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International Conference on Computer and Communications (ICCC)

作者： Tao Zhou Shan Luo Peixiang Zheng Rongping Lin 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 School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9781728186351

ISBN: (纸本)9781728186368

With the development of wireless communication technology, a large number of spectrum resources are occupied and become increasingly scarce. If drones want to communicate, they need to share spectrum with others. The method of spectrum prediction in cognitive radio can efficiently achieve this. The traditional spectrum status duration prediction method based on the non-stationary hidden Markov model only predict the duration of one fixed geographic location and cannot meet the requirement of UAV's communications. We intend to apply the homotopy theory to the non-stationary hidden Markov model to obtain the spectrum status duration of different locations so that it can apply to UAV's communications. We also conducted experiments to predict the duration of the spectrum status at different locations. The experimental results show that our model can work well.

关键词： Computational modeling Conferences Hidden Markov models Predictive models Markov processes Cognitive radio Drones

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Model Identification of 2-DOF Lower Limb Exoskeleton with Neighborhood Field Optimization Algorithm ⁎

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IFAC-PapersOnLine 2020年第2期53卷 8704-8709页

作者： Zhenlei Chen Huiyu Xiong Xinran Wang Qing Guo Yan Shi Yao Yan Gan Liu Dan Jiang School of Aeronautics and Astronautics University of Electronic Science and Technology of China and Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu 611731 China Glasgow College University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu 611731 China

For the lower limb exoskeleton, the system control performance and stability of human-robot coordinated movement is often degraded by some model parametric uncertainties. To address this problem, the model parameter identification method based on Neighborhood Field Optimization (NFO) algorithm is proposed to obtain the accurate model parameters of 2-DOF exoskeleton, which guides the model-based controller design. For the 2-DOF lower limb exoskeleton experimental platform, the model is constructed by Lagrange equation. Meanwhile, the excitation trajectory with the setting mechanical constraints is designed by NFO to guarantee the identification accuracy. Meanwhile, the Huber fitness function is adopted to suppress the influence of the disturbance points in sampling dataset with respect to the identification accuracy. Finally, the NFO algorithm with the Huber fitness function is verified by 2-DOF lower limb exoskeleton experimental platform.

关键词： Lower limb exoskeleton Model identification Excitation trajectory Neighborhood Field Optimization Huber fitness function

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Variable camber structure for aircraft wing based on bio-inspired fishbone concept and zero Poisson's ratio lattice structure

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Journal of the Mechanics and Physics of Solids 2025年

作者： Jiang- Bo Bai Shao-Lin Li Tian-Wei Liu Peng-Cheng Cao Jiang-Hao Wu School of Transportation Science and Engineering Beihang University Beijing 100191 People's Republic of China Hangzhou International Innovation Institute Beihang University China 311115 People's Republic of China Jingdezhen Research Institute of Beihang University Jiangxi Province 333000 People's Republic of China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China

Morphing aircraft represent one of the most advanced aviation technology development directions in the future, and the variable camber wing that requires both rigidity and flexibility, although technically difficult, is currently the most feasible and highly profitable aviation morphing wing solution in terms of engineering feasibility. This paper proposes a Variable Camber Wing Structure (VCWS) based on bio-inspired fishbone concept and zero Poisson's ratio lattice structure, enabling smooth, continuous, and significant shape changes in the wing to enhance the aerodynamic performance. By integrating principles of biomimetics, zero Poisson's ratio lattice structure, servo-driven actuators, and eccentric lever transmission mechanisms, the conceptual design of this structure is described in detail. Specimens of zero Poisson's ratio lattice structures were fabricated and subjected to tensile testing, and the excellent deformation capability was validated through numerical simulation and analytical modeling. Based on this, a VCWS was designed and fabricated, followed by functional validation tests. Experimental results show that the VCWS successfully achieves both upward and downward deflection. Through numerical simulation and analytical modeling, the driving forces and deformation during the wing's deflection process were predicted, and the predicted results matched the experimental results, proving the feasibility and effectiveness of the design. This structure offers a more flexible and efficient solution for VCWS in future aircraft, with significant engineering application potential and scientific research value.

