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Closed-loop dynamic control allocation for aircraft with multiple actuators

Chinese Journal of Aeronautics 2013年第3期26卷 676-686页

作者： Gai Wendong Wang Honglun Science and Technology on Aircraft Control Laboratory Beihang University

A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures： loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing （CRW） aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.

关键词： Canard rotor/wing aircraft Closed-loop control allocation Dynamic inversion Flight control systems Redundant actuators

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Data-Driven Tracking control for Non-Affine Yaw Channel of Helicopter via Off-Policy Reinforcement Learning

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Kun Luo, Shijie Wu, Huai-Ning Su, Rong The School of Astronautics Beihang University Beijing100191 China The Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Hangzhou International Innovation Institute Beihang University Hangzhou311115 China The School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore

This paper presents an off-policy tracking control scheme for the continuous-time non-affine yaw channel of unmanned aerial vehicle helicopter (UAVH). Firstly, the paper constructs an affine augmented system (AAS) within a parallel control structure to convert the original non-affine tracking error dynamics into affine dynamics. Secondly, the paper derives a stability criterion linking the non-affine system and the AAS, demonstrating that the obtained zero-sum policy from the AAS can achieve the H ∞ performance of the non-affine system. Thirdly, a data-driven off-policy tracking algorithm is designed for approximating the zero-sum solution of the Hamilton-Jacobi-Isaacs equations with unknown dynamics. Moreover, the recursive least squares process with a variable forgetting factor is employed to update the actor-critic neural network (NN) weights, with the algorithm's convergence being proven. Then, the uniformly ultimately bounded (UUB) of tracking errors is guaranteed. Finally, two application examples are offered in simulation to validate the effectiveness of this presented method. © 1965-2011 IEEE.

关键词： Stability criteria

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A Multi-UAV Formation Obstacle Avoidance Method Combined Improved Simulated Annealing and Adaptive Artificial Potential Field

arXiv

引用

arXiv 2025年

作者： Ma, Bo Ji, Yi Fang, Liyong School of Aeronautics and Astronautics University of Electronic Science and Technology of China Sichuan Chengdu611731 China SDU-ANU Joint Science College Shandong University Weihai264209 China University of Electronic Science and Technology of China Zhejiang Huzhou3130001 China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province University of Electronic Science and Technology of China Sichuan Chengdu611731 China National Key Laboratory of Adaptive Optics Sichuan Chengdu611731 China

The traditional Artificial Potential Field (APF) method exhibits limitations in its force distribution: excessive attraction when UAVs are far from the target may cause collisions with obstacles, while insufficient attraction near the goal often results in failure to reach the target. Furthermore, APF is highly susceptible to local minima, compromising motion reliability in complex environments. To address these challenges, this paper presents a novel hybrid obstacle avoidance algorithm—Deflected Simulated Annealing–Adaptive Artificial Potential Field (DSA-AAPF)—which combines an improved simulated annealing mechanism with an enhanced APF model. The proposed approach integrates a Leader-Follower distributed formation strategy with the APF framework, where the resultant force formulation is redefined to smooth UAV trajectories. An adaptive gravitational gain function is introduced to dynamically adjust UAV velocity based on environmental context, and a fast-converging controller ensures accurate and efficient convergence to the target. Moreover, a directional deflection mechanism is embedded within the simulated annealing process, enabling UAVs to escape local minima caused by semi-enclosed obstacles through continuous rotational motion. The simulation results, covering formation reconfiguration, complex obstacle avoidance, and entrapment escape, demonstrate the feasibility, robustness, and superiority of the proposed DSA-AAPF algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Simulated annealing

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A practical nonlinear robust control approach of electro-hydraulic load simulator

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Chinese Journal of Aeronautics 2014年第3期27卷 735-744页

作者： Wang Chengwen Jiao Zongxia Wu Shuai Shang Yaoxing School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory

This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator （EHLS）. The tracking performance of the EHLS is mainly limited by the actuator＇s motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator＇s disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method.

关键词： Co-simulation Electro-hydraulic load simulator Hydraulic control equipment Nonlinear robust control Parametric uncertainty

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Development of a PM Spherical Actuator with Tiltable Stator for High Torque Density

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IEEE Transactions on Transportation Electrification 2025年

作者： He, Xinghua Xiang, Pengjie Yan, Liang Yang, Xuxu Liu, Xiaoshuai Du, Nannan Bu, Suwan Yan, Guishan Ai, Chao Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Beihang University Ningbo Institute of Technology Ningbo315800 China Sun Yat-Sen University School of Intelligent Systems Engineering Shenzhen518000 China Yanshan University School of Mechanical Engineering Qinhuangdao066004 China

