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Adaptive trajectory tracking control of a quadrotor unmanned aircraft

Adaptive trajectory tracking control of a quadrotor unmanned...

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作者： Zuo, Zongyu Seventh Research Division Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China

ISBN: (纸本)9789881725592

In view of the uncertainties of a quadrotor moment of inertia, a new parameter uncertainty adaptive trajectory tracking control design algorithm with command-filtered compensation is presented in this paper. The proposed controller consists of a position tracking controller, an attitude stabilization controller, a linear tracking-differentiator and an inertia parameter approximator. First, the relationship between attitude and linear dynamics is established by the position tracking control design to generate attitude command signals. Second, based on the input-output stability theory, the attitude stabilization control law and the inertia parameter approximator are constructed. Then a linear tracking-differentiator is employed to compensate the commanded attitude dynamics to avoid the dependence of control law design on the timescale separation assumption. Finally, the simulation result of tracking a typical trajectory for a mini quadrotor demonstrates the validity and effectiveness of the proposed algorithm. © 2011 Chinese Assoc of Automati.

关键词： Trajectories

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Adaptive neural boundary control design for a class of nonlinear spatially distributed systems

Adaptive neural boundary control design for a class of nonli...

引用

IEEE Conference on Cybernetics and Intelligent Systems

作者： Yan-Chao Li Huai-Ning Wu Jun-Wei Wang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University (Beijing University of Aeronautics and Astronautics) Beijing China

In this paper, an adaptive neural network (NN) control design is proposed for a class of parabolic partial differential equation (PDE) systems with boundary control actuation and unknown nonlinearities. Initially, applying the Galerkin's method, the PDE system is represented by a finite-dimensional slow subsystem and a coupled infinite-dimensional fast residual subsystem. Subsequently, a modal-feedback controller is designed according to dissipative theory and small gain theorem, such that the closed-loop PDE system is practically stable. In the proposed boundary control scheme, a radial basis function (RBF) NN is employed to approximate the unknown nonlinearities of the slow subsystem. The outcome of the control problem is formulated as a linear matrix inequality (LMI) problem. Finally, the proposed design method is applied to the control of the temperature profile of a catalytic rod to illustrate its effectiveness.

关键词： Artificial neural networks Eigenvalues and eigenfunctions control design Vectors Adaptive systems Boundary conditions Intelligent systems

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Bluetooth communication reliability of mobile vehicles

Bluetooth communication reliability of mobile vehicles

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Tian Zheng Shaoping Wang Abdelkader El Kamel LAGIS Ecole Centrale de Lille Villeneuve D'Ascq France Ecole Centrale de Lille LAGIS Villeneuve D'Ascq cedex France School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University China

Bluetooth technology is a short-ranged wireless communication technology which is open, low-cost and a good replacement of the cable. It is now more and more wildly used in computer and its accessories, mobile phones. With Bluetooth sensors development, this kind of communication is implied as wireless data acquisition of control systems, whether the data can be transferred correctly and timely directly influence the control performance of the system. The data reliability has been defined as the possibility of the receiver successfully receives the packet which is sent by the sender in certain conditions. Three data protection methods are defined in Bluetooth transmission (1/3FEC (Forward Error Correcting), 2/3FEC and ARQ scheme) [1] . This paper analyzed the effect of these three schemes in the two typical working method of Bluetooth, and the reliability of the data transmission is calculated.

关键词： Bluetooth Payloads Reliability Bit error rate Automatic repeat request Forward error correction

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Stability of event-triggered output-feedback control systems

Stability of event-triggered output-feedback control systems

引用

Chinese control Conference (CCC)

作者： Xia Chen Fei Hao The Seventh Research Division School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China

This paper focus on the design of the event-triggered control when the full state can not be available. Firstly, an event-triggered control system with a static output-feedback controller is studied. An event condition based on the output error is proposed. The asymptotic stability of the resulting closed-loop system is guaranteed by a condition in terms of an LMI (Linear Matrix Inequality). By solving this LMI, we can design the event condition to obtain longer task periods. Moreover, a corresponding self-triggered control is provided. Furthermore, a state-feedback control system based on an event-triggered observer is researched, where the output of the plant is only transmitted to the observer when the event condition is violated. Conditions in terms of LMIs are derived to ensure the feedback control system as well as the observer error system asymptotic stability. Finally, numerical examples are worked out to illustrate the theoretical results.

关键词： Observers Asymptotic stability Trajectory Feedback control Stability analysis Linear systems

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Robust fault diagnosis with disturbance rejection performance for non-Gaussian stochastic distribution systems

Robust fault diagnosis with disturbance rejection performanc...

