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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Li Ma Guangwen Li Lina Xu Qiuling Jia Lin Qi Xianglun Zhang School of Automation Northwestern Polytechnical University Xi’an China Navigation Department AVIC Flight Automatic Control Research Institute Xi’an China Aeronautical Radio electronics Research Institute Aviation Industry Corporation of China Shanghai China Science and Technology on Aircraft Control Laboratory Flight Automatic Control Research Institute Xi’an China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

Shipboard Relative Global Positioning System (SRGPS) is the sea-based variant of Joint Precision Approach and Landing System (JPALS), which will replace the current military navigation and landing system for all ship aircrafts. This paper describes a generation of the glidepath and guidance parameters for the automatic carrier landing system (ACLS) of shipboard aircrafts based on SRGPS. To define the glidepath, three coordinate systems which are cant deck system, ship body system and static deck system are established, the motion of ship such as pitch, roll, yaw, heave and so on can be depicted in the coordinate systems. Based on accurate coordinates in ship body system and the direction cosine matrixes (DCM) between these coordinate systems, the position vectors of the key points of glidepath are gotten, then the glidepath of ACLS is defined and depicted as a vector. After the translation of the position of the aircraft and hook from the GPS coordinate frame to the system in which the glidepath is defined, the calculating procedure of guidance parameters is described. A simulation based on a type of aircraft demonstrates the validation of the generation of glidepath and parameters.

关键词： Marine vehicles aircraft Global Positioning System Aerospace control aircraft navigation Transforms Antenna measurements

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From collective flight in bird flocks to unmanned aerial vehicle autonomous swarm formation

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Gongcheng Kexue Xuebao/Chinese Journal of Engineering 2017年第3期39卷 317-322页

作者： Qiu, Hua-Xin Duan, Hai-Bin Bio-inspired Autonomous Flight Systems Research Group Science and Technology on Aircraft Control Laboratory Beihang University Beijing100083 China

The mission abilities of unmanned aerial vehicles (UAVs) under complex environments will be improved by autonomous swarm formations. The coexistence of multiple aircrafts raises a series of problems, such as growing difficulties in coordinated managements. As a result, the design of the UAV swarm formation coordinated autonomous control algorithm is an urgent and crux problem. During the process of collective flight in bird flocks, complex and orderly collective behaviors emerges after the cooperation among individuals based on simple behavior rules. Due to the agreement between the autonomous, coordinated and intelligent control requirements of UAV swarm formations and the characteristic of bird flock collective flight such as adjacent interactions, group stabilities and environment adaptions, the study on the mechanism of collective flight in bird flocks and the mapping relationship between bird flocks and UAV swarm systems will give a feasible way to solve the UAV swarm formation coordinated autonomous control problem. © All right reserved.

关键词： Antennas

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Relative motion modeling and control for a quadrotor landing on an unmanned vessel

Relative motion modeling and control for a quadrotor landing...

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AIAA Guidance, Navigation, and control Conference, 2017

作者： Jin, Cheng Zhu, Ming Sun, Liang Zheng, Zewei School of Aeronautic Science and Engineering Beihang University Beijing100191 China The Seventh Research Division Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

ISBN: (数字)9781624104503

ISBN: (纸本)9781624104503

This paper presents the design of an autopilot for autonomous landing of a quadrotor on an unmanned vessel. The problem of quadrotor landing was usually treated as a trajectory tracking problem, but in this paper, it is converted as a stabilization problem of relative motion to facilitate the controller design. A coupled six-degrees-of-freedom (6-DOF) non- linear relative motion model with four control inputs is established. The landing controller is divided into two parts, relative position controller(RPC) and relative attitude-altitude controller(RAC). RPC is proposed for use when the quadrotor is far away from the vessel, which is aimed at controlling the quadrotor to y to the vicinity of the unmanned *** is used for the situation when the quadrotor is close to the vessel, which can control the quadrotor to land on the vessel steadily. To overcome the problem of nonlinear and strong coupling features of the relative system, a backstepping technique is applied in both RPC and RAC. The performance of the autopilot is demonstrated by computer simulations. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Landing

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Research on Rotor Position Estimation Method of Sensorless Permanent Magnet Synchronous Motor

Research on Rotor Position Estimation Method of Sensorless P...

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IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference

作者： Gao Tian Xue Feng Yang Yan Zhou Yu Ru Zhao Xiao Peng School of Electronic and Information Northwestern Polytechnical University Xi'an China FACRI Science and Technology on Aircraft Control Laboratory Xi'an China

Position sensor will increase the cost of the motor control system, reduce the reliability and performance of the system, and it's difficult to implement in some bad conditions. This paper presents a rotor position real-time estimation method for permanent magnet synchronous motor. The rotor position estimation is corrected by the position characteristic points obtained by back electromotive force. It will improve the accuracy and reliability of rotor position estimation. Experimental results show that the method proposed in this paper can estimate the rotor position information in real time and achieve the vector control of the motor without position sensor. This method is easy to implement, real-time, and the system runs stably.

关键词： Permanent magnet synchronous motor(PMSM) Sensorless Back electromotive force Position estimation Vector control

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Trajectory Generation for Quadrotors using Galerkin Projection and Fuzzy Inference 35

Trajectory Generation for Quadrotors using Galerkin Projecti...

