target Simulation example Time varying formations

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Corrigendum: Improved decentralized GNSS/SINS/odometer fusion system for land vehicle navigation applications (2023 Meas. Sci. Technol. 34 035117)

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Measurement science and technology 2023年第6期34卷 069501-069501页

作者： Mengxue Mu Long Zhao School of Automation Science and Electrical Engineering Beihang University Beijing 100191 People’s Republic of China Digital Navigation Center Beihang University Beijing 100191 People’s Republic of China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 People’s Republic of China

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Height and attitude tracking control of an unmanned helicopter via a HDOB-backstepping composite control method

Height and attitude tracking control of an unmanned helicopt...

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2019 Jiangsu Annual Conference on Automation, JACA 2019

作者： Han, Ling Wang, Xiangyu Li, Shihua Liu, Jiyu School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Aviation Key Laboratory of Science and Technology on Aircraft Control Facri Xian710065 China

This study studies the height and attitude tracking control problem of an unmanned helicopter system with disturbances. A composite controller based on the combination of harmonic disturbance observers and backstepping technique is proposed to achieve asymptotic tracking for height and attitude. Firstly, harmonic disturbance observers (HDOB) are designed to estimate the unknown disturbances affecting each channel. Then, a composite controller is proposed by integrating the backstepping control technique and the HDOB technique together to achieve the height and attitude tracking goal. Stability analysis of the closed-loop system is given. Finally, numerical simulations are presented to verify the efficiency of the proposed control scheme. © 2019 Institution of Engineering and technology. All rights reserved.

关键词： Backstepping

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UAV Formation Flight and Collision Warning with Centralized control of Ground control Station

UAV Formation Flight and Collision Warning with Centralized ...

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2019 IEEE International Conference on Unmanned Systems, ICUS 2019

作者： Zheng, Wenxuan Wang, Honglun Ji, Hongxia Wu, Jianfa Beihang University Sch. of Automat. Sci. and Electriacl Eng. Science and Technology on Aircraft Control Laboratory Beijing China Beihang University School of Automation Science and Electriacl Engineering Beijing China

ISBN: (纸本)9781728137926

Unmanned Aerial Vehicles (UAVs) are widely applied in many fields, and the application of UAV formation flights is also developing rapidly. But currently many widely used types of UAVs are difficult to work with distributed formation control theory. Therefore, this paper presents a centralized formation algorithm with a three-degree-of-freedom UAV model, and also builds up two collision detection models. After tested and verified in MATLAB/Simulink, the models and control law are exported to C++ code and embedded in Qt-based simulation platform and Ground control System (GCS) and pass the test under the condition of manually cutting off the communication. The simulation platform provides UAV state data, and the GCS serves as Human-Machine-Interface (HMI) to show the state data and perform control law to make formation flight. With centralized control of the GCS, any UAVs can do formation flight without modification. © 2019 IEEE.

关键词： Simulation platform

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Numerical study of thermal-hydraulic performances of microchannel heat sinks with different channel structures

Numerical study of thermal-hydraulic performances of microch...

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CSAA/IET International Conference on aircraft Utility Systems (AUS 2020)

作者： G. Zhang Y. Xu Q. Dai Nanjing University of Science and Technology School of Energy and Power Engineering Nanjing China Nanjing University of Aeronautics and Astronautics Key Laboratory of Aircraft Environment Control and Life Support MIIT Nanjing China

Numerical simulations were carried out to investigate the thermal-hydraulic characteristics of water flowing through different heat sinks. Calculations show that the internal fin structure of the heat sink has an important influence on the flow resistance and heat transfer. The zigzag channel has the largest flow resistance, while the straight channel has the smallest flow resistance, but the heat transfer capacity is opposite. In addition, the performance of heat sinks when inserting pin fins with different shapes in straight channels was also compared. The results show that the thermal resistance of circular pin fins is the smallest.

关键词： heat transfer numerical analysis heat sinks microchannel flow thermal resistance

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Distributed State Estimation for Heterogeneous Mobile Sensor Networks with Varying Nodes

Distributed State Estimation for Heterogeneous Mobile Sensor...

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第三十九届中国控制会议

作者： Yingrong Yu Jie Ren Xiwang Dong Qingdong Li Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing Aerospace System Engineering Research Institute Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University

On background of cooperative air combat, state estimation of aerial maneuvering target with multi-sensor cooperative reconnaissance is discussed in this paper. Multiple moving platforms equipped with different kinds of detectors construct heterogeneous mobile sensor networks. Graph theory is adopted to describe the communication topology of the networks. In consideration of detection range limit, the number of sensors participating in the detection changes over time. An interactive multiple model algorithm（IMM） is utilized for target motion modeling. The local observation information is processed by Cubature Information Filter（CIF）. A weighted average consensus-based state estimation method for heterogeneous mobile sensor networks with varying nodes is put forward to fuse information from different sensors and obtain a consistent and precise tracking result. Moreover, the stability analysis of proposed method is provided detailed. Finally, numerical simulation results are given to illustrate the effectiveness of the theoretical results.

关键词： Cubature Information Filter consensus theory distributed state estimation mobile sensor networks stochastic boundedness

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Adaptive Distributed State and Input Estimation Using Retrospective-Cost-Based Information Filter

Adaptive Distributed State and Input Estimation Using Retros...

