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第三十四届中国控制会议

作者： ZHAO Qilun DONG Xiwang CHEN Jian WANG Rui LI Qingdong REN Zhang School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781467374439

To solve the defense problem of hypersonic weapon, a coordinated guidance strategy based on modified proportional navigation guidance law and consensus algorithms for heterogeneous interceptor missiles is proposed. The heterogeneous missiles are classified into leader missile and follower missiles. The leader missile is equipped with high-performance seeker,intercepting the target under modified proportional navigation guidance law. The low-cost follower missiles track the leader missile by consensus algorithms. A consensus tracking protocol which can be used to guide the heterogeneous missiles hitting the target simultaneously is investigated. The Necessary and sufficient conditions for heterogeneous missiles to intercept the hypersonic weapon are presented. Finally the effectiveness of the coordinated guidance strategy is demonstrated by numerical simulations.

关键词： Hypersonic Vehicle,Modified Proportional Navigation Guidance Law,Coordinated Guidance,Consensus Tracking

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Adaptive Time-Varying Formation control for High-Order LTI Multi-agent Systems 34

Adaptive Time-Varying Formation Control for High-Order LTI M...

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第三十四届中国控制会议

作者： WANG Rui DONG Xiwang LI Qingdong ZHAO Qilun REN Zhang School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781467374439

In this paper, distributed time-varying formation control problems for general high-order linear time invariant(LTI) multiagent systems are studied using an adaptive based approach. Firstly, constructed by the states of neighboring agents, a timevarying formation control protocol is proposed, where the adaptive gain scheduling technique is employed to adjusting the coupling weights between neighboring agents. Secondly, an algorithm with two steps is presented to design the distributed adaptive formation control protocol, where a description of the feasible time-varying formation set is given. In contrast to the existing results on formation control, no global information about the interaction topologies is required. Then, the stability of the algorithm is proved using the Lyapunov theory. If the predefined time-varying formation belongs to the feasible formation set, time-varying formation is shown to be achieved by general high-order LTI multi-agent systems using the distributed adaptive formation protocol designed in the proposed algorithm. Finally, a numerical example is given to demonstrate the effectiveness of the theoretical results.

关键词： Time-varying Formation control Distributed Adaptive Protocol Multi-agent Systems High-order Dynamics

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Constrained Predictor Corrector Entry Guidance for Common Aero Vehicle 34

Constrained Predictor Corrector Entry Guidance for Common Ae...

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第三十四届中国控制会议

作者： WANG Haoliang HUA Yongzhao LI Qingdong REN Zhang DONG Xiwang HAN Liang YANG Peng School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781467374439

The path constraints play determinative roles in the entry guidance, hence an aerodynamic model of Common Aero Vehicle(CAV) is established by means of CFD to facilitate the guidance. In the case that the attack angle profile is determined, the bank angle is the only parameter which can be used to control the trajectory in guidance. If the quasi-equilibrium glide condition(QEGC) is used, an entry flight corridor can be obtained by analyzing the path constraints in the entry guidance, and the corridor is transformed into the constraints of the bank angle for the convenience of designing the bank angle profile. Furthermore, a strong robust baseline predictor-corrector algorithm is presented to calculate the value of the bank angle in time. Simulations are provided to verify the effectiveness of the proposed method.

关键词： Path constraints,Common Aero Vehicle,Aerodynamic model,Predictor-corrector algorithm

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Modeling and control for Morphing Unmanned aircraft Vehicle

Modeling and Control for Morphing Unmanned Aircraft Vehicle

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

作者： Mengtao Li Lei Guo Kejian Wu School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University School of Instrumentation Science and Opto-Electronic Engineering Beihang University

ISBN: (纸本)9781467383196

there has been wide interest in the research of Mars *** unmanned aircraft vehicle(MUAV) is one of most promising vehicles to execute special tasks in Mars exploration missions for its better aerodynamic characteristics compared with the conventional fixed wing *** and control for MUAV are difficult *** this paper,firstly,the nonlinear six-degree-of-freedom(6DOF) dynamic model for MUAV is established,considering the asymmetry of the rotating ***,control system is presented for the morphing aircraft based nonlinear dynamic inversion ***,real-time simulation results are given to illustrate the control scheme can meet the requirements of attitude control.

