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Robust Attitude control for Reusable Launch Vehicles Based on Fractional Calculus and Pigeon-inspired Optimization

IEEE/CAA Journal of Automatica Sinica 2017年第1期4卷 89-97页

作者： Qiang Xue Haibin Duan Bio-inspired Autonomous Flight Systems(BAFS) Research Group the Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University (BUAA) IEEE

In this paper, a robust attitude control system based on fractional order sliding mode control and dynamic inversion approach is presented for the reusable launch vehicle RLV during the reentry phase. By introducing the fractional order sliding surface to replace the integer order one, we design robust outer loop controller to compensate the error introduced by inner loop controller designed by dynamic inversion approach. To take the uncertainties of aerodynamic parameters into account, stochastic robustness design approach based on the Monte Carlo simulation and Pigeon-inspired optimization is established to increase the robustness of the controller. Some simulation results are given out which indicate the reliability and effectiveness of the attitude control system. © 2014 Chinese Association of Automation.

关键词： Attitude control Calculations Communication satellites control systems Intelligent systems Launch vehicles Launching Monte Carlo methods Nonlinear control systems Reusability Reusable rockets Robustness (control systems) Sliding mode control Stochastic systems Vehicles

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Energy-efficient Adaptive control for Cooperative Spacecraft Rendezvous and Docking 36

Energy-efficient Adaptive Control for Cooperative Spacecraft...

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第36届中国控制会议

作者： XIA Kewei ZHU Bing The Seventh Research Division Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

An energy-efficient adaptive control is developed for a pursuer spacecraft docking with a cooperative *** pursuer spacecraft is subject to parameter uncertainties. A six degree-of-freedom（6-DOF） nonlinear model is expressed by coupled relative attitude and orbit dynamics. In the proposed control, inverse optimality approach is applied, such that the conventional Hamilton-Jacobi-Bellman equation can be avoided, and the controller is energy-efficient. Lyapunov theory is used to prove that the closed-loop systems are asymptotically stable despite of unknown inertial parameters. Numerical simulations demonstrate the effectiveness of our control strategy.

关键词： Rendezvous and docking adaptive control energy-efficiency optimal control

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Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

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science China(Information sciences) 2017年第7期60卷 29-39页

作者： Chunyan WANG Zongyu ZUO Qinghai GONG Zhengtao DING School of Electrical and Electronic Engineering University of Manchester Sackville Street Building Sino-British Joint Advanced Control System Technology Laboratory James Lighthill Building The Seventh Research Division and Science and Technology on Aircraft Control Laboratory Beihang University Beijing Aerospace Automatic Control Institute

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

关键词： multi-agent systems formation control Lipschitz nonlinearity disturbance rejection

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Application of An Adaptive Cubature Kalman Filter in Target Tracking Model of Infrared Semi-strapdown Seeker

Application of An Adaptive Cubature Kalman Filter in Target ...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Siting Peng Yuan Liang Hong Jiang Qingdong Li Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

According to the characteristics of the cubature Kalaman filter, the precision of filter can be improved by considering the statistical characters of the noise, thus an adaptive CKF is applied to solve the estimation problem existed in the semi-strapdown seeker system. By calculating the mean value in each iteration, the algorithm can estimate and correct the statistical characters of the noise on-line by using Sage-Husa maximum a posterior (MAP) estimator in the filtering process therefore, and then can effectively improve the estimation accuracy and stability of the CKF. When the normal and adaptive CKF methods are applied in the target tracking model of infrared semi-strapdown seeker, the simulation results show that the adaptive CKF algorithm is more feasible and effective, and it has better performance than the CKF both in stability and precision, thus demonstrating that the ACKF could obviously improve the filtering effect of normal CKF algorithm.

关键词： Optical filters Mathematical model Kalman filters Target tracking Missiles Adaptation models Filtering algorithms

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Boundary control of a Quadrotor UAV with a Payload Connected by a Flexible Cable

Boundary Control of a Quadrotor UAV with a Payload Connected...