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第35届中国控制会议

作者： Tian Yuan-yuan WU Huai-Ning Feng Shuang Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781509009107

This paper studies the trajectory generation problem for *** quadrotor is an excellent vehicle for internal surveillance,search and remote *** polynomials are used to parameterize the states,inputs and performance *** trajectory generation problem is formulated as a quadratic programming（QP） ***’s projection method is used to impose the dynamics as an equality *** of the quadrotor’s model is used to get a linear constraint of the *** deal with the uncertainty of the state measurements,the quadrotor’s model is linearized about some operating points closed to the measurement of the initial state instead of the measurement of the initial *** every local linear model a QP problem is *** a fuzzy inference system is constructed to determine the *** are presented to demonstrate the effectiveness of the proposed trajectory generation method.

关键词： trajectory generation quadratic programming（QP） Galerkin projection fuzzy inference

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$\mathcal {L}_{1}$ Adaptive Backstepping for Robust Trajectory Tracking of UAVs

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IEEE Transactions on Industrial Electronics 2017年第4期64卷 2944-2954页

作者： Zongyu Zuo Srinath Mallikarjunan Seventh Research Division and the Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Unmanned-Dynamics Chennai India

This paper addresses the trajectory tracking control (i.e., outer-loop control) problem for unmanned aerial vehicles (UAVs) in the presence of modeling uncertainties and external disturbances. The kinematics and dynamics of the trajectory tracking problem are always in strict feedback form. While there is no uncertainty in the kinematics, rapidly changing uncertainties present in the dynamics makes this problem an ideal candidate for L 1 adaptive backstepping control. The trajectory tracking controller serves as the outer-loop in a cascaded design architecture and supplies a reference quaternion and thrust to the inner-loop controller. The inner-loop controller in turn generates a moment demand for the control allocation module. Such an inner-outer loop architecture is modular and does away with the requirement that the commanded trajectory be four times differentiable as would be required if a single monolithic backstepping control law where to be used. Both simulations and flight tests are used to demonstrate the effectiveness of the proposed controller and how the controller tracks any twice differentiable trajectory, respectively.

关键词： Backstepping Vehicle dynamics Uncertainty Robustness Kinematics Trajectory

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Research on control of Active Optimal Load Sensing Electro-Hydrostatic Actuator

Research on control of Active Optimal Load Sensing Electro-H...

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第六届工程机械与车辆工程新进展国际学术会议

作者： Li Zhihui Jiao Zongxia Shang Yaoxing WU Shai Han Songshan School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Science and Technology on Aircraft Control Laboratory

Electro-Hydrostatic Actuator(EHA) is an actuator of the Power by Wire(PBW) actuation system applied to More/All Electrical aircraft(MEA/AEA),which is helpful to improve the reliability and efficiency

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An Error-Entropy Minimization Algorithm for Tracking control of Nonlinear Stochastic Systems with Non-Gaussian Variables

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IFAC-PapersOnLine 2017年第1期50卷 10407-10412页

作者： Liu Y. Wang A. Guo L. Wang H. State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China Institute of Computer Sciences Anhui University Anhui China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Pacific Northwest National Laboratory 902 Battelle Blvd RichlandWA 99352 United States

This paper presents an error-entropy minimization tracking control algorithm for a class of dynamic stochastic systems. The system is represented by a set of time-varying discrete nonlinear equations with non-Gaussian stochastic input, where the statistical properties of stochastic input are unknown. By using Parzen windowing with Gaussian kernel to estimate the probability densities of errors, recursive algorithms are then proposed to design the controller such that the tracking error can be minimized. The performance of the error-entropy minimization is compared with the mean-square-error minimization in the simulation results. © 2017

关键词： information potential Minimum error entropy non-Gaussian variables probability density function stochastic systems

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$H_\infty $ Disturbance Attenuation for Nonlinear Coupled Parabolic PDE–ODE Systems via Fuzzy-Model-Based control Approach

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2017年第8期47卷 1814-1825页

作者： Huan-Yu Zhu Huai-Ning Wu Jun-Wei Wang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

An H ∞ fuzzy control design is presented for the disturbance attenuation of a class of coupled systems described by a set of nonlinear ordinary differential equations (ODEs) and a semi-linear parabolic partial differential equation (PDE). The fuzzy control scheme consists of an ODE state feedback fuzzy subcontroller for the ODE subsystem and a PDE static output feedback fuzzy subcontroller for the PDE subsystem by using piecewise uniform actuators and pointwise sensors. Initially, the original nonlinear system is accurately represented by employing a Takagi-Sugeno fuzzy coupled parabolic PDE-ODE model. Then, an H ∞ fuzzy controller is developed to exponentially stabilize the fuzzy coupled system while satisfying a prescribed H ∞ performance of disturbance attenuation, whose existence condition is given by linear matrix inequalities. Finally, simulation results on a hypersonic rocket car are given to show the effectiveness of the proposed design method.

关键词： Attenuation Fuzzy control State feedback Mathematical model Robustness Symmetric matrices Actuators

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Design of UAV distributed aided navigation simulation system based on scene/terrain matching

Design of UAV distributed aided navigation simulation system...

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Asian control Conference

作者： Shanshan Cheng Honglun Wang Hongxia Ji Dawei Li School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9781509015740;9781509015733

Aiming at the demand of UAV navigation when GPS fails, an integrated navigation simulation system based on scene/terrain matching is designed. The system supports a variety of matching algorithms or algorithm combinations to implement different inertial navigation correction models in complex terrain conditions. A distributed closed loop simulation platform is built to simulate the real flight environment to study the influence of different flight conditions and algorithms on navigation accuracy. The simulation results show that the system can effectively achieve the simulation requirement, which has a high practical application value.

关键词： Aerospace control Real-time systems Algorithm design and analysis Unmanned aerial vehicles Simulation Global Positioning System

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