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第三十九届中国控制会议

作者： Hong Wang Liang Han Yuan Liang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University School of Sino-French Engineer Beihang University Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University

In this paper, the problem of distributed state and input estimation using sensor networks for linear system is investigated. First, the retrospective-cost-based information filter（RCIF） is proposed to estimate the state and input simultaneously, by combining the retrospective cost input estimator subsystem and information filter state estimator subsystem. Next, the retrospective-cost adaptive input estimator subsystem is formulated, which utilizes retrospective cost optimization and recursive minimum mean square estimation to drive the estimated input to approximate the actual input without prior information. Then,the consensus algorithm is used to extend the RCIF to distributed estimation, and to improve the convergence rate, the adaptive update law of consensus weights is presented. Finally, a simulation example is illustrated to validate the effectiveness and feasibility of the proposed algorithm.

关键词： Adaptive Distributed Estimation State estimation Input estimation Retrospective cost optimization Consensus

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Performance comparation of two kinds of aircraft ram air outlet

Performance comparation of two kinds of aircraft ram air out...

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CSAA/IET International Conference on aircraft Utility Systems (AUS 2020)

作者： L. Zhimao Z. Xinlong W. Boyu P. Houju X. Wenbing S. Hong Shanghai Aircraft Design and Research Institute Environment Control and Oxygen System Department Shanghai 201210 China Jiangsu University of Science and Technology College of energy and power Zhenjiang 212003 China MIIT Nanjing University of Aeronautics and Astronautics Key Laboratory of Aircraft Environment Control and Life Support Nanjing 210016 China

With the development of electronic equipment integration technology, the air demand for cooling in cabin and electronic system is increasing continuously. The ram air outlet plays an important role in the airflow system. In this paper, the three-dimensional modeling of the door-type ram air outlet and the grille-type ram air outlet is carried out. Then, the flow characteristics and resistance characteristics of ram air outlet are analyzed based on structured grid technology. The results show that the flow rate of the door panel ram air outlet is greater than that of the grille-type ram air outlet in the same size, the discharge rate of the door panel outlet is 0.3kg/s more than that of the grille-type outlet under the design condition, and the skin surface temperature at the back of the door panel outlet is 13.5K lower than that of the grille outlet. Therefore, the door-type ram air outlet has better emission characteristics and flow characteristics, which is more suitable for the aircraft in this research. This study provides a technical reference for the design of the civil aircraft.

关键词： aircraft control refrigerators refrigeration skin electric actuators design engineering metal foams heat exchangers cooling

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Finite-Time Observer-Based Robust Continuous Twisting control for the Attitude of an Uncertain Quadrotor UAV Subjected to Disturbances

Finite-Time Observer-Based Robust Continuous Twisting Contro...

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IEEE International Conference on Mechatronics and Automation

作者： Omar Mechali Limei Xu Abdelkader Senouci Xiaomei Xie Chen Xin Abdesslam Mechali 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 University of Electronic Science and Technology of China Chengdu China Control and Automation Laboratory Ecole Supérieure Ali Chabati Reghaia Algiers Algeria University of Hassiba Ben Bouali Chlef Algeria

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

This paper deals with robust attitude control problem of the quadrotor UAV in the presence of model uncertainties and external disturbances such as wind gusts. A Disturbance Observer-Based control (DOBC) method is proposed by combining an Improved Twisting control (ITC) algorithm and a Finite-Time Observer (FTO). Within the ITC scheme, the chattering problem of discontinuous Sliding Mode control (SMC) techniques can be reduced due to the continuous control signal. Besides, finite-time convergence of the system states can be ensured to achieve accurate control. On the other hand, to reject external disturbances, the FTO observer is incorporated into the control framework. Stability analysis of the closed-loop system is rigorously investigated by using a homogeneous Lyapunov Function (LF). Experimental tests are conducted to validate the theoretical findings. A comparative study is made involving the proposed ITC-FTO strategy and three other controllers, including Continuous Twisting controller (TC), Integral Backstepping Sliding Mode controller (IBSMC), and a Nominal Backstepping controller (NBSC). Overall, the obtained results show that the suggested control system yields performance improvement regarding accuracy and robustness. Meanwhile, the chattering effect of conventional SMC is remarkably alleviated.

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A Combined Guidance Law for Intercepting Hypersonic Large Maneuvering Targets

A Combined Guidance Law for Intercepting Hypersonic Large Ma...

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Chinese Automation Congress (CAC)

作者： Bingqian Zhao Xiwang Dong Qingdong Li Zhang Ren Science and Technology on Aircraft Control Laboratory School of Automation Science and Electronic Engineering Beihang University Beijing China Beijing Advanced Innovation Center for Big Data and Brain Computing School of Automation Science and Electronic Engineering Beihang University Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

This paper proposes a combined guidance law based on differential geometry and true proportional guidance (TPN). Due to the increase of the interceptor acceleration component perpendicular to the speed direction, the line-of- sight angular rate can be converged quickly, and the convergence rate of the miss distance is faster than that of TPN. Therefore, the combined guidance law can intercept the target in a short time, reducing the possibility of target escape. This paper gives a numerical simulation example under the two conditions of large maneuvering and snake maneuvering of the target, both of which achieve effective interception of the target. Therefore, the designed combined guidance law is effective for intercepting hypersonic large maneuvering targets.

关键词： Angular velocity Geometry Acceleration Mathematical model aircraft navigation Technological innovation Trajectory

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