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Back-stepping based anti-disturbance flight controller with preview methodology for autonomous aerial refueling

Aerospace science and technology 2017年 61卷 95-108页

作者： Zikang Su Honglun Wang Peng Yao Yu Huang Yong Qin School of Automation Science and Electrical Engineering Beihang University 100191 Beijing China Honors College of Beihang University 100191 Beijing China The Science and Technology on Aircraft Control Laboratory Beihang University 100191 Beijing China

This paper proposes a novel back-stepping based flight controller for the receiver in Autonomous Aerial Refueling (AAR) by the combination of active disturbance rejection control (ADRC) and preview control methodology. Firstly, the proposed flight control law design is divided into five loops by the back-stepping technique. The 6 DOF model for aircraft is written into several strict-feedback nonlinear forms through tactful transformation, considering that the path dynamics are originally non-affine nonlinear forms and are intractable for controller design . Secondly, the influences of the unknown flow perturbations on a receiver in each loop are viewed as the components of the “total disturbances” which are estimated and compensated by extended state observer (ESO). Thirdly, the preview control methodology is introduced into the position loop design as the system dynamic of the receiver is much slower than drogue. The position loop determines the proper reference path angle by using a fuzzy-logic ADRC controller in which previewing error and current tracking error are both taken into consideration. And a novel adaptive look-ahead distance scheme based on the fuzzy logic control (FLC) is proposed for the selection of the preview point. Finally, extensive simulations and comparisons on the 6 DOF receiver model are carried out to demonstrate the effectiveness of the proposed flight controller.

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Attitude Tracking control of a 3-DOF Helicopter with Input and Output Constraints 35

Attitude Tracking Control of a 3-DOF Helicopter with Input a...

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第35届中国控制会议

作者： ZHENG Zewei ZUO Zongyu The Seventh Research Division Science and Technology on Aircraft Control LaboratorySchool of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781509009107

A novel attitude tracking controller is proposed for the 3-DOF helicopter under input and output constraints. A barrier Lyapunov function is employed to address input constraint, and an auxiliary design system for output constraint. Combining the backstepping technique, a nonlinear disturbance observer is explored to tackle the unknown nonlinear functions. We proved that the presented method can control the system output errors converge to a neighbourhood of zero for any sufficient smooth and bounded time-varying trajectory, and simultaneously the input and output states remains in the prescribed set *** results demonstrate the effectiveness of the proposed controller for the 3-DOF helicopter.

关键词： Disturbance Observer 3-DOF Helicopter Input Constraint Output Constraint

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The improved VIKOR method based on dynamic parameters optimization in multi-target threat assessment 17

The improved VIKOR method based on dynamic parameters optimi...

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17th AIAA Aviation technology, Integration, and Operations Conference, 2017

作者： Zhang, Kun Piao, Haiyin Kong, Weiren Liu, Peipei Li, Ke Zou, Jie Northwestern Polytechnical University School of Electronics and Information West Youyi Road 127 Xian710072 China Shenyang Aircraft Design and Research Institute Tawan Street 40 Shenyang110035 China Science and Technology on Electro-Optic Control Laboratory West Kaixuan Road 25 Luoyang471003 China

ISBN: (数字)9781624105081

ISBN: (纸本)9781624105081

science and technology on Electro-Optic control laboratory,Luoyang, China, 471003 In view of the traditional air target threat assessment methods are difficult to reflect the combat characteristics of uncertain, high dynamic and hybrid formation, a novel algorithm is proposed to solve the multi-target threat assessment problems. The target attribute weight is calculated by Entropy algorithm. Assessment and sequencing of air multi-target threat model based on the improved VlseKriterijumska Optimizacija I Kompromisno Resenje (VIKOR) method and dynamic parameters optimization method is established. Finally, an example indicates that the method is reasonable and effective. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Radar Tracking Mathematical Models Electronic Warfare Airborne Weapon Systems Aviation

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Fault-tolerant control for unmanned aerial vehicle with wing damaged

Fault-tolerant control for unmanned aerial vehicle with wing...

