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Path planning for solar-powered UAV in urban environment

Neurocomputing 2018年 275卷 2055-2065页

作者： Jianfa Wu Honglun Wang Na Li Peng Yao Yu Huang Hemeng Yang School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Shenyuan Honors College of Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Unmanned System Research Institute Beihang University Beijing 100191 China College of Engineering Ocean University of China Qingdao 266100 China Institute of Public Safety Research Tsinghua University Beijing 100084 China Tianjin Zhongwei Aerospace Data System Technology Co. Ltd Tianjin 300301 China

Aiming at the complexity and particularity of urban environment, a solar-powered UAV (SUAV) path planning framework is proposed in this paper. The framework can be decomposed into three aspects to resolve. First, to make SUAV avoid the building obstacles, a nature-inspired path planning method called Interfered Fluid Dynamical System (IFDS) is introduced. Aiming at the defect that the traditional IFDS is not suitable for SUAV energy optimization calculation, the dynamic constraints and model are introduced to IFDS. The modified IFDS, called Restrained IFDS (RIFDS), is proposed. Second, to resolve the path planning issue efficiently, a novel intelligent optimization algorithm called Whale Optimization Algorithm (WOA) is selected as the basic framework solver. To further overcome the drawback of local minima, adaptive chaos-Gaussian switching solving strategy and coordinated decision-making mechanism are introduced to the basic WOA. The modified algorithm, called Improved WOA (IWOA), is proposed. Third, to solve the accurate modeling problem of solar energy in urban environment, two measures are adopted: (1) A practical judgment method for sunlight occlusions is proposed; (2) Aiming at some unreasonable aspects in the solar energy production model, the received solar energy is modified and recalculated by ASHRAE Clear Sky Model and the solar irradiance calculation principle for slant surfaces in this paper. Finally, the effectiveness of the proposed framework is tested by the simulations.

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Consensus disturbance rejection of network-connected dynamic systems with input delay and unknown network connectivity

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IFAC-PapersOnLine 2017年第1期50卷 10357-10362页

作者： Wang C. Sun J. Zuo Z. Ding Z. School of Electrical and Electronic Engineering University of Manchester Sackville Street Building Manchester M13 9PL United Kingdom State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing 100871 China The Seventh Research Division and Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China

In this paper, we consider the distributed consensus problem for multi-agent systems with input delay and unknown disturbances. To deal with the input delay and disturbances, a predictor- and disturbance observer-based control strategy is developed for each follower. Then, a distributed robust adaptive consensus protocol with dynamic coupling gains is proposed based on the relative state of the neighbouring agents, guaranteeing that all signals in the closed-loop dynamics are uniformly ultimately bounded and the consensus tracking error converges to an arbitrarily small residual set. The controllers are proposed in a fully distributed way such that the global information related to the eigenvalues of the Laplacian matrix is not needed. Finally, the validity of the proposed controller is demonstrated through a numerical example. © 2017

关键词： adaptive control Consensus disturbance rejection input delay multi-agent systems

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Local Polynomial Method for Structural Identification 35

Local Polynomial Method for Structural Identification

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第35届中国控制会议

作者： TANG Wei WU Jian ZHENG Xiao Ke LI Qiang School of Automation Northwestern Polytechnical University Science and Technology on Aircraft Control Laboratory FACRI

ISBN: (纸本)9781509009107

Frequency domain system identification is widely used in the area of structural identification. However, due to measurement noise and leakage errors in frequency domain, the identified model may be inaccurate. The local polynomial method is(LPM) is a recently developed procedure for estimation of the frequency response function(FRF) of a linear system considering the leakage errors. In this paper, we propose a new approach combining the LPM with the maximum likelihood(ML)for parameter identification of the system dynamics in a generalized output error framework. We show the benefits of the proposed approaches in a numerical example.

关键词： structural identification leakage errors LPM maximum likelihood

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Research on Autonomous Orbit Determination for Earth-Moon constellation based on adaptive EKF

Research on Autonomous Orbit Determination for Earth-Moon co...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Shuai Lu Jing Yang Hongzhuan Qiu Science and Technology on Aircraft Control Laboratory Beihang University Beijing China School of Automation Science and Electrial Engineering Beihang University Beijing China

In order to resolve the unobservable problem when only the inter-satellite range of the Earth constellation is utilized for autonomous orbit determination, Lagrange satellites related measurements can be introduced, yielding the method of autonomous orbit determination for earth-moon constellation. For such an orbit determination system, after the dynamic model and the observation model are established, the main issue is that the prior information of the system noise is difficult to be obtained accurately, resulting as significant errors of the estimated orbits. Thus, in this paper, an improved adaptive Extended Kalman Filter (EKF) based on Sage-Husa algorithm is proposed to achieve a high-precision, long-term orbit determination system. Simulation experiments are carried out to compare it with recent algorithms. And the results validate the effectiveness of solving the unobservable problem, and the significant accuracy improvements.

关键词： Planetary orbits Earth Extraterrestrial measurements Moon Noise measurement

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Adaptive Fault-tolerant control for Cooperative Spacecraft Rendezvous and Docking

Adaptive Fault-tolerant Control for Cooperative Spacecraft R...

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American control Conference

作者： Kewei Xia Wei Huo The Seventh Research Division Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 P.R. China

ISBN: (纸本)9781509045839

An adaptive fault-tolerant controller is investigated for a pursuer spacecraft approaching a cooperative target spacecraft and docking with it. The six degree-of-freedom (6-DOF) relative dynamics system with actuator faults is formulated. An adaptive controller is developed, where adaptive algorithm is introduced to estimate and compensate system uncertainties, and projection algorithm is introduced to guarantee that the estimation of multiplicative fault matrix is invertible. It is proved that the closed-loop dynamics system is globally uniformly ultimately bounded. Numerical simulations are given to show effectiveness of the proposed controller.

