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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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control-oriented credibility assessment of air-breathing hypersonic vehicle model 29

Control-oriented credibility assessment of air-breathing hyp...

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第29届中国控制与决策会议

作者： Haoliang Wang Qingdong Li Zhang Ren School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509046584

A new control-oriented credibility assessment method of air-breathing hypersonic vehicle model is presented in this *** the actual aerodynamic parameters are few,a new method of obtaining linear systems of the Model Awaiting Assessment(MAA) and the Actual Model(AM) is presented to comprehensively evaluate the changing trends of flight *** order to assess the credibility of hypersonic vehicle,the B type association degree is proposed to assess the distinctions between the simulation results of the two corresponding linear systems which are calculated from MAA and the *** application is provided to demonstrate the effectiveness of the creditability evaluation method.

关键词： credibility assessment control-oriented method few actual aerodynamic parameters grey system theory air-breathing hypersonic vehicle

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Distributed observer-based time-varying formation tracking for high-order multi-agent systems with nonlinear dynamics 36

Distributed observer-based time-varying formation tracking f...

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第36届中国控制会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Time-varying formation tracking problems for high-order nonlinear multi-agent systems are investigated by using a distributed observer-based *** from the previous work,the states of followers form a predefined time-varying formation while tracking the states of the leader with unknown but bounded control ***,the dynamics of each agent is high-order and has ***,a nonlinear time-varying formation tracking control protocol is proposed based on the distributed observer which is constructed using only local neighboring output ***,an algorithm with three steps is proposed to design the distributed observer-based formation tracking protocol,where the time-varying formation tracking feasibility condition is ***,by using Lyapunov theory,the stability of the proposed algorithm is ***,a numerical example with three followers and one leader is provided to demonstrate the effectiveness of the obtained results.

关键词： Time-varying formation tracking High-order nonlinear dynamics Multi-agent systems Distributed observer

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Adaptive Output-feedback Time-varying Formation Protocol Design for Linear Swarm Systems with Directed Topology 36

Adaptive Output-feedback Time-varying Formation Protocol Des...

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第36届中国控制会议

作者： WANG Rui DONG Xiwang LI Qingdong QIN Zekui REN Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

This paper studies output-feedback time-varying formation（TVF） protocol design problems for general linear swarm systems with directed interaction *** adding extra observers,an adaptive output-feedback TVF protocol is constructed for general linear swarm systems with directed interaction topology to achieve a given ***,a fully distributed algorithm is proposed based on only local output information of each agent and its ***,a sufficient condition for achieving the desired TVF under the designed adaptive output-feedback TVF protocol is derived based on the Lyapunov ***,a simulation example is presented to illustrate the theoretical results.

关键词： Time-varying formation control Distributed adaptive protocol Directed interaction topology Output feedback information Swarm systems

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Distributed time-varying formation control for second-order nonlinear multi-agent systems based on observers 29

Distributed time-varying formation control for second-order ...

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第29届中国控制与决策会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Yingrong Yu Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509046584

In this paper,time-varying formation analysis and design problems for second-order nonlinear multi-agent systems are studied using a distributed observer-based *** formation in this paper can be specified by timevarying continuously differentiable vectors and the dynamics of each agent has ***,a nonlinear timevarying formation control protocol is proposed based on the distributed *** a nonsingular transformation matrix is constructed using the property of the Laplacian *** conditions for the second-order nonlinear multi-agent systems to achieve time-varying formations are presented using only position feedback,where a description of the feasible time-varying formation set is ***,an algorithm with three steps is proposed to design the distributed observer-based formation control *** using the Lyapunov theory,the stability of the proposed algorithm is ***,a numerical example with five nonlinear agents is provided to demonstrate the effectiveness of the obtained results.

关键词： Time-varying formation second-order nonlinear dynamics multi-agent systems distributed observer

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