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Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation

Chinese Journal of Aeronautics 2022年第1期35卷 44-58页

作者： Yuwei ZHANG Xingjian WANG Shaoping WANG Xinyu TIAN A School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315800China

Most existing formation control approaches for Unmanned Aerial Vehicle(UAV)swarm assume that global position and global coordinate frame are directly available for each *** extend the application domain,this paper proposes a distributed bearing-based formation control scheme,without any reliance on global position or global coordinate *** interactions among UAVs are described by a directed topology with two-leader *** address the issue of unavailable global coordinate frame,we first present a distributed orientation estimation law for each UAV to determine its orientation under the coordinate frame of the first *** on the orientation estimation,we then design a bearing-based formation control law to globally asymptotically track target moving ***,simulation results are provided to validate the proposed method,which show that the translation,scale and orientation of the formation can be flexibly controlled via two leaders.

关键词： Bearing measurement Formation control Global orientation estimation Two-leader structure Unmanned aerial vehicles

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Hypersonic cruise vehicle attitude control based on NESO

Hypersonic cruise vehicle attitude control based on NESO

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2nd International Conference on Mechanical Engineering, Industrial Electronics and Informatization, MEIEI 2013

作者： Lian, Cheng Bin Bai, Chen Ren, Zhang Shao, Xing Yue Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9783037858905

Hypersonic cruise vehicles traverse abroad flight envelope, severe interference and aerodynamic parameters of great uncertainty. Aiming at these problems, the attitude control system is divided into two first-order subsystem based on the backstepping, which improved by introducing the command filter and the error signal correction. simplifies the solution of pseudo control of derivative, and considering the attenuation and noise on the system state. The aerodynamic parameters wide variation range and disturbances were classified into two subsystems uncertainties, and two sets of nonlinear extended state observer (NESO) were used to estimate them. The backstepping controller based on NESO was designed with combined estimated value and backstepping method. Additionally used fuzzy logic to tuning the NESO parameters. Simulation results show that the method can track the control signal accurately, and has good robustness against parameter uncertainty. © (2013) Trans Tech Publications, Switzerland.

关键词： Backstepping

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Graphical representation technology for knowledge acquisition of fault diagnosis system

Graphical representation technology for knowledge acquisitio...

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2012 International Conference on Computer science and Service System, CSSS 2012

作者： Dong, Lei Li, Qingdong Shao, Xingyue Bai, Chen Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9780769547190

Fault diagnosis expert system (FDES) which can realize high efficient vehicle launch test is an important part of launch protection system in the future space vehicle. The existing way of knowledge acquisition is the artificial extraction rules by knowledge engineers according to the testing process provided by technical personnel. However, this way usually has some problems such as the complexity of the heavy workload, long working cycle, error-prone and does not readily accessible for inspection etc. To solve these problems, this paper presents a method of knowledge acquisition based on graphical representation. Firstly, analysis the testing process of the launch vehicle deeply and establish the overall framework which contains all the preparatory stage subsystem. Then, draw out of the launch vehicle testing process by graphical method through setting reasonable graphical components. This test flow chart is convenient and intuitive to understand, and easier to maintain. Finally, through the design of rule extraction algorithm, the test flow chart is automatically converted to the knowledge which is required by the knowledge base of FDES. This knowledge acquisition method based on graphical techniques can effectively simplify the difficulty, easy to maintain and understand. After testing, this method works well application effect. © 2012 IEEE.

关键词： Knowledge acquisition

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Suppress surplus torque based on velocity closed-loop synchronization

Suppress surplus torque based on velocity closed-loop synchr...

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2011 International Conference on Fluid Power and Mechatronics, FPM 2011

作者： Wang, Chengwen Jiao, Zongxia Shang, Yaoxing Wang, Zeng Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9781424484522

In order to suppress the surplus torque and improve loading precision of Electro-Hydraulic Load Simulator (EHLS), a new scheme for eliminating surplus torque velocity closed-loop synchronization is proposed. In this paper, mathematical model of EHLS is built. On this basis, three disturbance coefficients are defined to analyze quantitatively adverse influences caused by the motion of rudder system. Results of simulation prove that this new strategy improves the response speed of compensation unit and has an excellent ability to suppress surplus torque. © 2011 IEEE.

关键词： Synchronization

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The air-breathing hypersonic vehicle adaptive backstepping control design based on the dynamic surface 19

The air-breathing hypersonic vehicle adaptive backstepping c...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Lian, Chengbin Bai, Cheng Ren, Zhang Shao, Xingyue Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9783902823625

Since a linear dynamic system parameter uncertainties and un-modeled dynamics in Air-breathing hypersonic vehicle (ABHV), extended it to a nonlinear dynamics system including the linear parameter uncertain term in control matrix. An adaptive tuning function is used to compensate uncertainty impact for system and the robust term is designed to solve the issue of approximation error. The projection operator function is introduced to avoid possible controller singularity problem. In adaptive inverse design progress, a dynamic surface method is used and the first order filter is introduced. The Lyapunov stability theorem guaranteed error is uniformly bounded. The simulation shows the effectiveness of the algorithm. © IFAC.

关键词： Adaptive Air-breathing hypersonic vehicle Backstepping Uncertainty

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Adaptive robust control based on T-S fuzzy-neural systems for a hypersonic vehicle

Adaptive robust control based on T-S fuzzy-neural systems fo...

