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第35届中国控制会议

作者： Hao Yu Fei Hao The Seventh Research Division School of Automation Science and Electrical EngineeringBeihang University Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781509009107

This paper studies the stabilization of event-triggered control systems with constant transmission delays and observerbased output *** integral-based event condition is employed to generate the *** asynchronous models are implemented in the different sides of the *** model in the observer node is used to detect the events while the model in the controller node is used to calculate the control *** structure contributes to avoiding the Zeno behavior,and then,an estimation on the lower bound of the inter-event times is ***,the criteria on the bounds of the constant delays and the parameter in the event condition are given to guarantee the asymptotic stability of the closed-loop ***,a numerical example is provided to illustrate the efficiency and feasibility of the obtained results.

关键词： Event-triggered control model-based control linear systems transmission delays

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Adaptive Error Correction for Discrete-Time Systems with Amplitude and Rate Saturation

Adaptive Error Correction for Discrete-Time Systems with Amp...

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第28届中国控制与决策会议

作者： Shicong Dai Zhang Ren Dennis S.Bernstein School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Department of Aerospace Engineering University of Michigan

ISBN: (纸本)9781467397155

We present an add-on scheme for multi-input,multi-output systems with a nominal controller in order to avoid problems caused by amplitude and rate saturation such as integrator windup and phase *** modelling information is needed except the number of input and *** adaptive error correction estimates the effect of control saturation on the command following error and directly modify the command following error that is input to the nominal controller in order to prevent further saturation.A retrospective cost optimization algorithm is applied to obtain the correction on-line based on measurements of the command following error and the amount of control *** from anti-windup scheme,which compensates the control command to enlarge the convergence region,this scheme intends to adaptively contain the error inside the convergence region provided by the nominal *** examples show that,together with fixed-gain proportional-integral type controller,the adaptive error correction scheme can prevent integrator windup and phase lag for asymptotically stable plant and critically stable plant in the presence of amplitude and rate saturation.

关键词： Adaptive control Saturation Input Constrain Discrete-Time Retrospective Cost Optimization

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Time-varying formation tracking for UAV swarm systems with switching interaction topologies

Time-varying formation tracking for UAV swarm systems with s...

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第35届中国控制会议

作者： Yan Zhou Xiwang Dong Yisheng Zhong Department of Automation TNlistTsinghua University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509009107

Time-varying formation tracking problems for unmanned aerial vehicle(UAV) swarm systems with switching interaction topologies are studied,where the states of the follower UAVs form a predefined time-varying formation while tracking the state of the leader UAV.A formation tracking protocol is constructed using only relative information of neighboring *** approach to design the formation tracking protocol is proposed by solving an algebraic Riccati equation,and the stability of the proposed approach is proven using the common Lyapunov stability *** obtained results are applied to solve the target enclosing problem of a quadrotor swarm system consisting of one leader(target) quadrotor and three follower *** a numerical simulation and an outdoor experiment are presented to demonstrate the effectiveness of the theoretical results.

关键词： Formation tracking control target enclosing unmanned aerial vehicle(UAV) swarm system switching interaction topology

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Model-Based Event-Triggered Tracking control of Linear Systems

Model-Based Event-Triggered Tracking Control of Linear Syste...

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第35届中国控制会议

作者： Pianpian Peng Fei Hao The Seventh Research Division School of Automation Science and Electrical EngineeringBeihang University Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781509009107

This paper researches the tracking problem of linear systems with disturbances where output reference signals are generated by a linear stable *** model-based event-triggered control scheme is proposed,which not only renders the closed-loop system to be input-to-output stable(IOS) from the tracking signal to the output tracking error but also reduces the resource utilization to some *** guarantee the positive lower bound of inter-event times,the hybrid system model approach is adopted,in which the event-triggered mechanism is evaluated only after a certain amount of time elapsed from the last ***,a numerical example is given to illustrate the efficiency and feasibility of the obtained results.

关键词： Model-based control event-triggered control hybrid systems sampled-data

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Model-Based Event-Triggered Disturbance Rejection with Integral-Based Event Conditions

Model-Based Event-Triggered Disturbance Rejection with Integ...

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第28届中国控制与决策会议

作者： Xiaoke Wang Hao Yu Fei Hao The Seventh Research Division School of Automation Science and Electrical EngineeringBeihang University Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781467397155

This paper studies the model-based event-triggered control for linear systems subject to *** integral-based event condition is employed,which is triggered when the difference between the integrals of the state error and the plant（observer） state violates a pre-defined *** the state feedback and the output feedback configurations are *** the designed event-triggered control,an L-H（energy-to-peak） disturbance rejection performance is ***,a numerical example is provided to illustrate the efficiency and the feasibility of the proposed results.

