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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Yue, Keyuan Hao, Mingrui Zhen, Yan Liu, Xinyu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733392

This article proposes a formation control scheme based on L1 guidance law for fixed wing unmanned aerial vehicle clusters while considering collision avoidance issues between them. The fixed wing aircraft cluster adopts L1 guidance and tracking method to track their respective desired waypoints. By controlling the speed of the fixed-wing UAVs, the entire cluster forms a formation configuration on their individual desired trajectories. During the formation and transformation processes, an improved artificial potential field method is proposed based on the characteristics of fixed-wing UAVs to achieve collision avoidance between clusters. The effectiveness of the proposed approach is validated through numerical simulations based on a six-degree-of-freedom nonlinear UAV model, providing a reference for practical engineering applications. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Fixed wings

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Application of Generative Artificial Intelligence GPT in Unmanned Aircraft Systems 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Liu, Xinyu Hao, Mingrui Fan, Yu Li, Fengyi Zhen, Yan Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

This article focuses on the application of generative artificial intelligence technology in unmanned aircraft systems. In detail, it elaborates on the application scenarios of GPT in aircraft design, development and production, aircraft intelligent situational awareness, and aircraft autonomous decision-making. Then article points out the basic conditions for deploying generative artificial intelligence technology in unmanned aircrafts, such as software and hardware requirements, and large-scale databases. At the same time, this article summarizes several inspirations of the intelligent development of unmanned aircrafts and puts forward some prospects for combining generative artificial intelligence technology with aircrafts. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Decision making

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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science China(Technological sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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Learning Agile Quadrotor Flight in Restricted Environments with Safety Guarantees

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年第9期9卷 1-8页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Wu, Xinyu Department of Control Science and Engineering Harbin Institute of Technology Shenzhen and Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

With the increasing requirement for agile and efficient controllers in safety-critical scenarios, controllers that exhibit both agility and safety are attracting attention, especially in the aerial robotics domain. This paper focuses on the safety issue of Reinforcement Learning (RL)-based control for agile quadrotor flight in restricted environments. To this end, we propose a unified Adaptive Safety Predictive Corrector (ASPC) to certify each output action of the RL-based controller in real-time, ensuring its safety while maintaining agility. Specifically, we develop the ASPC as a finite-horizon optimal control problem, formulated by a variant of Model Predictive control (MPC). Given the safety constraints determined by the restricted environment, the objective of minimizing loss of agility can be optimized by reducing the difference between the actions of RL and ASPC. As the safety constraints are decoupled from the RL-based control policy, the ASPC is plug-and-play and can be incorporated into any potentially unsafe controllers. Furthermore, an online adaptive regulator is presented to adjust the safety bounds of the state constraints with respect to the environment changes, extending the proposed ASPC to different restricted environments. Finally, simulations and real-world experiments are demonstrated in various restricted environments to validate the effectiveness of the proposed ASPC. IEEE

关键词： Reinforcement learning

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Active Magnetic Compensation Based on Parametric Resonance Magnetometer

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Journal of Shanghai Jiaotong university(science) 2024年第2期29卷 280-289页

作者：郭阳李绍良黄艺明骆曼箬刘华 School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Institute of Spacefight Control Technology Shanghai Key Laboratory of Space Intelligent Control TechnologyShanghai Engineer Research Center of InertiaShanghai 201109China

Based on the parametric resonance magnetometer(PRM)theory,this paper establishes an experimen-tal system of *** experimental results are consistent with the theoretical predictions.A PRM has been developed with sensitivity of 0.5 pT/Hz^(1/2),which can detect the magnitude of residual magnetic field;furthermore,a proportion-integration-differentiation(PID)closed-loop magnetic compensation system of the residual magnetic field also has been *** with open-loop compensation,the PID closed-loop compensation reduces the average value of the residual magnetic field in the z-axis direction from 0.0244nT to-0.0023nT,and the mean-square error from 0.2083 nT to 0.0691 *** the same way,the average value of the residual magnetic field in the y-axis direction is reduced from 0.0816nT to-0.0042nT,and the mean-square error from 0.1316nT to 0.0461 *** magnitude of residual magnetic fields in both directions is decreased to the order of picotesla(pT).In addition,based on the signal waveforms of the magnetometer,a method of verifying the effect of magnetic compensation is proposed.

关键词： magnetometer parametric resonance nuclear magnetic resonance gyroscope magnetic compensa-tion proportion-integration-differentiation(PID)

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A Novel Structure in PUMA Array for Bandwidth Broadening and Profile Reduction 16

A Novel Structure in PUMA Array for Bandwidth Broadening and...

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16th UK-Europe-China Workshop on Millimetre Waves and Terahertz Technologies, UCMMT 2023

作者： Yao, Chenyang Wang, Hao Cao, Jianyin Li, Xiang Qi, Liang Tian, Zhen Nanjing University of Science and Technology Nanjing China Nanhu Laboratory Jiaxing China Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing China

ISBN: (纸本)9798350339406

This paper proposed a new method of expanding the bandwidth of PUMA array. By attaching bottom-open vias below the coupling plate, lower operating frequency is available without increasing the profile. This design ultimately performs 8.1:1 bandwidth (2.59-21.0 GHz) at broadside, a scanning range of ±75° in the E-plane with 6.6:1 bandwidth (2.68-17.65 GHz), ±50° in the H-plane with 7.4:1 bandwidth (2.58-19.03 GHz) and ±60° in the D-plane with 7:1 bandwidth (2.6-18.2 GHz) at an overall profile of 0.054λL. © 2023 IEEE.

