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Adaptive Fuzzy Torque control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability

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Chinese Journal of Aeronautics 2012年第6期25卷 906-916页

作者： WANG Xingjian WANG Shaoping ZHAO Pan School of Automation Science and Electrical Engineering Beihang University Beij ing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China

Passive torque servo system （PTSS） simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control （AFTC） algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno （T-S） fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator （ELS）, and the comparative experimental results indicate that AFTC controller is effective for PTSS.

关键词： flight simulation adaptive control fuzzy control passive torque servo system electric load simulator extra torque small gain theorem input-to-state stability

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An accelerated life test model for harmonic drives under a segmental stress history and its parameter optimization

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Chinese Journal of Aeronautics 2015年第6期28卷 1758-1765页

作者： Zhang Chao Wang Shaoping Wang Zimeng Wang Xingjian School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beo'ing 100191 China

Harmonic drives have various distinctive advantages and are widely used in space drive mechanisms. Accelerated life test （ALT） is commonly conducted to shorten test time and reduce associated costs. An appropriate ALT modet is needed to predict the lifetime of harmonic drives with ALT data. However, harmonic drives which are used in space usually work under a segmental stress history, and traditional ALT models can hardly be used in this situation. This paper proposes a dedicated ALT model for harmonic drives applied in space systems. A comprehensive ALT model is established and genetic algorithm （GA） is adopted to obtain optimal parameters in the model using the Manson fatigue damage rule to describe the fatigue failure process and a cumulative dam- age method to calculate and accumulate the damage caused by each segment in the stress history. An ALT of harmonic drives was carried out and experimental results show that this model is acceptable and effective.

关键词： Accelerated life testing Cumulative fatigue damagelaw Genetic algorithm Harmonic drive Segmental stress history

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Multi-Target Joint Tracking and Classification based on MMPHD Filter and TBM Framework 34

Multi-Target Joint Tracking and Classification based on MMPH...

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第三十四届中国控制会议

作者： ZHAN Kun JIANG Hong Tianqu Zhao Peng Yang Zihao Xiong LI Qingdong Science & Technology on Aircraft Control Laboratory?Beihang University

ISBN: (纸本)9781467374439

To solve the multi-target tracking and classification problem in clutter measurements, this paper introduces a recursive algorithm?which is based on the multiple model probability hypothesis density(MMPHD) and transferable belief model(TBM) framework using multiple kinematic radars with the particle implementation. Considering joint tracking and classification(JTC) simultaneously has been an essential problem?our proposed algorithm adopts TBM and prior information instead of the feature measurements to classify the targets. In the prediction stage?the particles are propagated according to their class-dependent model in PHD filters with class label. Then, the measurements from different sensors update their particle weight. The particles and their corresponding weights represent the estimated PHD distribution in different sensors. These PHD distributions are used to jointly estimate their states and class. Finally?using the TBM framework and target labelling techniques integrate targets state and class probability in various sensors. Simulation results are presented to show the effectiveness of our proposed algorithm over the traditional MMPHD and indicate our multi-sensor algorithm based on TBM framework is much better than the single sensor algorithm in all respects.

关键词： Joint tracking and classification Probability hypothesis density Transferable belief model Particle implementation Multi-sensor data fusion

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Adaptive iterative learning control for impact load cyclic fatigue simulator of aircraft

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Chinese Journal of Aeronautics 2025年

作者： Shuai WU Sheng SHU Renjie LI Yaoxing SHANG Zongxia JIAO School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Key Laboratory of Advanced Aircraft Systems Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Ningbo Institute of Technology Beihang University Ningbo 315800 China Tianmushan Laboratory Hangzhou 310023 China

The aircrafts have many structural components that withstand repeated impact loads, which may accumulate fatigue and potentially cause major accidents. To simulate repeated impact loads, it is imperative to design an impact load cyclic fatigue simulator that applies repeated impact loads to structural components, such as landing gears. Furthermore, the impact load simulator must simulate various loads, and the identical set of parameters employed in conventional controllers are challenging to apply to varying operational conditions. Consequently, the controller must possess learning and adaptive capabilities. Based on the characteristics of repeated impact loads, an adaptive iterative learning control (AILC) based on the backstepping method is developed in this study. This AILC comprises backstepping control law, parameter adaptation law, iterative learning law, and robust dynamical control term. The adaptation law is not only utilized to estimate unknown system parameters, but also for online identification of system parameters. The iterative learning law can be utilized to learn the characteristics of the system under repeated operating conditions. The robust dynamical control term ensures the stability of the entire system. The experimental results indicate that the AILC can achieve tracking error convergence within a finite time and effectively achieve high-precision torque command tracking.