关键词： Linear Systems Disturbance Rejection Integral-Based Event-Triggered control Model-Based control

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Cooperative Tracking for Hypersonic technology Vehicles Based on EIF-IMM

Cooperative Tracking for Hypersonic Technology Vehicles Base...

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

作者： Q.K.Tan K.Yi W.Wang Q.D.Li X.W.Dong Z.Ren Science and Technology on Aircraft Control Laboratory Beihang University Flight Standards Department Civil Aviation Management Institute of China

ISBN: (纸本)9781467383196

This technical note considers the cooperative tracking problems for Hypersonic technology *** with the characteristics of the Hyersonic Vehicles' trajectories,this note builts a skip glide maneuvering model of which the accelerator is near periodic and the cycle is estimated from the historical data in real *** structures of cooperative tracking,centralized cooperative tracking and distributed consensus tracking,are proposed in this paper.A method of EIF-IMM is presented in the centralized cooperative tracking to improve the tracking *** order to solve the consensus problem in distributed tracking,a consensus EIF-IMM algorithm is put *** results demonstrate that centralized cooperative tracking based on EIF-IMM and consensus EIF-IMM algorithm in distributed consensus tracking can improve the accuracy of tracking hypersonic vehicles compared to the tracking results by single agent.

关键词： Cooperative Tracking for Hypersonic technology Vehicles Based on EIF-IMM EIF

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Multi-objective pigeon-inspired optimization for brushless direct current motor parameter design

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science China(Technological sciences) 2015年第11期58卷 1915-1923页

作者： QIU HuaXin 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

Pigeon-inspired optimization(PIO) is a new swarm intelligence optimization algorithm, which is inspired by the behavior of homing pigeons. A variant of pigeon-inspired optimization named multi-objective pigeon-inspired optimization(MPIO) is proposed in this paper. It is also adopted to solve the multi-objective optimization problems in designing the parameters of brushless direct current motors, which has two objective variables, five design variables, and five constraint variables. Furthermore, comparative experimental results with the modified non-dominated sorting genetic algorithm are given to show the feasibility, validity and superiority of our proposed MIPO algorithm.

关键词： brushless direct current （BLDC） motor multi-objective pigeon-inspired optimization （MPIO） electromagnetics mul-ti-objective optimization

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Applications of L1 Adaptive control in aircraft Attitude and Velocity control

Applications of L1 Adaptive Control in Aircraft Attitude and...

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

作者： Ningjun LIU Zhihao CAI Yingxun WANG School of Automation Science and Electrical Engineering 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

Changes in aircraft parameters affect the quality of flight control,often degrading control performance,even to the point of endangering flight *** adaptive control(L1AC) has the potential to alleviate these problems,due to its ability to adapt fast while maintaining system *** paper presents and compares variants of L1 AC commonly used in flight *** on several research examples in which real flight tests were conducted,the method of implementing L1 AC in fixed-wing and multirotor attitude control,as well as velocity control,is examined in detail.

关键词： Applications of L1 Adaptive control in aircraft Attitude and Velocity control Velocity

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Research on Adaptive Backstepping Sliding Mode control Method for a Hex-rotor Unmanned Aerial Vehicle

Research on Adaptive Backstepping Sliding Mode Control Metho...

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

作者： Zhuo Zhang Zhenghua Liu Nuan Wen School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

ISBN: (纸本)9781467383196

This paper concentrates on attitude control and spot hover about the hex-rotor Unmanned Aerial Vehicle(UAV).First of all,according to the Newton- Euler equation,set up the equations of motion in inertial *** based on the characteristics of the hex-rotor UAV model,adaptive backstepping sliding mode controllers are designed to realize the attitude and position ***,the control strategy is verified by the ***'s proved that the control system has strong robustness to both the disturbance and the parametric variation.

关键词： the Hex-rotor UAV Adaptive Backstepping control Sliding Mode control Robustness

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System Composition and Longitudinal motion control Simulation of Vehicular Towed Autogyro

System Composition and Longitudinal motion Control Simulatio...

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

作者： Yan Ma Zhihao Cai Ningjun Liu Yingxun Wang School of Automation Science and Electrical Engineering 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

The towed autogyro system is composed of a electric ground vehicle,a towrope and a small unmanned autogyro *** autogyro used for towed system is a modified Durafly Auto-G2 autogyro,mainly with added parts and *** models of the rotor,fuselage,horizontal tail,vertical tail,and autogyro motion are *** case of small external disturbances,the elasticity and mass of the towrope can be ignored;a massless rigid rod model is used for its dynamic *** controller is used to control the autogyro's pitch angle and *** results show that the aircraft exhibits good control performance,when the controller is applied.

关键词： frame System Composition and Longitudinal motion control Simulation of Vehicular Towed Autogyro Simulation

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