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Verification of monocular and binocular pose estimation algorithms in vision-based UAVs autonomous aerial refueling system

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science China(Technological sciences) 2016年第11期59卷 1730-1738页

作者： LI Han DUAN HaiBin Bio-inspired Autonomous Flight Systems (BAFS) Research Group Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

With the high focus on autonomous aerial refueling(AAR), it becomes increasingly urgent to design efficient methods or algorithms for solving the AAR problems in complicated aerial environments. A vision-based technology for AAR is developed in this paper, and five monocular and binocular visual algorithms for pose estimation of the unmanned aerial vehicles(UAVs) are adopted and verified in this AAR system. The real-time on-board vision system is also designed for precise navigation in the UAVs docking phase. A series of out-door comparative experiments for different pose estimation algorithms are conducted to verify the feasibility and accuracy of the vision algorithms in AAR.

关键词： unmanned aerial vehicles（UAVs） autonomous aerial refueling（AAR） pose estimation monocular vision binocular vision

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Dynamics,stability and control characteristics of unmanned compound autogyro 7

Dynamics,stability and control characteristics of unmanned c...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： LIN Qing CAI Zhihao WANG Yingxun School of Automation Science and Electrical Engineering and with Science and Technology on Aircraft Control Laboratory Beihang University School of Automation Science and Electrical Engineering and with the Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781467383196

A compound autogyro unmanned aerial vehicle(UAV) augmented with tip-jet technology is proposed.A nonlinear six/seven-degree-of-freedom model is built,in which the rotor model is control-oriented and bulit based on explicit blade element *** model is trimmed with fly-to-trim method and a novel multi-mode trim *** on the trim results,the nonlinear model is linearization and then the dynamic modes,stability and control characteristics throughout the speed range are *** trim and analyzed results reflect some key features of multi-mode flight and provide good references for autopilot design of the compound autogyro UAV.

关键词： UAV Dynamics,stability and control characteristics of unmanned compound autogyro

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Sampled-Data Fuzzy Observer Design for Semilinear Parabolic PDEs

Sampled-Data Fuzzy Observer Design for Semilinear Parabolic ...

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Chinese control Conference (CCC)

作者： Zi-Peng Wang Huai-Ning Wu Yan Shen School of Electrical Engineering University of Jinan Jinan P. R. China Science and Technology on Aircraft Control Laboratory Beihang University Beijing P. R. China Sinopec Pipeline Storage & Transportation Co. LTD Wuhan P. R. China

In this paper, the sampled-data fuzzy observer design problem is addressed for semilinear parabolic partial differential equations (PDEs). Initially, the semilinear PDE system is accurately represented by the Takagi-Sugeno (T-S) fuzzy model. Then, based on the T-S fuzzy model, a time-dependent Lyapunov functional is used to design a sampled-data fuzzy observer such that the estimation error PDE system is exponentially stable and satisfies an H ∞ performance to attenuate the effect of the design disturbance. The stabilization condition is presented in terms of a set of linear matrix inequalities (LMIs). Finally, simulation results on the FitzHugh-Nagumo (FHN) equation to illustrate the effectiveness of the proposed design method.

关键词： Observers Symmetric matrices Mathematical model Estimation error Linear matrix inequalities Electronic mail

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Microcontroller-Based Design and Implementation of Flight control System for a Small Quadrotor

Microcontroller-Based Design and Implementation of Flight Co...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Mingxi Chen Zhihao Cai Jiang Zhao Yu Zheng Yingxun Wang Xiaolong Chen School of Automation Science and Electrical Engineering Beihang University his current research interests include autonomous navigation of unmanned aerial vehicles based on multi-sensor data fusion Beijing China School of Automation Science and Electrical Engineering Beihang University his current research interests include autonomous navigation and control of unmanned aerial vehicles Beijing China School of Automation Science and Electrical Engineering Beihang University His current research interests are UAVs Formation Control and VTOL Beijing China National Key Laboratory of Science and Technology on Aircraft Control Facri Xi’an China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

This paper aims to build up a control platform for a small quadrotor to complete the design work of flight control system, so that the quadrotor can move freely in three-dimensional space. Firstly, a reference coordinate system and the motion control model of quadrotor are established. The PID method of flight control system of quadrotor is chosen, and the attitude and position control of the aircraft are modeled and simulated in MATLAB. Secondly, the detection data of gyroscope and accelerometer are calculated preliminarily and then processed through filtering algorithm by using STM32 micro-controller. The results showed that the attitude and position loop are controlled smoothly under small-angle action, and the control law is verified. The design of the function modules of the quadrotor's attitude detection and flight control is completed. Therefore, the content of the research is generally correct and feasible. From these results, it is concluded that the hardware platform of quadrotor should be built up primarily, and the design of system software should be completed after the integration of each module. The attitude control and fixed altitude flight control of quadrotor and tracking flight mission can be achieved preliminarily in our control platform.

关键词： Attitude control Software design Mathematical model Microcontrollers Tracking loops Silicon compounds

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Hybrid membrane computing and pigeon-inspired optimization algorithm for brushless direct current motor parameter design

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science China(Technological sciences) 2016年第9期59卷 1435-1441页

作者： DENG YiMin ZHU WeiRen DUAN HaiBin Bio-inspired Autonomous Flight Systems (BAFS) Research Group Science and Technology on Aircraft Control Laboratory Beihang University School of Automation Science and Electrical Engineering Beihang University

In this paper, a novel approach is proposed for solving the parameter design problem of brushless direct current(BLDC) motor, which is based on the membrane computing(MC) and pigeon-inspired optimization(PIO) algorithm. The motor parameter design problem is converted to an optimization problem with five design parameters and six constraints. The PIO algorithm is introduced into the framework of MC for improving the global convergence performance. The hybrid algorithm can improve the population diversity with better searching efficiency. Comparative simulations are conducted, and comparative results are given to show the feasibility and effectiveness of our proposed hybrid algorithm for high nonlinear optimization problems.