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Distributed Finite-Time Formation control of Multi-Quadrotor Based on Leader-following Structure

Distributed Finite-Time Formation Control of Multi-Quadrotor...

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第三十八届中国控制会议

作者： Liqian Dou Xiaotong Su Dandan Wang Yueping Wang School of Electrical and Information Engineering Aviation Key Laboratory of Science and Technology on Aircraft Control

This paper studied the problem of leader-following formation tracking control for multiple quadrotor unmanned aerial vehicles(UAV). The control object is to maintain the positions of follower quadrotors in formation with external disturbances and inner model parameter uncertainty. At the same time, only part of quadrotor UAV is informed to have access to the leader's position. Firstly, a second order robust exact differentiator(2-RED) observer is proposed. By using continues high-order sliding mode technique, the output feedback controller is designed to position outer-loop based on the result of the outer-loop ***, the output feedback controller and 2-RED observer are designed for attitude inner-loop. The finite-time stability of outer-loop and inner-loop controllers with observers are guaranteed through Lyapunov theories and homogeneity. Finally,numerical examples are presented to verify the developed algorithm.

关键词： Quadrotor UAV formation output feedback controller 2-RED observer

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A Step-Switching Coordinate Strategy for AHV-VGI Based on Nonsingular Terminal Sliding Mode control

A Step-Switching Coordinate Strategy for AHV-VGI Based on No...

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第三十八届中国控制会议

作者： Liqian Dou Miaomiao Du Yueping Wang Xiaotong Su School of Electrical and Information Engineering Aviation Key Laboratory of Science and Technology on Aircraft Control

This paper presents a step-switching coordinate strategy for Air-breathing hypersonic vehicle with variable-geometry scramjet inlet(AHV-VGI), which can improve the aerodynamic performance of hypersonic vehicle by moving the movable lip to capture more airflow. Firstly, we transform the longitudinal model of AHV-VGI into the strict feedback form and multiple nonlinear aerodynamic models are built with different elongation distance of translating cowl(EDTC). Secondly, the longitudinal model of AHV-VGI system with different EDTC is divided into the velocity subsystem and altitude subsystem, which is designed by a finite-time nonsingular terminal sliding mode control method. Then, the common Lyapunov function is constructed to prove the stability of the closed-looped switching system with the control algorithms. Finally, simulation results are provided to validate the effectiveness of these theoretical results.

关键词： AHV-VGI step-switching coordinate control nonsingular terminal sliding mode backstepping

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Distributed Finite-time Formation control for Quadrotors Based on Adaptive State Observer

Distributed Finite-time Formation Control for Quadrotors Bas...

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第三十八届中国控制会议

作者： Liqian Dou Xiuyu Ma Chuang Yang Miaomiao Du Xiaoting Wang School of Electrical and Information Engineering Aviation Key Laboratory of Science and Technology on Aircraft Control

In this paper, an adaptive state observer for multiple quadrotors is designed to observe the relative state between the leader and followers. The upper bound of disturbance need not to be known in advance in the design of state observer. In the case of unknown disturbance upper bound, an adaptive disturbance observer for attitude loop is designed to estimate the complex disturbance of a quadrotor UAV, and the results of the disturbance observer are input into the controller to compensate the unknown disturbance in order to reduce the influence of these unfavorable factors on the stability of the system. In the design of attitude controller, it is difficult to obtain the derivative of desired attitude angle because of external disturbance and chattering caused by sliding mode control. Therefore, a third-order integral filter is designed between the two subsystems to estimate the desired attitude angle and its derivative, so as to avoid the influence of external interference and sliding mode chattering on the stability of the system.