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Annual Conference of Industrial Electronics Society

作者： Bai-Qing Fan Xiao Zhang Bo Tian Lei Guo School of Automation Science and Electrical Engineering Beihang University Beijing China National Key Laboratory on Aircraft Control Technology Beihang University Beijing China

The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse control are employed respectively to control these two loops. The required force and moment are allocated to the steering gear and thrust vector of the UAV. The designed control law can not only make the UAV fly effectively in the presence of a fault, but also meet the demand of UAV for high maneuver flight. Finally, simulation results verify the effectiveness of the proposed method.

关键词： Force Unmanned aerial vehicles Torque Vehicle dynamics Interference Aerodynamics

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Modeling and Robust Adaptive Attitude control of Near Space Interceptor 28

Modeling and Robust Adaptive Attitude Control of Near Space ...

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第28届中国控制与决策会议

作者： Yu Jianglong Xiong Zihao Yi Ke Ren Zhang Li Qingdong Zhou Weiwen School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University China Airborne Missile Academy

ISBN: (纸本)9781467397155

This paper establishes a precise model of near space interceptor with RCS and presents a robust adaptive attitude control law for *** on the normal model of the interceptor,this paper focuses on the analysis of all kinds of disturbance that may exist in the model,such as centroid drift and thrust misalignment,and gives the precise model of the ***,the robust adaptive attitude control law is designed by using the back-stepping method and Nonlinear Extended State Observer(NESO).Back-stepping method is used to guarantee the system's stability and robustness,and NESO is used to estimate the integrated *** PWPF modulator is used to discretize the continuous control ***,numerical simulations are performed using longitudinal attitude channel and the simulation results demonstrate the effectiveness of the attitude control law.

关键词： Near Space Interceptor Attitude control Robust Adaptive control PWPF Modulate

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Automatic carrier landing system based on active disturbance rejection control with a novel parameters optimizer

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Aerospace science and technology 2017年 69卷 149-160页

作者： Yue Yu Honglun Wang Na Li Zikang Su Jianfa Wu School of Automation Science and Electrical Engineering 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

This paper proposes an active disturbance rejection control (ADRC) scheme for automatic carrier landing system (ACLS) in final approach. To track desired touchdown point (DTP) altitude in the presence of carrier air wake turbulence and deck motion, based on the estimation and compensation of internal dynamics and external disturbances by extended state observer (ESO), outer-loop altitude controller and inner-loop attitude controllers are designed via ADRC. Moreover, tracking differentiator-based deck motion compensation (TD-DMC) is designed to eliminate the inherent phase lag in ACLS. In addition, controller parameters are optimized via a novel Levy flight based whale optimization algorithm (LWOA). Finally, comparative simulations demonstrate that the proposed ADRC-based ACLS has better tracking performance and robustness compared to conventional ACLS.

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aircraft unsteady aerodynamic hybrid modeling based on state-space representation and neural network 5

Aircraft unsteady aerodynamic hybrid modeling based on state...

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5th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2016

作者： Ouyang, Guang Lin, Jun Zhang, Ping Science and Technology on Aircraft Control Laboratory Beihang University XueYuan Road 37 Beijing China

ISBN: (纸本)9789897581731

This paper proposes a hybrid model which combines state-space representation and back-propagation neural network to describe the aircraft unsteady aerodynamic characteristics. Firstly, the state-space model is analysed and evaluated using wind-tunnel experimental data. Subsequently, back-propagation neural network is introduced and combined with state-space representation to form a hybrid model. In this hybrid model, the separation point model in state-space representation is reserved to describe the time delay of the unsteady aerodynamic responses, while the conventional polynomial model is replaced by back-propagation neural network to improve accuracy and universality. Finally, lift coefficient and pitch moment coefficient data from the wind-tunnel experiments are used to estimate the hybrid model. With high similarity to the wind-tunnel data, the hybrid model presented in this paper is proved to be accurate and effective for aircraft unsteady aerodynamic modeling. © Copyright 2016 by SCITEPRESS - science and technology Publications, Lda. All rights reserved.

关键词： Wind tunnels

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Frequency bandwidth extension for angular vibration table based on extremum seeking control 35

Frequency bandwidth extension for angular vibration table ba...

