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第35届中国控制会议

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

ISBN: (纸本)9789881563910

This paper presents a robust nonlinear control strategy for a cooperative spacecraft rendezvous and docking maneuver with coupled attitude and position dynamics. The nonlinear and coupled models of relative attitude and relative position motions are expressed in the pursuer body-fixed frame, respectively. Both parametric uncertainties and disturbances are estimated together by a second-order nonlinear disturbance observer. A robust control strategy based on feedback linearization is developed. It is proved that the states of the closed loop systems are uniformly ultimately bounded in presence of parametric uncertainties and disturbances by using Lyapunov theory. Theoretical conclusions are demonstrated by numerical simulations.

关键词： Spacecraft control Nonlinear control Rendezvous and docking Disturbance observer

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A modified consensus algorithm for multi-UAV formations based on pigeon-inspired optimization with a slow diving strategy

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智能系统学报 2017年第4期12卷 570-581页

作者： ZHANG Tianjie DUAN Haibin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University(BUAA)

This paper considers the formation control problem for a group of unmanned aerial vehicles( UAVs)employing consensus with different optimizers. A group of UAVs can never accomplish difficult tasks without formation because if disordered they do not work any better than a single vehicle,and a single vehicle is limited by its undeveloped intelligence and insufficient load. Among the many formation methods,consensus has attracted much attention because of its effectiveness and simplicity. However,at the beginning of convergence,overshoot and oscillation are universal because of the limitation of communication and a lack of forecasting,which are inborn shortcomings of consensus. It is natural to modify this method with lots of optimizers. In order to reduce overshoot and smooth trajectories, this paper first adopted particle swarm optimization( PSO), then pigeon-inspired optimization( PIO) to modify the consensus. PSO is a very popular optimizer,while PIO is a new method,both work but still retain disadvantages such as residual oscillation. As a result,it was necessary to modify PIO,and a pigeon-inspired optimization with a slow diving strategy( SD-PIO) is proposed. Convergence analysis was performed on the SD-PIO based on the Banach fixed-point theorem and conditions sufficient for stability were ***,a series of comparative simulations were conducted to verify the feasibility and effectiveness of the proposed approach.

关键词： unmanned aerial vehicle(UAV) formation consensus pigeon-inspired optimization(PIO) Banach fixed-point theorem

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control-oriented credibility assessment of air-breathing hypersonic vehicle model 29

Control-oriented credibility assessment of air-breathing hyp...

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第29届中国控制与决策会议

作者： Haoliang Wang Qingdong Li Zhang Ren School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509046584

A new control-oriented credibility assessment method of air-breathing hypersonic vehicle model is presented in this *** the actual aerodynamic parameters are few,a new method of obtaining linear systems of the Model Awaiting Assessment(MAA) and the Actual Model(AM) is presented to comprehensively evaluate the changing trends of flight *** order to assess the credibility of hypersonic vehicle,the B type association degree is proposed to assess the distinctions between the simulation results of the two corresponding linear systems which are calculated from MAA and the *** application is provided to demonstrate the effectiveness of the creditability evaluation method.

关键词： credibility assessment control-oriented method few actual aerodynamic parameters grey system theory air-breathing hypersonic vehicle

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Distributed observer-based time-varying formation tracking for high-order multi-agent systems with nonlinear dynamics 36

Distributed observer-based time-varying formation tracking f...

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第36届中国控制会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Time-varying formation tracking problems for high-order nonlinear multi-agent systems are investigated by using a distributed observer-based *** from the previous work,the states of followers form a predefined time-varying formation while tracking the states of the leader with unknown but bounded control ***,the dynamics of each agent is high-order and has ***,a nonlinear time-varying formation tracking control protocol is proposed based on the distributed observer which is constructed using only local neighboring output ***,an algorithm with three steps is proposed to design the distributed observer-based formation tracking protocol,where the time-varying formation tracking feasibility condition is ***,by using Lyapunov theory,the stability of the proposed algorithm is ***,a numerical example with three followers and one leader is provided to demonstrate the effectiveness of the obtained results.

关键词： Time-varying formation tracking High-order nonlinear dynamics Multi-agent systems Distributed observer

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Adaptive Output-feedback Time-varying Formation Protocol Design for Linear Swarm Systems with Directed Topology 36

Adaptive Output-feedback Time-varying Formation Protocol Des...

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第36届中国控制会议

作者： WANG Rui DONG Xiwang LI Qingdong QIN Zekui REN Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

This paper studies output-feedback time-varying formation（TVF） protocol design problems for general linear swarm systems with directed interaction *** adding extra observers,an adaptive output-feedback TVF protocol is constructed for general linear swarm systems with directed interaction topology to achieve a given ***,a fully distributed algorithm is proposed based on only local output information of each agent and its ***,a sufficient condition for achieving the desired TVF under the designed adaptive output-feedback TVF protocol is derived based on the Lyapunov ***,a simulation example is presented to illustrate the theoretical results.

关键词： Time-varying formation control Distributed adaptive protocol Directed interaction topology Output feedback information Swarm systems

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Predictor-Corrector Entry Guidance for High-Lifting Hypersonic Vehicles 35

Predictor-Corrector Entry Guidance for High-Lifting Hyperson...

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第35届中国控制会议

作者： WANG Haoliang LI Qingdong REN Zhang School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509009107

An effective predictor-corrector guidance algorithm of high-lifting vehicles is presented in this *** the convenience of designing the bank angle profile,the path constraints are transformed into the constraints of the bank angle by using the quasi-equilibrium glide condition（QEGC）.The differential equations of motion and range-to-go of hypersonic vehicle are used to predict the terminal target *** main problem of the guidance of high-lifting vehicles is the bounces of vehicle in the *** suppressing the trajectory oscillations caused by their high ratio of lift and drag in the guidance,the current bank angle,which is calculated from the predictor-corrector guidance approach,will be improved by the reference flight path *** is more,a method is presented to correct the terminal bank *** are provided to verify the effectiveness of the proposed method.

关键词： Predictor-Corrector Guidance High-Lifting Vehicles QEGC Corrector of Terminal Bank Angle Reference Trajectory

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Distributed time-varying formation control for second-order nonlinear multi-agent systems based on observers 29

Distributed time-varying formation control for second-order ...

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第29届中国控制与决策会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Yingrong Yu Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509046584

In this paper,time-varying formation analysis and design problems for second-order nonlinear multi-agent systems are studied using a distributed observer-based *** formation in this paper can be specified by timevarying continuously differentiable vectors and the dynamics of each agent has ***,a nonlinear timevarying formation control protocol is proposed based on the distributed *** a nonsingular transformation matrix is constructed using the property of the Laplacian *** conditions for the second-order nonlinear multi-agent systems to achieve time-varying formations are presented using only position feedback,where a description of the feasible time-varying formation set is ***,an algorithm with three steps is proposed to design the distributed observer-based formation control *** using the Lyapunov theory,the stability of the proposed algorithm is ***,a numerical example with five nonlinear agents is provided to demonstrate the effectiveness of the obtained results.

关键词： Time-varying formation second-order nonlinear dynamics multi-agent systems distributed observer

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Coordinated Guidance Strategy for Heterogeneous Missiles Intercepting Hypersonic Weapon 34

Coordinated Guidance Strategy for Heterogeneous Missiles Int...

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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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