关键词： morphing unmanned aircraft vehicle 6DOF modeling nonlinear dynamic inversion method

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A robust back-stepping based trajectory tracking controller for the tanker with strict posture constraints under unknown flow perturbations

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Aerospace science and technology 2016年 56卷 34-45页

作者： Zikang Su Honglun Wang Xingling Shao Yu Huang 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 robust back-stepping based trajectory tracking controller for the tanker with strict posture constraints under unknown flow perturbations in Autonomous Aerial Refueling (AAR). Firstly, by using the back-stepping technique, the proposed trajectory tracking control law design is separated into five loops. The 6 DOF model for tanker is tactfully transformed into several strict-feedback nonlinear forms, especially the dynamics of the translational kinematics which are originally non-affine nonlinear forms and are intractable for controller design . The influences of the unknown flow perturbations on tanker in each loop are viewed as the components of the “total disturbances” which are estimated and compensated by extended state observer (ESO). Secondly, the uncontrolled Euler angle constraints, which should also be considered in AAR, are transformed into extra boundary commands for the angular rates. And a novel command limiting tracking differentiator (CLTD), which considers not only the controlled but also uncontrolled state constraints, is specially designed for posture control. Thirdly, an integrated robust constrained posture control scheme is proposed for tanker's posture constraints based on Barrier Lyapunov (BL) function and CLTD. Then, with the position and ground velocity controller based on traditional active disturbance rejection control (ADRC) in the outer loop, a novel robust back-stepping based trajectory tracking controller is proposed for tanker in AAR. Finally, extensive simulations and comparisons on the 6 DOF tanker model are carried out to demonstrate the effectiveness of the proposed control scheme.

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Protein Secondary Structure Prediction via Pigeon-Inspired Optimization

Protein Secondary Structure Prediction via Pigeon-Inspired O...

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

作者： Wei Zheng Hemeng Sun Haibin Duan School of Automation Science and Electrical Engineering Beihang University(BUAA) IEEE Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University(BUAA)

ISBN: (纸本)9781467383196

Proteins are the essential elements in all creatures' life *** prevailing experimental method to detect protein structure is time *** to Anfinsen's theory,the primary structure is the key to shaping the three-dimensional structure of the ***,the prediction of proteins' structure avoiding complex experiments is theoretically *** are applied to make the protein structure prediction while they have some unsatisfactory *** instance,relatively high Gibbs free energy or long iterating *** this paper,a new algorithm is introduced to solve this *** name is "Pigeon-Inspired Optimization(PIO) Algorithm".PIO can work out an accurate prediction in relatively short *** advantages and feasibility of this algorithm will be demonstrated through the experiments,comparing to Particle Swarm Optimization.

关键词： PIO Protein Secondary Structure Prediction via Pigeon-Inspired Optimization

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A hybrid backtracking search optimization algorithm for nonlinear optimal control problems with complex dynamic constraints

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Neurocomputing 2016年 186卷 182-194页

作者： Zikang Su Honglun Wang Peng Yao 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

Nonlinear optimal control (NOC) problem with complex dynamic constraints (CDC) is difficult to compute even with direct method. In this paper, a hybrid two-stage approach integrating an improved backtracking search optimization algorithm (IBSA) with the hp-adaptive Gauss pseudo-spectral methods (hpGPM) is proposed. Firstly, BSA is improved to enhance its convergent speed and the global search ability, by adopting the harmony search strategy and an adaptive amplitude control factor with individual optimum fitness feedback. Then, at the beginning stage of the hybrid search process, an initialization generator is constructed using IBSA to find a near optimum solution. When the change in fitness function approaches to a predefined value which is small enough, the search process is replaced by hpGPM to accelerate the search process and find an accurate solution. By this way, the hybrid algorithm is able to find a global optimum more quickly and accurately. Two NOC problems with CDC are examined using the proposed algorithm, and the corresponding Monte Carlo simulations are conducted. The comparison results show the hybrid algorithm achieves better performance in convergent speed, accuracy and robustness.