关键词： brushless direct current（BLDC） motor pigeon-inspired optimization（PIO） membrane computing（MC）

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Robust Nonlinear control for Spacecraft Rendezvous and Docking with Disturbance Observer 35

Robust Nonlinear Control for Spacecraft Rendezvous and Docki...

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第35届中国控制会议

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

ISBN: (纸本)9789881563910

This paper presents a robust nonlinear control strategy for a cooperative spacecraft rendezvous and docking maneuver with coupled attitude and position dynamics. The nonlinear and coupled models of relative attitude and relative position motions are expressed in the pursuer body-fixed frame, respectively. Both parametric uncertainties and disturbances are estimated together by a second-order nonlinear disturbance observer. A robust control strategy based on feedback linearization is developed. It is proved that the states of the closed loop systems are uniformly ultimately bounded in presence of parametric uncertainties and disturbances by using Lyapunov theory. Theoretical conclusions are demonstrated by numerical simulations.

关键词： Spacecraft control Nonlinear control Rendezvous and docking Disturbance observer

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Predictor-Corrector Entry Guidance for High-Lifting Hypersonic Vehicles 35

Predictor-Corrector Entry Guidance for High-Lifting Hyperson...

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第35届中国控制会议

作者： WANG Haoliang LI Qingdong REN Zhang School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509009107

An effective predictor-corrector guidance algorithm of high-lifting vehicles is presented in this *** the convenience of designing the bank angle profile,the path constraints are transformed into the constraints of the bank angle by using the quasi-equilibrium glide condition（QEGC）.The differential equations of motion and range-to-go of hypersonic vehicle are used to predict the terminal target *** main problem of the guidance of high-lifting vehicles is the bounces of vehicle in the *** suppressing the trajectory oscillations caused by their high ratio of lift and drag in the guidance,the current bank angle,which is calculated from the predictor-corrector guidance approach,will be improved by the reference flight path *** is more,a method is presented to correct the terminal bank *** are provided to verify the effectiveness of the proposed method.

关键词： Predictor-Corrector Guidance High-Lifting Vehicles QEGC Corrector of Terminal Bank Angle Reference Trajectory

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Finite-Time decoupling direct control for hypersonic reentry vehicle with multiple disturbances via second-order ADRC

Finite-Time decoupling direct control for hypersonic reentry...

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2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

作者： Yu, Yue Wang, Honglun Li, Na Zhang, Huiping Liu, Chang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Unmanned System Research Institute Beihang University Beijing 100191 China School of Automation Beijing Institute of Technology and Beijing Aerospace Automatic Control Institute Beijing 100081 China

ISBN: (纸本)9781538637432;9781538637425

In this paper, a novel finite-Time decoupling direct control (FDDC) scheme is proposed for attitude tracking problem of hypersonic reentry vehicle (HRV) based on second-order active disturbance rejection control (SADRC). Unlike traditional control method which separates control system into outer-loop attitude control and inner-loop angular rate control, attitude is controlled by control actuator straightforward with single loop. Firstly, the attitude tracking problem is converted to the decoupling control problem of a three-input and three-output cross coupling system. In each channel, a SADRC controller, which is composed of tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (NLSEF), is designed to track attitude command of the corresponding channel in a finite-Time sense. Finally, the obtained virtual control input is transformed into actual control input, which acts on the HRV model. Simulations are conducted to verify the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： decoupling control extended state observer (ESO) finite-Time second-order active disturbance rejection control (SADRC)

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H∞n;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： Zhu, Huan-Yu Wu, Huai-Ning Wang, Jun-Wei Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 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. © 2013 IEEE.

关键词： Ordinary differential equations

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Endurance Estimate for Solar-Powered Unmanned Aerial Vehicles

Endurance Estimate for Solar-Powered Unmanned Aerial Vehicle...

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International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC

作者： Yu Huang Honglun Wang Na Li Yue Yu Science and Technology on Aircraft Control Laboratory Beihang University Unmanned System Research Institute Beihang University Beijing China

ISBN: (纸本)9781538630235

Calculating endurance is very important for solarpowered airplane, both with respect to aircraft designs and mission planning. This paper presents a graphical method to evaluate the approximate endurance of solar-powered unmanned aerial vehicles (SUAV). The method, which is based on the principle of energy balance, is established in this study. According to the principle, cruise endurance is considered as a steady-state flight where the effects of date and location are taken into account, but other effects (acceleration or flight path inclination) are neglected. Firstly, to predict the total energy of SUAV, an energy harvesting model, based on clear sky solar irradiance, is introduced. Subsequently, the expression used to calculate the energy consumption for SUAV in level flight is shown. After that, the process of endurance estimation is described. And then, to describe the endurance of SUAV, the perpetual endurance window is introduced. Finally, some numerical simulations are presented, and simulation results demonstrate the graphical method is a feasible and flexible tool to estimate endurance of SUAV.

关键词： aircraft aircraft propulsion Solar radiation Sun Aerospace electronics Urban areas Energy consumption

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