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Chinese control Conference (CCC)

作者： Zhong-Hui Du Huai-Ning Wu Shuang Feng The Science and Technology on Aircraft Control Laboratory and School of Automation Science and Electrical Engineering Beihang University Beijing China

This paper addresses the problem of boundary control design for a quadrotor UAV with a payload connected by a flexible cable. The extend Hamilton's principle is applied to establish the model of the slung-load system which consists of two nonlinear wave equations. The objective of this paper is to design boundary feedback controllers for the slung-load system via the cable's boundary measurements such that the resulting closed-loop system is exponentially stable. The Lyapunov's direct method is employed to derive the stabilization condition for the system, which is provided in terms of linear matrix inequalities (LMIs). The numerical simulation illustrates the effectiveness of the proposed design method.

关键词： Payloads Mathematical model Propagation Vibrations Boundary conditions Symmetric matrices Load modeling

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A method for unsteady aerodynamic modeling of biaxial coupled oscillation based on CV-SMO-SVR*

A method for unsteady aerodynamic modeling of biaxial couple...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Yongxi Lyu Yuyan Cao Weiguo Zhang Jingping Shi Xiaobo Qu Haijun Zhou Department of Automatic Control Northwestern Polytechnical University Xi’an China Science and Technology on Aircraft Control Laboratory Xi’an FACRI

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

This paper presents a precise unsteady aerodynamic modeling method of biaxial coupling oscillation which overcomes the drawbacks of the nonlinearity, coupling and hysteresis of the aerodynamic during post-stall maneuver. In order to establish a large number of experimental data model rapidly, a method of unsteady aerodynamic modeling on the basis of Sequential Minimal Optimization - Support Vector Regression (SMO-SVR) is proposed. The input variables, output variables and kernel functions of the SVR model for unsteady aerodynamic modeling are determined relying on the analysis of the wind tunnel test data. To improve the modeling accuracy, Cross Validation (CV) is successfully applied to adjust the parameters of the proposed SMO algorithm. The accurate unsteady aerodynamic model can be obtained from the random training data and the random testing data. The unsteady aerodynamic modeling under the pitch-roll and the yaw-roll oscillation is completed. Comparing with the Back Propagation Neural Networks (BPNN) method, the method proposed in this paper has characteristics of high accuracy and strong versatility.

关键词： Aerodynamics Manganese Oscillators Mathematical model Atmospheric modeling Analytical models Data models

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A sealing performance analysis for the corner of a rotary vane seal based on ANSYS

A sealing performance analysis for the corner of a rotary va...

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CSAA/IET International Conference on aircraft Utility Systems (AUS 2018)

作者： Mingyang Li Yaoxing Shang Zongxia Jiao Xinglu Li Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9781510872745

Rotary vane actuators are widely used in load simulators, hydraulic simulation turrets, and rudder surface drives. The vane seal's performance directly determines the operating performance of rotary vane actuator. In this paper, a kind of composite rotary vane seals consisted of a rubber part and a polytetrafluoroethylene part is introduced. The sealing performance of a composite seal under I2MPa hydraulic pressure, including contact pressure and leakage evaluation, is analyzed based on ANSYS software. The results shows that the corner of the PTFE part has a worse performance compared with other parts of the composite vane seals.

关键词： Rotary Vane Seal Contact pressure Leakage Rotary vane actuator Finite element method ANSYS

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Lateral control Reconfiguration of Tailless Flying-wing UAV Based on L1 Adaptive control Method

Lateral Control Reconfiguration of Tailless Flying-wing UAV ...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Weihua Li Weiguo Zhang Jingping Shi Xiaobo Qu Yunhao Fu Jun Che Haijun Zhou Department of Automatic Control Northwestern Polytechnical University Xi’an China Science and Technology on Aircraft Control Laboratory Xi’an China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

