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An improved artificial physics approach to multiple UAVs/UGVs heterogeneous coordination

science China(Technological sciences) 2013年第10期56卷 2473-2479页

作者： LUO QiNan DUAN HaiBin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

This paper proposed an improved artificial physics(AP)method to solve the autonomous navigation problem for multiple unmanned aerial vehicles(UAVs)/unmanned ground vehicles(UGVs)heterogeneous coordination in the three-dimensional *** basic AP method has a shortcoming of easily plunging into a local optimal solution,which can result in navigation *** avoid the local optimum,we improved the AP method with a random *** the improved AP method,random forces are used to make heterogeneous multi-UAVs/UGVs escape from local optimum and achieve global *** results showed that the improved AP method can achieve smoother trajectories and smaller time consumption than the basic AP method and basic potential field method(PFM).

关键词： artificial physics heterogeneous coordination unmanned aerial vehicle (UAV) unmanned ground vehicle (UGV) au-tonomous navigation obstacle avoidance

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Trophallaxis network control approach to formation flight of multiple unmanned aerial vehicles

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science China(Technological sciences) 2013年第5期56卷 1066-1074页

作者： DUAN HaiBin LUO QiNan YU YaXiang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

A novel network control method based on trophaUaxis mechanism is applied to the formation flight problem for multiple un- manned aerial vehicles （UAVs）. Firstly, the multiple UAVs formation flight system based on trophallaxis network control is given. Then, the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is pre- sented, and the influence of time delays on the network performance is analyzed. A particle swarm optimization （PSO）-based formation controller is proposed for solving the leader-follower formation flight system. The proposed method is applied to five UAVs for achieving a ＇V＇ formation, and a series of experimental results show its feasibility and validity. The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles （UUVs）, unmanned ground vehicles （UGVs）, missiles and satellites.

关键词： unmanned aerial vehicle (UAV) trophaHaxis network control formation flight particle swarm optimization (PSO)

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A Generalized Non-local Quasicontinuum Approach for Efficient Modeling of Architected Truss-based Lattice Structures

arXiv

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arXiv 2025年

作者： Li, Zi Yang, Fan Yang, Qingcheng Shanghai Key Laboratory of Mechanics in Energy Engineering School of Mechanics and Engineering Science Shanghai Institute of Applied Mathematics and Mechanics Shanghai University Shanghai China School of Aerospace Engineering and Applied Mechanics Tongji University Shanghai China Key Laboratory of AI-Aided Airworthiness of Civil Aircraft Structures Civil Aviation Administration of China Tongji University Shanghai China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial Equipment Dalian University of Technology Dalian China Shanghai Institute of Aircraft Mechanics and Control Shanghai China

To mitigate the substantial computational costs associated with modeling the mechanical behavior of large-scale architected lattice structures, this work introduces a concurrent multiscale approach: the Generalized Non-local Quasicontinuum (GNQC) method. GNQC generalizes the classical nonlocal Quasicontinuum framework by eliminating the assumption of affine or high-order deformation patterns for accurate energy sampling in coarse-grained regions and by ensuring consistency with general finite element shape functions used for coarse-graining. The introduced GNQC method offers three key features: (1) a constitutive-model-consistent framework that employs the same lattice constitutive relationship in both the locally full-resolution region and the coarse-grained domain, similar to existing nonlocal QC approaches;(2) a shape-function consistent energy sampling mechanism that aligns with the interpolation order of the generally employed shape functions, differing significantly from existing Quasicontinuum works and substantially reducing computational costs;and (3) consistent interfacial compatibility, which enables seamless energy and force transfer across interfaces between regions of different resolutions without cumbersome interfacial treatments. The performance of GNQC is validated through a series of numerical test cases—including tension, clamped bending, three-point bending, and crack propagation problems—that demonstrate good accuracy. Additionally, the error analysis and convergence behavior of GNQC are investigated. Copyright © 2025, The Authors. All rights reserved.

关键词： Constitutive models

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Research of Compound controller for Flight Simulator with Disturbance Observer

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Chinese Journal of Aeronautics 2011年第5期24卷 613-621页

作者： WU Yunjie LIU Xiaodong TIAN Dapeng Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China

A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer （DOB） is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.

关键词： compound controller zero phase error tracking controller flight simulators disturbance observer robustness

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Nonlinear path-following method for fixed-wing unmanned aerial vehicles

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Journal of Zhejiang University-science C(Computers and Electronics) 2013年第2期14卷 125-132页

作者： Jia-ming ZHANG Qing LI Nong CHENG Bin LIANG Department of Automation Tsinghua University Science and Technology on Aircraft Control Laboratory Flight Automatic Control Research Institute

A path-following method for fixed-wing unmanned aerial vehicles(UAVs) is presented in this *** method consists of an outer guidance loop and an inner control *** guidance law relies on the idea of tracking a virtual *** motion of the virtual target is explicitly *** main advantage of this guidance law is that it considers the maneuvering ability of the *** aircraft can asymptotically approach the defined path with smooth ***,the aircraft can anticipate the upcoming transition of the flight ***,the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance *** adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive *** performance of the proposed path-following method is validated by the numerical simulation.

