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A Predator-prey Particle Swarm Optimization Approach to Multiple UCAV Air Combat Modeled by Dynamic Game Theory

IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 11-18页

作者： Haibin Duan Pei Li Yaxiang Yu the Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University (BUAA)

Dynamic game theory has received considerable attention as a promising technique for formulating control actions for agents in an extended complex enterprise that involves an adversary. At each decision making step, each side seeks the best scheme with the purpose of maximizing its own objective function. In this paper, a game theoretic approach based on predatorprey particle swarm optimization (PP-PSO) is presented, and the dynamic task assignment problem for multiple unmanned combat aerial vehicles (UCAVs) in military operation is decomposed and modeled as a two-player game at each decision stage. The optimal assignment scheme of each stage is regarded as a mixed Nash equilibrium, which can be solved by using the PP-PSO. The effectiveness of our proposed methodology is verified by a typical example of an air military operation that involves two opposing forces: the attacking force Red and the defense force Blue. © 2014 Chinese Association of Automation.

关键词： aircraft control Airships Combinatorial optimization Computation theory Decision making Military operations Military vehicles Particle swarm optimization (PSO)

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Exponential Synchronization of Impulsive Complex Networks with Output Coupling

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International Journal of Automation and computing 2013年第4期10卷 350-359页

作者： Yue-Hui Zhao Jin-Liang Wang College of Post and Telecommunication of Wuhan Institute of Technology Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

This paper proposes a new impulsive complex delayed dynamical network model with output coupling, which is totally different from some existing network models. Then, by employing impulsive delay differential inequalities, some sufficient conditions are obtained to guarantee the global exponential state synchronization and output synchronization of the impulsive complex delayed dynamical network. Finally, two numerical examples are given to demonstrate the effectiveness of the obtained results.

关键词： Impulsive complex networks output coupling state synchronization output synchronization impulsive delay differential inequalities.

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Levenberg-Marquardt based artificial physics method for mobile robot oscillation alleviation

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science China(Physics,Mechanics & Astronomy) 2014年第9期57卷 1771-1777页

作者： ZHANG XiangYin DUAN HaiBin LUO QiNan State Key Laboratory of Virtual Reality Technology and Systems Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

This paper proposed a modified artificial physics(AP)method to solve the autonomous navigation problem for mobile robots in complex *** basic AP method tends to cause oscillations in the presence of obstacles and in narrow passages,which can result in time *** alleviate oscillation,we modified the AP method using the Levenbery-Marquardt(LM)*** the modified AP method,we altered the original directions of AP forces to the Newton direction,and adjust the parameter by the LM algorithm.A series of comparative experimental results show that the modified AP method can achieve smoother trajectories with less time *** demonstrates the feasibility and effectiveness of our proposed approach.

关键词： artificial physics（physicomimetics） Levenbery-Marquardt（LM） algorithm autonomous navigation obstacle avoidance

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Stable Flocking of Multiple Agents Based on Molecular Potential Field and Distributed Receding Horizon control

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Chinese Physics Letters 2011年第4期28卷 47-50页

作者： ZHANG Yun-Peng DUAN Hai-Bin ZHANG Xiang-Yin State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191 Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191

A novel distributed control scheme to generate stable flocking motion for a group of agents is *** this control scheme,a molecular potential field model is applied as the potential field function because of its smoothness and unique *** approach of distributed receding horizon control is adopted to drive each agent to find its optimal control input to lower its potential at every *** results show that this proposed control scheme can ensure that all agents eventually converge to a stable flocking formation with a common velocity and the collisions can also be avoided at the same time.

关键词： Agents agent scheme

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Flight Dynamics Model of Helicopter Based on Simulink 36

Flight Dynamics Model of Helicopter Based on Simulink

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第36届中国控制会议

作者： Shen'ao Yan Weihong Wang Sentang Wu Ke Lu Science and Technology on Aircraft Control Laboratory Beihang University Science and Technology on Rotorcraft Aeromechanics Laboratory

ISBN: (纸本)9781538629185

In this paper, a complete numerical simulation model of helicopter flight dynamics was established. The modeling of the main aerodynamic components of the helicopter and the aerodynamic interference are taken into account, and the modeling methods of the airfoil aerodynamic model, the induced velocity model and the waving movement model are discussed in detail. Based on the hierarchical and modular modeling principles, the whole simulation model is finally realized on the Simulink platform. Finally, the model helicopter data are used to prove the rationality and validity of the modeling theory and method.

关键词： Helicopter simulation model Simulink modeling

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Hybrid Adaptive Compensation control Scheme for High-Precision Servo System

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Transactions of Tianjin University 2013年第3期19卷 217-224页

作者：扈宏杰王元哲孙国伟 School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo *** adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction *** the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are *** this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control *** the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are *** simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.