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International Symposium on Advanced control of Industrial Processes (ADCONIP)

作者： Songyin Cao Lei Guo School of Automation South-East University Nanjing China National Key Laboratory on Science and Technology on Aircraft Control Beihang University Beijing China

In this paper, an enhanced robust fault diagnosis scheme is provided for the non-Gaussian stochastic distribution systems (SDSs). The available driven information for fault diagnosis is the probability density functions (PDFs) or the statistic information set of the output rather than the output value. A mixed neural network (NN) model with modeling error is established, where a static NN is applied to model the output PDFs and a dynamic NN is used to describe the relationships between the input and the weighting. The concerned problem is transformed into the fault diagnosis problem of the weighting system presented by an uncertain nonlinear system with unknown external disturbance. The statistic information driven composite observer for SDSs is constructed by combining a fault diagnosis observer with a disturbance observer, with which the fault can be diagnosed and the disturbance can be rejected simultaneously. Finally, simulations for the particle distribution control problem are given to show the efficiency of the proposed approach.

关键词： Observers Fault diagnosis Artificial neural networks Stochastic processes Robustness Mathematical model

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An integrated simulation and evolution platform of multiple control valve based on AMESim

An integrated simulation and evolution platform of multiple ...

引用

International Conference on Fluid Power and Mechatronics (FPM)

作者： Shuai Wu Zongxia Jiao Hongyan Zhu Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Beijing Huade hydraulic Industrial Group Company limited Beijing China

Multiple control valve which is a complex hydraulic control block is widely used in mobile hydraulic equipment. Design and pro-actively incorporate functional performance into the mobile hydraulic system is usually a difficult mission for the design engineer. Present paper setup an integrate design and Evaluation platform of multiple control valve based on the intelligent simulation package AEMSim. The model of multiple control valve is built up by the hydraulic component design package. And it integrated with the whole hydraulic system of an excavator. The performances of different design parameters are evaluated. This platform makes the valve engineer simply and accurately predict it performance in solutions. It can improve the efficiency of multiple control valve development.

关键词： Valves Load modeling Actuators Springs Orifices Analytical models

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Failure diagnosis of high speed gear

Failure diagnosis of high speed gear

引用

International Conference on Fluid Power and Mechatronics (FPM)

作者： Fang Wang Shaoping Wang School of Automation Science and Electrical Engineering Beihang University Beijing China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

Directing to the failure of high speed gear pair, this paper investigates its failure mechanism. Based on the failure characteristics, this paper adopts the power spectrum and empirical mode decomposition to detect two types of gear tooth failures. Defects were intentionally seeded in two separate pinions to explore feasible approach to monitor the tooth condition in a high speed gear pair. The failure mechanisms, vibration mechanism of defected tooth are presented. The empirical mode decomposition is adopted to reveal the characteristics of pitting and broken tooth failure.

关键词： Gears Vibrations Fault diagnosis Acceleration Surface roughness Fatigue Rough surfaces

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Failure diagnosis of hydraulic lifting system based on multistage telescopic cylinder

Failure diagnosis of hydraulic lifting system based on multi...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Yang Miao Shaoping Wang School of Automation Science and Electrical Engineering Beihang University Beijing China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

Directing to the failure mechanism of hydraulic lifting system based on multistage telescopic cylinder, this paper establishes its failure modules and collaborative failure simulation platform. Through increasing the corresponding failure simulation modules, this paper can simulate the detailed failure mode and its performance, then provides the design modification. Application indicates that the proper alignment and the inappropriate bearing surface between two stages of multistage telescopic cylinder are main factors that should be focused in the design process. The failure simulation platform of hydraulic lifting system can realize the integrated failure mode and effect analysis although it is difficult to allocate the sensors.

关键词： Pistons Valves Solid modeling Sensors Power supplies Analytical models Vibrations

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Adaptive mode switch of intelligent hydraulic power supply system

Adaptive mode switch of intelligent hydraulic power supply s...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Bochao Huang Shaoping Wang School of Automation Science and Electrical Engineering Beihang University Beijing China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

Replacing constant pressure variable flow pumps with intelligent pumps is the most effective approach to improve the efficiency of high pressure & high power aircraft hydraulic system. The crux of the matter is to regulate the output variables of pumps to meet system requirement via actively controlling the swash plate angle. This paper analyzes a typical flight profile to develop principles of mode switch and signal generation, and establishes a total system model to perform dynamic simulations. The result shows some acceptable fluctuation caused by impact in transient process of mode switch and signal change, which could be reduced further after optimization.

关键词： Artificial intelligence Valves Switches Aerospace control aircraft

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The key points of inductive wear debris sensor

The key points of inductive wear debris sensor

引用

International Conference on Fluid Power and Mechatronics (FPM)

作者： Lei Han Wei Hong Shaoping Wang School of Automation Science and Electrical Engineering Beihang University Beijing China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

This review paper has presented several examples of inductive wear debris sensor. Many of these have important applications in industry. Thus, when monitoring the oil system which operates under extremely severe conditions and various features (size and type) need to detect, it is worth considering the use of inductive wear debris sensor. Based on the electromagnetic field analysis for the coil and particles, three structures of such sensors, classified by the number of coils, are available, and they all can detect, count or classify wear debris. However, the detectable particle size is mainly limited by the background noise. Accordingly, to enhance the sensor performance, the signal processing methods are necessary.

关键词： Coils Magnetic fields Monitoring Pollution measurement Contamination Magnetic flux density

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