关键词： Path following Virtual target Flight control Unmanned aerial vehicle(UAV)

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Distributed state estimation for heterogeneous mobile sensor networks with stochastic observation loss

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Chinese Journal of Aeronautics 2022年第2期35卷 265-275页

作者： Yingrong YU Jianglong YU Yishi LIU Zhang REN Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang.UniversityBeijing 100191China

The problem of distributed fusion and random observation loss for mobile sensor networks is investigated *** view of the fact that the measured values,sampling frequency and noise of various sensors are different,the observation model of a heterogeneous network is constructed.A binary random variable is introduced to describe the drop of observation component and the topology switching problem caused by complete observation loss is also considered.A cubature information filtering algorithm is adopted to design local filters for each observer to suppress the negative effects of measurement *** derive a consistent and accurate estimation result,a novel weighted average consensus-based filtering approach is put *** the sensor that suffers from observation loss,its local prediction information vector is fused with the information contribution vectors of the neighbors to obtain the local *** the consensus weight matrix is designed for consensus-based distributed collaborative information *** boundness of the estimation errors is proved by employing the stochastic stability *** the end,two numerical examples are offered to assert the validity of the presented method.

关键词： Consistency theorem Heterogeneous sensor networks Information fusion State estimation Stochastic boundedness

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Adaptive path planning for unmanned aerial vehicles based on bi-level programming and variable planning time interval

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Chinese Journal of Aeronautics 2013年第3期26卷 646-660页

作者： Liu Wei Zheng Zheng Cai Kaiyuan School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory High-Tech Institute of Xi'an

This paper presents an adaptive path planner for unmanned aerial vehicles （UAVs） to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming （BLP） and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles （SAMs） are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.

关键词： Adaptive Bi-level programming Motion planning Unmanned aerial vehicles Variable time interval

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FBCRI Based Real-time Path Planning for Unmanned Aerial Vehicles in Unknown Environments with Uncertainty

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机器人 2013年第6期35卷 641-650页

作者： LIU Wei HAO Peng ZHENG Zheng CAI Kaiyuan School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory High-Tech Institute of Xi'an

This paper presents an FBCRI(feedback based compositional rule of inference)based novel path planning method to satisfy the requirements of real-time navigation,smoothness optimization and probabilistic obstacle *** local path-searching behaviors in regional ranges and global goal-seeking behaviors in holistic ranges,the method infers behavior weights using fuzzy reasoning embedded with feedback,and then coordinates the behaviors to generate new reference *** view of the deterministic decisions and the uncertain states of a UAV(unmanned air vehicle),chance constraints are adopted to probabilistically guarantee the UAV’s safety at a required *** results in representative scenes prove that the method is able to rapidly generate convergent paths in obstacle-rich environments,as well as highly improve the path quality with respect to smoothness and probabilistic safety.

关键词： unmanned aerial vehicle path planning fuzzy reasoning FBCRI(feedback based compositional rule of inference) uncertainty

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aircraft-on-ground path following control by dynamical adaptive backstepping

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Chinese Journal of Aeronautics 2013年第3期26卷 668-675页

作者： Chen Bihua Jiao Zongxia Shuzhi Sam Ge Science and Technology on Aircraft Control Laboratory Beihang University Department of Electrical & Computer Engineering National University of Singapore

The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering. The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design. This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters. Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.

关键词： Adaptive control aircraft-on-ground Backstepping Nonlinear dynamical systems Path following

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Pendulum-like oscillation controller for micro aerial vehicle with ducted fan based on LQR and PSO

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science China(Technological sciences) 2013年第2期56卷 423-429页

作者： DUAN HaiBin SUN ChangHao State Key Laboratory of Virtual Reality Technology and Systems Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

This paper describes a novel type of pendulum-like oscillation controller for micro air vehicle(MAV) hover and stare state in the presence of external disturbances,which is based on linear-quadratic regulator(LQR) and particle swarm optimization(PSO).A linear mathematical model of pendulum phenomenon based upon actual wind tunnel test data representing the hover mode is established,and a hybrid LQR and PSO approach is proposed to stabilize *** is applied to parameter optimization of the designed LQR controller.A series of comparative experiments are conducted,and the results have verified the feasibility,effectiveness and robustness of our proposed approach.

关键词： micro air vehicle (MAV) pendulum-like oscillation linear-quadratic regulator (LQR) particle swarm optimization (PSO)

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