Spherical actuators are active joints that rotate around three directions and are more compact than conventional joints using multiple single-axis motors connected in series. However, spherical electromagnetic actuators have low torque density, particularly in tilt directions, hindering practical applications. The essential reason is that their stator and rotor are misaligned after tilting, which not only reduces the electromagnetic torque but also introduces restoring torques. To enhance torque density, this paper proposes a 3-DOF permanent magnet spherical actuator with a tiltable stator. The relative positions of the stators and rotors of each actuation unit remain unchanged after tilting, maintaining high output torque and allowing large tilting angles, and rotating and tilting torques are decoupled. We introduce the working principle of the proposed actuator and establish its basic structure. Two-dimensional magnetic field finite element analysis and conformal transformation are combined to simplify three-dimensional magnetic field computations. The optimized parameters for the tilting unit are obtained. Finally, a prototype is fabricated and experimentally tested. The proposed spherical actuator yields a tilt torque exceeding 8 Nm and a rotation torque of 7.34 Nm, corresponding to a torque density of 1.75 Nm/kg for tilt and 1.6 Nm/kg for rotation relative to the entire actuator. © 2015 IEEE.

关键词： Spheres

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Motion Direction Awareness: A Biomimetic Dynamic Capture Mechanism for Video Prediction

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IEEE Transactions on Multimedia 2025年

作者： Gan, Lianqiang Lai, Junyu Zhu, Junhong Liu, Huashuo Gao, Lianli University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu611731 China University of Electronic Science and Technology of China School of Aeronautics and Astronautics China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu611731 China University of Electronic Science and Technology of China School of Computer Science and Engineering Chengdu611731 China

Video prediction is an important yet challenging task that generates future frames based on previous observations. Despite recent progress, existing methods still suffer from motion blur, due to weak motion perception capabilities leading to uncertainty in motion direction. To address this, we propose a Motion Direction Awareness (MDA) mechanism inspired by the direction-selective mechanism in animal visual systems. Specifically, MDA can decompose complex motions into horizontal and vertical components, allowing dimension reduction and independent processing, thereby effectively enhancing motion perception and reducing uncertainty in predicted motion directions. Based on MDA, we design a multi-scale feature fusion network named MDANet for video prediction, which incorporates different scales of spatially encoded features in conjunction with MDA mechanism to extract the temporal evolution information of global and local spatial features. Extensive experiments on representative datasets demonstrate that MDANet can alleviate motion blurring, improving prediction accuracy and temporal consistency over state-of-the-art models. Furthermore, we validate the generalizability and effectiveness of our MDA mechanism by integrating it into other advanced models. The code is available at supplementary. © 1999-2012 IEEE.

关键词： Deep learning

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UIF-based cooperative tracking method for multi-agent systems with sensor faults

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science China(Information sciences) 2019年第1期62卷 15-28页

作者： Yingrong YU Siting PENG Xiwang DONG Qingdong LI Zhang REN Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

For maneuvering target tracking with sensor faults, consensus-based distributed state estimation problems are studied herein. The communication status of the nonlinear system composed of multiple agents is described using the graph theory. Considering the impacts caused by sensor failures on measurement equations, a weighted average consensus-based unscented information filter(UIF) algorithm is proposed to improve tracking accuracy. Moreover, the estimation error for the investigated nonlinear system has been analyzed based on the stochastic boundedness theory to evaluate the proposed algorithm's performance and feasibility. Finally, simulation results are presented to assert the validity of the method.

关键词： unscented information filter consensus theory cooperative tracking multi-agent system stochastic boundedness

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A software platform for vision-based UAV autonomous landing guidance based on markers estimation

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science China(Technological sciences) 2019年第10期62卷 1825-1836页

作者： XU XiaoBin WANG Zhao DENG YiMin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

The paper concentrated on descripting the methods of UAV autonomous landing on moving target. GPS navigation and visionbased navigation were employed during different stage of autonomous landing in the simulation environment and virtual *** markers estimation is the main step for UAV autonomous landing. It contains the convex hull transformation,interference preclusion, ellipse fitting and specific feature matching. Furthermore, the complete visual measurement program and guidance strategy were proposed in this paper. Considerable comprehensive experiments indicated the significance and feasibility of method of vision-based UAV autonomous landing on moving target.

关键词： autonomous landing moving target vision-based navigation guidance markers estimation

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An experimental study of the dual-loop control of electro-hydraulic load simulator (EHLS)

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Chinese Journal of Aeronautics 2013年第6期26卷 1586-1595页

作者： Wang Chengwen Jiao Zongxia Wu Shuai Shang Yaoxing Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）***＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in *** some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by *** solve these problems,a＇＇dual-loop scheme＇＇is developed for *** dual-loop scheme is a combination of a torque loop and a position synchronization *** role of the position synchronization loop is to decouple the motion disturbance caused by the actuator *** verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using ***,the performance of the developed method is validated by experiments.

关键词： AMESim simulation Dual-loop control scheme Electro-hydraulic load simulator Hardware-in-the-loop(HIL) Surplus torque

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Formation tracking control for time-delayed multi-agent systems with second-order dynamics

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Chinese Journal of Aeronautics 2017年第1期30卷 348-357页

作者： Han Liang Dong Xiwang Li Qingdong Ren Zhang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.

关键词： Formation tracking control Multiple unmanned aerialvehicles Second-order dynamics Time-delayed multi-agentsystems Time-varying formation

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