关键词： Backtracking search optimization algorithm Hp-adaptive gauss pseudospectral methods Harmony search algorithm Nonlinear optimal control

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An AFDX Monitor System Introducing Data Analysis based on ICD

An AFDX Monitor System Introducing Data Analysis based on IC...

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2016 IEEE/CSAA International Conference on aircraft Utility Systems(AUS)

作者： Gao Tao Yang Bo Chen Xi Science and Technology on Aircraft Control Laboratory Beihang University Department of Physics. Colorado State University Electrical Engineering Department University of Colorado

An ICD-based avionics bus monitor system for ARINC 664 is developed by using C# and SQL *** system builds a model AFDX network based on PXI bus with PXI-C664 card,and invokes functions in DLL files provided by the PXI-C664 board to send and receive *** monitor tool based on the P/Invoke of WinPcap DLL functions can capture data frame in AFDX network by COTS devices.A database is designed to manage the ***,the bus monitor system is used to capture the AFDX data frame and the data is analyzed and interpreted by ICD.

关键词： ARINC 664 AFDX avionics bus monitor system WinPcap ICD

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Novel adaptive dynamic surface control of nonlinear systems

Novel adaptive dynamic surface control of nonlinear systems

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World Congress on Intelligent control and Automation (WCICA)

作者： Shuguang Liu Yangwang Fang Xianglun Zhang Qiang Tang Aeronautics and Astronautics Engineering College Air Force Engineering University Xi'an China Science and Technology on Aircraft Control Laboratory Flight Automatic Control Research Institute Xi'an China

ISBN: (纸本)9781467384155

A novel adaptive dynamic surface control (DSC) with recursive error surface is proposed for a class of uncertain nonlinear systems in strict-feedback form. The problem of explosion of terms in traditional backstepping design is eliminated by utilizing dynamic surface control. Furthermore, the maximum value of the norm of the ideal weighting vector in neural network (NN) systems is considered as the estimation parameter, such that only one parameter is adjusted regardless of the number of the NN nodes in whole design procedure. In particular, By designing recursive error surface, the tracking error in the preceding step is considered into the next control law so that the design synthesizes the interaction of the tracking error in each subsystem. The problem for DSC being fragile to the perturbation of its own parameters is avoided. Via constructing new Lyapunov function, the semi-global stability of the close-loop system is proved. Simulation results demonstrate the effectiveness of the control scheme.

关键词： Backstepping Nonlinear systems Lyapunov methods Artificial neural networks Estimation Adaptive systems Explosions

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Markov decision evolutionary game theoretic learning for cooperative sensing of unmanned aerial vehicles

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science China(Technological sciences) 2015年第8期58卷 1392-1400页

作者： SUN ChangHao DUAN HaiBin State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electronic EngineeringBeihang University Bio-inspired Autonomous Flight Systems (BAFS) Research Group Science and Technology on Aircraft Control LaboratorySchool of Automation Science and Electronic EngineeringBeihang University

As one of the major contributions of biology to competitive decision making, evolutionary game theory provides a useful tool for studying the evolution of cooperation. To achieve the optimal solution for unmanned aerial vehicles （UAVs） that are car- rying out a sensing task, this paper presents a Markov decision evolutionary game （MDEG） based learning algorithm. Each in- dividual in the algorithm follows a Markov decision strategy to maximize its payoff against the well known Tit-for-Tat strate- gy. Simulation results demonstrate that the MDEG theory based approach effectively improves the collective payoff of the roam. The proposed algorithm can not only obtain the best action sequence but also a sub-optimal Markov policy that is inde- pendent of the game duration. Furthermore, the paper also studies the emergence of cooperation in the evolution of self-regarded UAVs. The results show that it is the adaptive ability of the MDEG based approach as well as the perfect balance between revenge and forgiveness of the Tit-for-Tat strategy that the emergence of cooperation should be attributed to.

关键词： unmanned aerial vehicles （UAVs） iterated prisoner＇s dilemma （IPD） Markov decision evolutionary game （MDEG） replicator dynamics cooperation

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