关键词： Bandwidth

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Aggressive and robust low-level control and trajectory tracking for quadrotors with deep reinforcement learning

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Neural Computing and Applications 2025年第3期37卷 1223-1240页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Department of Control Science and Engineering Harbin Institute of Technology Shenzhen Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

Executing accurate trajectory tracking tasks using a high-performance low-level controller is crucial for quadrotors to be applied in various scenarios, especially those involving uncertain disturbances. However, due to the uncertainties in disturbed environments, developing effective low-level controllers with traditional model-based control schemes is challenging. This paper presents an aggressive and robust reinforcement learning (RL)-based low-level control policy for quadrotors. The policy maps the observed quadrotor state directly to motor thrust commands, without requiring the quadrotor dynamics. Additionally, a trajectory generation pipeline is developed to improve the accuracy of trajectory tracking tasks based on differential flatness. With the learned low-level control policy, extensive simulations and real-world experiments are implemented to validate the performance of the policy. The results indicate that our RL-based low-level control policy outperforms traditional proportional–integral–derivative (PID) control methods and related learning-based policies in terms of accuracy and robustness, particularly in environments with uncertain disturbances. Furthermore, the proposed RL-based control policy exhibits an aggressive response in trajectory tracking, even when the speed of the desired trajectory is increased to 6 m/s. Moreover, the learned policy demonstrates strong vibration suppression capabilities and enables the quadrotor to recover to a hovering state from random initial conditions with shorter response time. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Deep reinforcement learning

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Design of wideband circularly polarized horn antenna for millimeter wave applications 15

Design of wideband circularly polarized horn antenna for mil...

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15th International Conference on Microwave and Millimeter Wave technology, ICMMT 2023

作者： Quan, Shuanglong Tian, Zhen Li, Xiang Qi, Liang Wang, Hao Nanjing University of Science and Technology Nanjing China Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing China Nanhu Laboratory Jiaxing China

ISBN: (纸本)9798350338874

In this paper, a millimeter-wave (mmW) wide band right-handed circularly polarized (RHCP) horn antenna is designed based on a polarizer with two 90 degree slots loaded on the inner wall of a circular waveguide. The antenna is fed by a standard rectangular waveguide WR-10 waveguide port, and the antenna excitation signal is converted from linear to circular polarization by a circular polarizer. The principle of the antenna is analyzed, the model is simulated and the parameters are optimized, and the design method for obtaining the left-handed circularly polarized (LHCP) antenna based on the RHCP antenna is given. The simulation results show that the reflectance of the antenna is not higher than -24.5 dB, the RHCP gain is greater than or equal to 13.0 dBi, and the axial ratio (AR) is not higher than 3 dB in the range of 84-110 GHz (26.8% relative bandwidth). The proposed antenna is broadband and circularly polarized, and can be widely used in broadband mmW applications. © 2023 IEEE.

关键词： Millimeter waves

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Status and Application of Artificial Intelligence-Based Cooperative Positioning and Navigation technology for UAV Clusters 1

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3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Sheng, Danting Cheng, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Intelligent Science and Technology Academy Limited of CASIC Beijing100041 China

ISBN: (数字)9789819710911

ISBN: (纸本)9789819710904

Aiming at the UAV cluster cooperative navigation, this paper tries to summarize the development experience and existing results on two issues, namely, the application of filtering and artificial intelligence in UAV cluster cooperative navigation. The application of filtering in UAV cluster cooperative navigation briefly describes the application of Kalman filtering and extended Kalman filtering, traceless Kalman filtering and other nonlinear filters, intelligent optimization algorithms combined with particle filtering in cooperative navigation. Artificial Intelligence Methods in Cooperative Navigation of UAV Clusters describes the application of deep feed-forward networks, brain-like information fusion methods based on integrated learning, multivariate interpolation of radial-based neural networks and Kalman filtering combined in the field of cooperative navigation. The results of existing applications of filtering and artificial intelligence in UAV cluster cooperative navigation are analyzed and summarized, and the future development of the field is outlooked. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Kalman filters

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Design of millimeter wave wideband circularly polarized horn antenna based on rectangular waveguide polarizer 15

Design of millimeter wave wideband circularly polarized horn...

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15th International Conference on Microwave and Millimeter Wave technology, ICMMT 2023

ISBN: (纸本)9798350338874

In this paper, a millimeter wave (mmW) wide band right-handed circularly polarized (RHCP) horn antenna is designed with a polarizer in the form of a rectangular waveguide (RW). The antenna is fed by a standard RW WR-10 waveguide port. The designed polarizer can convert the antenna excitation signal from linearly polarized (LP) to circularly polarized (CP). The antenna is analyzed, modeled and simulated. The simulation results show that the S11 ≤-22.13dB, the axial ratio (AR) ≤3dB and the RHCP gain ≥15dBi in the range of 35.3% relative bandwidth (77GHz-110GHz). The proposed antenna is broadband and circularly polarized, and would be widely used in satellite communications and 5G mmW communications. © 2023 IEEE.

关键词： Millimeter waves

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