关键词： Quadrotor Finite-time Formation control State observer Disturbance observer Adaptive

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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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Chinese control Conference (CCC)

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 Beijing P. R. China School of Sino-French Engineer Beihang University Beijing P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

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： Optimization Kalman filters Convergence Measurement errors Technological innovation State estimation

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A novel modified robust model-free adaptive control method for a class of nonlinear systems with time delay 8

A novel modified robust model-free adaptive control method f...

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8th IEEE Data Driven control and Learning Systems Conference, DDCLS 2019

作者： Liu, Shida Hou, Zhongsheng Guo, Yuan Guo, Lei Advanced Control Systems Laboratory School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China School of Automation Qingdao University Qingdao266071 China National Key Laboratory on Aircraft Control Technology School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

ISBN: (纸本)9781728114545

In this work, a novel robust model free adaptive control (Ro-MFAC) algorithm is proposed for a class of discrete nonlinear systems existing both large time delay and disturbance. The main feather of Ro-MFAC is that the controller is designed only based on the input and output data of the system by using a new dynamic linearization technique with a time-varying parameter termed pseudo gradient. Moreover, by combining a novel augmented pseudo gradient, the Ro-MFAC can effectively suppress the system disturbance, such that the Ro-MFAC has strong robustness. Meanwhile, by using the tracking differentiators, the Ro-MFAC controller can also deal with the time delay existing in the system. Furthermore, the numerical simulation results verify the effectiveness of proposed Ro-MFAC. © 2019 IEEE.

关键词： controllers

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Fault-tolerant control based on Back-stepping and Fixed-time Disturbance Estimation for Hypersonic Reentry Vehicles

Fault-tolerant Control based on Back-stepping and Fixed-time...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Tiancai Wu Honglun Wang Yue Yu Na Li Yiheng Liu Shenyuan Honors College School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China Beijing Aerospace Automatic Control Institute Beijing China Unmanned Systems Research Institute Beihang University Beijing China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

In this paper, a novel robust back-stepping fault- tolerant control scheme is proposed, which enables hypersonic reentry vehicles with model uncertainties to accurately track the attitude commands under the condition of both unknown actuator faults and external disturbances. Firstly, a control-oriented hypersonic reentry vehicle model is established on the basis of regarding three factors mentioned above as lumped disturbance. Then, a fixed-time observer is used to achieve the fixed-time lumped disturbance estimation. Based on the disturbance observer and back-stepping technology, the proposed fault-tolerant control laws are designed to ensure control performance. Meanwhile, the “differential explosion” problem is solved by the sigmoid function-based tracking differentiator. Finally, the stability and effectiveness of the proposed controller are verified from theoretical analysis and extensive numerical simulations respectively.

关键词： Automation Field-flow fractionation Electrical engineering Attitude control Heart rate variability Fault tolerant systems Fault tolerance

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Dual valve controlled energy recovery EHA

Dual valve controlled energy recovery EHA

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CSAA/IET International Conference on aircraft Utility Systems, AUS 2018

作者： Li, Xiaobin Shang, Yao Xing Wu, Shuai Jiao, Zongxia Science and Technology on Aircraft Control Laboratory Bei Hang University Beijing China

ISBN: (纸本)9781785617911

Electric Hydrostatic Actuator (EHA) is a highly integrated hydraulic system that is widely used in multi-electric and all-electric aircraft due to its high power density. One of the main constraints which limit increasing of EHA power density is the high heat output of the motor. This not only leads to an increase in the volume of the motor, but also increases the chance of thermal failure of the motor. In order to deal with the heat of the EHA motor, the international mainstream method is to increase the motor speed, reduce the motor current, thereby reducing the motor heating, but do not pay attention to the EHA motor running under the conditions of heat can be avoided. This article proposes an energy recovery EHA named ER-EHA, which can recover the hydraulic energy when EHA works in positive load conditions and release it when the load is reversed. This structure reduces the motor heating and improves the efficiency without affecting the dynamic characteristics of the EHA system. The improvement of the odds ratio have great application prospects in increasing the power density of EHA. © 2018 IET Conference Publications. All rights reserved.

关键词： Hydraulics

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