In traditional active control reconfiguration methods, fault type and location information are strongly relied on. It is time-consuming to design a variety of control laws for each type of fault which need to be taken into account. In order to overcome these disadvantages, a new method for flying-wing UAV lateral control reconfiguration based on L1 adaptive control method is proposed. The presented method considers the control surface failure as modeling error and disturbance. The L1 control method can also effectively restrains the high frequency signal in the control signal while guaranteeing adaptive speed. The two split drag rudders (SDRs) are applied to eliminate the sideslip of flying wing aircrafts by symmetrical deflections. Hence, the SDRs are crucial for the safety of flying-wing aircraft. In this paper, the control surfaces of SDR in this paper can deflect asymmetrically, and all lateral control surfaces can deflect simultaneously to make the aircraft roll and yaw.. In this way, dependence of flying-wing aircraft on SDR can be reduced. At the end of this paper, we verified the performance of the designed control reconfiguration method in the event of SDR failure. The simulation results showed that the designed controller can maintain an ideal command tracking effect under the condition of SDR damage, loose floating or stuck failure. The rapid adaptability and robustness are also satisfactory. The impact of SDR failure on flight safety is greatly reduced.

关键词： Low pass filters Aerospace control aircraft Adaptive control control systems Military aircraft Mathematical model

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A modified consensus algorithm for multi-UAV formations based on pigeon-inspired optimization with a slow diving strategy

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智能系统学报 2017年第4期12卷 570-581页

作者： ZHANG Tianjie DUAN Haibin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University(BUAA)

This paper considers the formation control problem for a group of unmanned aerial vehicles( UAVs)employing consensus with different optimizers. A group of UAVs can never accomplish difficult tasks without formation because if disordered they do not work any better than a single vehicle,and a single vehicle is limited by its undeveloped intelligence and insufficient load. Among the many formation methods,consensus has attracted much attention because of its effectiveness and simplicity. However,at the beginning of convergence,overshoot and oscillation are universal because of the limitation of communication and a lack of forecasting,which are inborn shortcomings of consensus. It is natural to modify this method with lots of optimizers. In order to reduce overshoot and smooth trajectories, this paper first adopted particle swarm optimization( PSO), then pigeon-inspired optimization( PIO) to modify the consensus. PSO is a very popular optimizer,while PIO is a new method,both work but still retain disadvantages such as residual oscillation. As a result,it was necessary to modify PIO,and a pigeon-inspired optimization with a slow diving strategy( SD-PIO) is proposed. Convergence analysis was performed on the SD-PIO based on the Banach fixed-point theorem and conditions sufficient for stability were ***,a series of comparative simulations were conducted to verify the feasibility and effectiveness of the proposed approach.

关键词： unmanned aerial vehicle(UAV) formation consensus pigeon-inspired optimization(PIO) Banach fixed-point theorem

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Robust Adaptive Back-stepping control Design Based on RBFNN for Morphing aircraft

Robust Adaptive Back-stepping Control Design Based on RBFNN ...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Fuxiang Qiao Weiguo Zhang Guangwen Li Jingping Shi Xiaobo Qu Jun Che Haijun Zhou Department of Automatic Control Northwestern Polytechnical University Xi’an China Science and Technology on Aircraft Control Laboratory Xi’an China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

This paper presents a robust adaptive back-stepping control base on radial basis function neural networks (RBFNN) for the nonlinear morphing aircraft. The adaptive term constructed by the RBFNN approximate the uncertainties of the system, and the robust term is designed to eliminate approximation error between the real value and evaluated value approximated by RBFNN. The performance and stability of controller are guaranteed by these two terms. It is proved by means of Lyapunov theory that the track error can be convergent and the signals are uniformly bounded. Simulation results show that the proposed controller can ensure good tracing performance of the morphing aircraft and suppress uncertainties of the system effectively.

关键词： aircraft Aerospace control Uncertainty Robustness Two dimensional displays Atmospheric modeling Mathematical model

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