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35th Chinese control Conference, CCC 2016

作者： He, Zongru Chen, Songlin Fanxing, Kong Zhang, Guojiang Che, Jun Control and Simulation Center Harbin Institute of Technology Harbin150001 China Science and Technology on Aircraft Control Laboratory Xi'an710065 China

ISBN: (纸本)9789881563910

Aiming to improve the frequency bandwidth of angular vibration table, this paper proposes a novel bandwidth extension scheme based on extremum seeking control (ESC). In this scheme, two perturbation extremum seeking controllers are employed to adjust the phase and amplitude of the sine input signal based on the extracted envelope of tracking error as the cost function of ESC to be minimized, for the purpose of compensating phase lag and amplitude decay of the system output. Furthermore, an adaptive amplitude adjusting method is designed with nonlinear transformation to accelerate the convergence as well as eliminate the unexpected steady-state oscillation existing in system output, which is caused by the perturbation signal of ESC. Consequently, the frequency bandwidth of the closed-loop system is extended greatly with the proposed scheme, which is verified sufficiently with simulations. © 2016 TCCT.

关键词： Angular vibration table Extension Extremum seeking control Frequency bandwidth

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Eliminate the Surplus Torque of Electro-Hydraulic Load Simulator Using the Actuator Command Dynamic Compensation control

Eliminate the Surplus Torque of Electro-Hydraulic Load Simul...

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

作者： Li Zhihui Jiao Zongxia Shang Yaoxing Wu Shuai Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

ISBN: (纸本)9781467383196

Electro-hydraulic load simulator(EHLS) is a typical closed-loop torque control *** is used to simulate the load of aircraft actuator on ground hardware-in-the-loop *** general,the movement of the actuator has interference torque for the EHLS named the surplus *** surplus torque is not only related to the velocity of the actuator movement,but also related to the frequency of actuator *** when the models of the actuator and the EHLS are dissimilar,the surplus torque is obviously different in the different *** order to eliminate the surplus torque for accurate load simulation,the actuator command dynamic compensation control(ACDC) is proposed in this *** the condition of the velocity synchronization signal cannot be provided by the actuator control system,the actuator command is used for compensation of different frequency actuator movement to eliminate the surplus torque on different frequencies in this ***,the mathematical models of EHLS and the actuator system are established in detail,then the ACDC method is *** verification,the simulations are conducted to prove that the new strategy performs well against low,medium and high frequency movement *** results show that this strategy can effectively eliminate the surplus torque in different frequencies actuator movement.

关键词： Eliminate the Surplus Torque of Electro-Hydraulic Load Simulator Using the Actuator Command Dynamic Compensation control

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Sigmoid function based integral-derivative observer and application to autopilot design

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Mechanical Systems and Signal Processing 2017年 84卷 113-127页

作者： Xingling Shao Honglun Wang Jun Liu Jun Tang Jie Li Xiaoming Zhang Chong Shen Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education North University of China Taiyuan 030051 China National Key Laboratory for Electronic Measurement Technology School of Instrument and Electronics North University of China Taiyuan 030051 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China

To handle problems of accurate signal reconstruction and controller implementation with integral and derivative components in the presence of noisy measurement, motivated by the design principle of sigmoid function based tracking differentiator and nonlinear continuous integral-derivative observer, a novel integral-derivative observer (SIDO) using sigmoid function is developed. The key merit of the proposed SIDO is that it can simultaneously provide continuous integral and differential estimates with almost no drift phenomena and chattering effect, as well as acceptable noise-tolerance performance from output measurement, and the stability is established based on exponential stability and singular perturbation theory. In addition, the effectiveness of SIDO in suppressing drift phenomena and high frequency noises is firstly revealed using describing function and confirmed through simulation comparisons. Finally, the theoretical results on SIDO are demonstrated with application to autopilot design: 1) the integral and tracking estimates are extracted from the sensed pitch angular rate contaminated by nonwhite noises in feedback loop, 2) the PID(proportional-integral-derivative) based attitude controller is realized by adopting the error estimates offered by SIDO instead of using the ideal integral and derivative operator to achieve satisfactory tracking performance under control constraint.

关键词： Sigmoid function Integral-derivative observer Drift phenomena Chattering effect Singular perturbation Describing function Autopilot design

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