关键词： servo system LuGre model friction observer fuzzy system adaptive control Lyapunov stability

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The Fight to Fix It

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IEEE SPECTRUM 2017年第11期54卷 24-29页

作者： Wiens, Kyle Gordon-Byrne, Gay Seventh Research Division Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China

THE CONSUMER technology ASSOCIATION estimated that residents of the United States bought 183 million smartphones in 2016. There are already as many TVs in this country as there are people. That's a lot of electronics, and these numbers are just going up. On balance, all this technology is probably making our lives better. But there's a downside, too: The stuff often malfunctions. Unlike the 30-year-old mixer on your kitchen counter that refuses to die, new technology- especially the smart devices with fancy, embedded electronics-breaks more quickly. That trend, confirmed by a recent study by the German government, applies not just to delicate products like smartphones and tablets but also to equipment we would expect to last for a long time- like televisions, washing machines, and even tractors.

关键词： Maintenance engineering Consumer electronics Smart phones Market research Aging Performance evaluation Reliability

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Verification of monocular and binocular pose estimation algorithms in vision-based UAVs autonomous aerial refueling system

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science China(Technological sciences) 2016年第11期59卷 1730-1738页

作者： LI Han DUAN HaiBin Bio-inspired Autonomous Flight Systems (BAFS) Research Group Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

With the high focus on autonomous aerial refueling(AAR), it becomes increasingly urgent to design efficient methods or algorithms for solving the AAR problems in complicated aerial environments. A vision-based technology for AAR is developed in this paper, and five monocular and binocular visual algorithms for pose estimation of the unmanned aerial vehicles(UAVs) are adopted and verified in this AAR system. The real-time on-board vision system is also designed for precise navigation in the UAVs docking phase. A series of out-door comparative experiments for different pose estimation algorithms are conducted to verify the feasibility and accuracy of the vision algorithms in AAR.

关键词： unmanned aerial vehicles（UAVs） autonomous aerial refueling（AAR） pose estimation monocular vision binocular vision

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Analysis of the dynamic performance of an electro-hydrostatic actuator and improvement methods

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Chinese Journal of Aeronautics 2018年第12期31卷 2312-2320页

作者： Zhihui LI Yaoxing SHANG Zongxia JIAO Yan LIN Shuai WU Xiaobin LI School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100083China

As a kind of actuation mechanism for power-by-wire(PBW) actuation systems of more/all electrical aircraft, an electro-hydrostatic actuator(EHA) is a highly integrated local hydraulic actuation system. It is a volume control system consisting of a motor, a pump, an actuator, etc.,which has features of high efficiency and reliability. However, the poor dynamic characteristic is one of the main factors restricting its wide application in aircraft. In this paper, the reason for the poor dynamic characteristic of an EHA is revealed from the perspectives of the natural frequency characteristic and the power requirement, respectively. In other words, the insufficiency of the motor output power at a high frequency is the main factor causing the poor dynamic characteristic of the system, and methods which include increasing the maximum output torque of the motor, reducing the rotational inertia of the motor-pump group, and adopting a double-motorpump group configuration are proposed in this paper, by which the dynamic characteristic of the system can be improved. The feasibility of those methods are verified by simulations. Finally, the dynamic characteristic is tested on an EHA prototype, and results show that saturation of the output torque of the motor is the main factor restricting the dynamic characteristic of the EHA system.

关键词： Dynamic characteristic Motor-pump group Power requirement Rotational inertia

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Modeling and Optimal Design of 3 Degrees of Freedom Helmholtz Resonator in Hydraulic System

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Chinese Journal of Aeronautics 2012年第5期25卷 776-783页

作者： GUAN Changbin JIAO Zongxia School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191China

Three degrees of freedom （3-DOF） Helmholtz resonator which consists of three cylindrical necks and cavities connected in series （neck-cavity-neck-cavity-neck-cavity） is suitable to reduce flow pulsation in hydraulic system. A novel lumped parameter model （LPM） of 3-DOF Helmholtz resonator in hydraulic system is developed which considers the viscous friction loss of hy- draulic fluid in the necks. Applying the Newton＇s second law of motion to the equivalent mechanical model of the resonator, closed-form expression of transmission loss and resonance frequency is presented. Based on the LPM, an optimal design method which employs rotate vector optimization method （RVOM） is proposed. The purpose of the optimal design is to search the reso- nator＇s unknown parameters so that its resonance frequencies can coincide with the pump-induced flow pulsation harmonics respectively. The optimal design method is realized to design 3-DOF Helmholtz resonator for a certain type of aviation piston pump hydraulic system. The optimization result shows the feasibility of this method, and the simulation under optimum parame- ters reveals that the LPM can get the same precision as transfer matrix method （TMM）.

关键词： structural optimization vibration analysis hydraulic resonator lumped parameter model rotate vector optimizationmethod transmission loss resonance frequency

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