关键词： Spacecraft Rendezvous Docking Berthing rendezvous Spacecraft SPACE RENDEZVOUS system uncertainties fault-tolerant control Projection algorithms Reversibility Self tuning adaptive controller

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An Integrated INS/GNSS Urban Navigation System based on Fuzzy Adaptive Kalman Filter 35

An Integrated INS/GNSS Urban Navigation System based on Fuzz...

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第35届中国控制会议

作者： Gao Nan Wang Meng Yuan Zhao Long Digital Navigation Center Beihang University the Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781509009107

In the complex urban environments,Land Vehicle Navigation（LVN） system with INS and GNSS has the ever-changing statistical characteristics of the measurement noise due to the complicated road state and the loss of satellite signals caused by obstructions,which will reduce the filtering precision,even cause *** solve this problem,we introduce an integrated INS/GNSS navigation system based on fuzzy adaptive Kalman *** this system,the fuzzy inference system is used to constantly adjust the weight of measurement noise covariance matrix through monitoring the difference from the estimated residual to the theoretical *** the measurement noise covariance matrix is updating online and approaching the actual *** result shows that compared with the performance of a Standard Kalman filter（SKF）,the proposed fuzzy adaptive Kalman filter gives better results,in terms of accuracy,than the SKF.

关键词： Kalman filtering Fuzzy logic control GPS/INS Urban navigation system

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Design of Two-stage Fuzzy controller for Mobile Robot Using Vision Navigation 7

Design of Two-stage Fuzzy Controller for Mobile Robot Using ...

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

作者： Chang Le Liu Zhenghua School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781467383196

Aiming at the requests of path planning in dynamic environment,real-time obstacle avoidance and trajectory tracking,a new twin-stage fuzzy controller is *** controller uses the three-dimensional coordinate information obtained by robot's built-in binocular vision system,and finally achieves the two goals of path planning and trajectory ***,establish the dynamic model of robots,and propose a new idea to locate the robot;Second,design the algorithm of path planning and the control discipline of robot's trajectory tracking based on fuzzy logic,and then complete the path planning and tracking meanwhile;Third,realize the robot's real-time obstacle avoidance by the method of fuzzy *** simulation analyzes the effectiveness and stableness of the fuzzy control logic used in the two sections ***,verify the stableness of the controller by the self-made binocular moving robot *** result demonstrates that,the proposed tracking algorithm and control method can achieve the goal of dynamic path planning and real-time obstacle avoidance very well.

关键词： autonomous mobile robot visual navigation fuzzy control path planning trajectory tracking

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Quadrotor Trajectory Tracking Based on Internal Model control/ZN-PD control 35

Quadrotor Trajectory Tracking Based on Internal Model Contro...

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第35届中国控制会议

作者： HE ZeFang ZHAO Long School of automation science and electrical engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781509009107

To achieve stable tracking of a flight trajectory, a controller with simple structure and strong robustness is designed control a quadrotor in this paper. The controller possesses inner and outer loops structure. The inner loop adopts a ZN-PD controller which Proportional Derivative(PD) controller parameters are tuned by Ziegler-Nichols method;the outer loop adopts Internal Model control(IMC) method. In this method, the inner loop controller solves the problem of the quadrotor PD controller blind adjusting parameters;the outer loop controller guarantee strong robustness to parameter uncertainty and rejection to disturbance. Compared with the other two methods GA-PD/ZN-PD(outer loop controller is a PD controller with parameters tuned by a genetic algorithm, inner loop controller is ZN-PD) and ZN-PD/ZN-PD(outer and inner loop controllers are both ZN-PD), the method proposed in this paper has stronger disturbance rejection ability and robustness to parameter uncertainty.

关键词： Quadrotor Internal Model control Time delay Trajectory tracking Integral of square error

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Singularity-free Robust Trajectory Tracking control for Quadrotors 35

Singularity-free Robust Trajectory Tracking Control for Quad...

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第35届中国控制会议

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

ISBN: (纸本)9781509009107

A singularity-free robust trajectory tracking control algorithm is presented for quadrotors with modeling and parameter uncertainties in this paper. The designed controller has a cascaded structure composed by position control loop and attitude control loop. The position controller is constructed with the hyperbolic tangent function to improve tracking performance by compensating the uncertainties, and the desired attitude without singularity can be extracted from the position controller by choosing appropriate parameters. Thereafter, the attitude controller is designed to drive the actual attitude to the desired one and it can guarantee that no singularity occurs in the attitude tracking progress. Simulation results are provided to show the singularity-free trajectory tracking of the proposed controller.

关键词： Quadrotor Trajectory tracking Singularity-free control

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An energy optimization type of power-by-wire integrated loading actuation system

An energy optimization type of power-by-wire integrated load...

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2016 IEEE/CSAA International Conference on aircraft Utility Systems, AUS 2016

作者： Jiakang, Wu Yaoxing, Shang Zongxia, Jiao Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9781509010875

Based on the characteristics of loading actuation's work pattern alternately switching between homodromous and converse load during the aircraft structure test especially in the fatigue loading test, an energy optimization type of power-by-wire valve-control integrated loading actuation system for aircraft structure test was designed. The system components and working principle was described. The loading scheme of the main and the minor valves working in different loading pattern was proposed. The modeling and simulation work of the energy optimization loading actuation system was completed. The feasibility of the main and the minor valves working in different loading pattern was proved. The simulation results demonstrate that the designed energy optimization type of power-by-wire valve-control integrated loading actuation system for aircraft structure test can improve the energy efficiency of the system obviously, and can be widely used in aircraft structural loading test system. © 2016 IEEE.

关键词： Energy efficiency

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