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2nd Annual Conference on Electrical and control Engineering, ICECE 2011

作者： Xin, Qu Zhang, Ren Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9781424481637

This paper proposes a on-line modeling and control approach through Takagi-Sugeno (T-S) fuzzy-neural model for a class of generalized multiple input multiple output (MIMO) nonlinear dynamic systems with external disturbances. Nonlinear systems are exactly formed a linearized system via the mean value theroem, and then the T-S fuzzy-neural model can approximate the linearized system. Then on-line identificatoin algorithm and an adaptive scheme are used on tracking controller design. A hypersonic vehicle is modeled and attitude controller is designed using the proposed method. Simulation results on guidance, navigation and control (GNC) platform show a satisfactory performance for the attitude tracking. © 2011 IEEE.

关键词： Hypersonic vehicles

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Virtual test bed for hydraulic system

Virtual test bed for hydraulic system

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2011 International Conference on Fluid Power and Mechatronics, FPM 2011

作者： Xu, Yuanzhi Z., Jiao Q., Xing Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9781424484522

This paper introduces Hydraulic System Virtual Test Bed (HSVTB)'s integrated environment for modeling, virtual prototyping and virtual test. A basic function of this virtual test bed (VTB) is that it allows experts to build models by sketching the schematics of system. The paper proposes a new modeling method for multidisciplinary system considering the development of modern hydraulic system, which performs well in this VTB. We also describe here an instance studying the dynamics of an aero hydraulic actuator within the environment provided by the HSVTB. © 2011 IEEE.

关键词： Hydraulic actuators

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Dynamic Obstacle Avoidance Path Planning of UAVs 34

Dynamic Obstacle Avoidance Path Planning of UAVs

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第三十四届中国控制会议

作者： XUE Qian CHENG Peng CHENG Nong ZOU Xiang Department of Automation Tsinghua University Science and Technology on Aircraft Control Laboratory Flight Automatic Control Research Institute

ISBN: (纸本)9781467374439

This paper presents a path planning algorithm named APF-IRP, which can be applied in complex dynamic environment for Unmanned Aerial Vehicles(UAVs). As is known to all, it is difficult for UAVs to have a clear understanding of the global environmental information before taking off. So the concept of rolling window is introduced to detect the dynamic and static obstacles within a certain range by radars on a real-time basis. The APF-IRP algorithm is a conjunction of Artificial Potential Field(APF) and improved Rolling Plan(RP). It compromises the merits of APF and RP: A collision-free path can be planned without the local-minima problem;the path is smooth and can rapidly converge to the target point;the performance constraints of UAVs are also taken into consideration.

关键词： UAV,path planning,APF,rolling plan

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Nonlinear Attitude control of Tiltrotor aircraft Based on Dynamic Surface Adaptive Backstepping 29

Nonlinear Attitude Control of Tiltrotor Aircraft Based on Dy...

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第29届中国控制与决策会议

作者： Tingting Liang Weihong Wang Sentang Wu Ke Lu School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University Science and Technology on Rotorcraft Aeromechanics Laboratory

ISBN: (纸本)9781509046584

In this paper,the tiltrotor aircraft model is established based on the multi-body dynamics method,in order to further improve the modeling accuracy,an augmented Pitt-Peters dynamic inflow model was used to establish the induced velocity model of the *** on the presented model,aiming at the uncertainties of the nonlinear dynamics of aircraft,the dynamic surface adaptive backstepping control strategy is used to make the flight control system more adaptive and robust to the nonlinear,uncertain and unmodeled controlled objects with dynamic *** adaptive adjustment function is used to compensate the influence of system uncertainty,a robust term function is designed to solve the problem of approximation error,and the possible problem of controller singularity can be avoided by introducing projection *** the design of adaptive backstepping,the first-order filter is introduced to obtain the differentiation of the virtual control input by using the dynamic surface design method which eliminates the problem of "differential explosion" in the traditional backstepping *** Lyapunov stability theorem guarantees the error uniformly *** verification shows effectiveness of the design of attitude control.

关键词： tiltrotor aircraft aircraft model adaptive backstepping algorithm dynamic surface control attitude control

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Fluid-based moderate collision avoidance for UAV formation in 3-D low-altitude environments

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Chinese Journal of Aeronautics 2025年第6期38卷

作者： ZHANG, Menghua WANG, Honglun LI, Zhiyu WANG, Yanxiang ZHANG, Xianglun TANG, Qiang MA, Shichao WU, Jianfa School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China AVIC Xi'an Flight Automatic Control Research Institute Xi'an710076 China Shenyuan Honors College of Beihang University Beijing100191 China Beijing Institute of Control Engineering Beijing100194 China Science and Technology on Space Intelligent Control Laboratory Beijing100194 China

Aiming to address the Unmanned Aerial Vehicle (UAV) formation collision avoidance problem in Three-Dimensional (3-D) low-altitude environments where dense various obstacles exist, a fluid-based path planning framework named the Formation Interfered Fluid Dynamical System (FIFDS) with Moderate Evasive Maneuver Strategy (MEMS) is proposed in this study. First, the UAV formation collision avoidance problem including quantifiable performance indexes is formulated. Second, inspired by the phenomenon of fluids continuously flowing while bypassing objects, the FIFDS for multiple UAVs is presented, which contains a Parallel Streamline Tracking (PST) method for formation keeping and the traditional IFDS for collision avoidance. Third, to rationally balance flight safety and collision avoidance cost, MEMS is proposed to generate moderate evasive maneuvers that match up with collision risks. Comprehensively containing the time and distance safety information, the 3-D dynamic collision regions are modeled for collision prediction. Then, the moderate evasive maneuver principle is refined, which provides criterions of the maneuver amplitude and direction. On this basis, an analytical parameter mapping mechanism is designed to online optimize IFDS parameters. Finally, the performance of the proposed method is validated by comparative simulation results and real flight experiments using fixed-wing UAVs. © 2024 Chinese Society of Aeronautics and Astronautics

关键词： Drones

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