关键词： Load simulator Repeated impact load Adaptive control Iterative learning control Robust dynamical control

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Hybrid membrane computing and pigeon-inspired optimization algorithm for brushless direct current motor parameter design

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science China(Technological sciences) 2016年第9期59卷 1435-1441页

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

In this paper, a novel approach is proposed for solving the parameter design problem of brushless direct current(BLDC) motor, which is based on the membrane computing(MC) and pigeon-inspired optimization(PIO) algorithm. The motor parameter design problem is converted to an optimization problem with five design parameters and six constraints. The PIO algorithm is introduced into the framework of MC for improving the global convergence performance. The hybrid algorithm can improve the population diversity with better searching efficiency. Comparative simulations are conducted, and comparative results are given to show the feasibility and effectiveness of our proposed hybrid algorithm for high nonlinear optimization problems.

关键词： brushless direct current(BLDC) motor pigeon-inspired optimization(PIO) membrane computing(MC)

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Robust Attitude control for Reusable Launch Vehicles Based on Fractional Calculus and Pigeon-inspired Optimization

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IEEE/CAA Journal of Automatica Sinica 2017年第1期4卷 89-97页

作者： Qiang Xue Haibin Duan Bio-inspired Autonomous Flight Systems(BAFS) Research Group the Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University (BUAA) IEEE

In this paper, a robust attitude control system based on fractional order sliding mode control and dynamic inversion approach is presented for the reusable launch vehicle RLV during the reentry phase. By introducing the fractional order sliding surface to replace the integer order one, we design robust outer loop controller to compensate the error introduced by inner loop controller designed by dynamic inversion approach. To take the uncertainties of aerodynamic parameters into account, stochastic robustness design approach based on the Monte Carlo simulation and Pigeon-inspired optimization is established to increase the robustness of the controller. Some simulation results are given out which indicate the reliability and effectiveness of the attitude control system. © 2014 Chinese Association of Automation.

关键词： Attitude control Calculations Communication satellites control systems Intelligent systems Launch vehicles Launching Monte Carlo methods Nonlinear control systems Reusability Reusable rockets Robustness (control systems) Sliding mode control Stochastic systems Vehicles

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Dynamic modeling and vibration control evaluation of grid composite sandwich plates with TSVM and SMAs

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Thin-Walled Structures 2025年 214卷

作者： Li, Hui Dai, Zhihan Qiao, Zhou Zhou, Jin Wang, Haijun Li, Kaixiang Zhang, Fei Cui, Hongbo Li, Jinghan Zhang, Haiyang Cao, Hang Wang, Xiangping Guan, Zhongwei School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China Key Laboratory of Impact Dynamics on Aeroengine AECC Shenyang Engine Research Institute Shenyang110015 China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China Northeastern University Shenyang110819 China School of Mechanical Engineering Xi'an Jiaotong University Xi'an710054 China Co. Ltd. Wuxi214000 China Aviation Science and Technology Key Laboratory of Aeronautical Acoustics and Vibration Intensity Aircraft Strength Research Institute Xi'an710065 China School of Mechanical Engineering Chengdu University Chengdu610106 United Arab Emirates

This paper proposes a novel dynamic model of a grid composite sandwich plate (GCSP) embedded with temperature sensitive viscoelastic material (TSVM) and shape memory alloys (SMAs), which consists of a grid functional core and two fiber-reinforced polymer skins. This core comprises a rectangular frame and several grid functional units (FUs), in which each FU is composed of a grid frame, tightened SMAs and a piece of TSVM to actively control stiffness and damping by adjusting the internal temperature. The dynamic equations are derived to solve the vibration parameters of the TSVM-SMAs-GCSP, with the recovery stress produced by SMAs in each FU and the temperature-dependent material parameters of TSVM being defined in advance. Furthermore, using a TSVM-SMAs-GCSP specimen with six FUs as an example, the preparation method is illustrated. To validate the proposed model and active control performance, vibration tests with varying control temperatures and zones of FUs are conducted on this specimen, employing impact hammer, swept-sine excitation, and both non-resonant and resonant excitation techniques. Finally, the influences of critical structural and control parameters on natural frequencies, damping ratios and resonant responses are evaluated, with valuable suggestions being summarized to highlight the active control capability of such a structure. © 2025 Elsevier Ltd

关键词： Damping

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Energy-efficient Adaptive control for Cooperative Spacecraft Rendezvous and Docking 36

Energy-efficient Adaptive Control for Cooperative Spacecraft...

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第36届中国控制会议

作者： XIA Kewei ZHU Bing The Seventh Research Division Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

An energy-efficient adaptive control is developed for a pursuer spacecraft docking with a cooperative *** pursuer spacecraft is subject to parameter uncertainties. A six degree-of-freedom（6-DOF） nonlinear model is expressed by coupled relative attitude and orbit dynamics. In the proposed control, inverse optimality approach is applied, such that the conventional Hamilton-Jacobi-Bellman equation can be avoided, and the controller is energy-efficient. Lyapunov theory is used to prove that the closed-loop systems are asymptotically stable despite of unknown inertial parameters. Numerical simulations demonstrate the effectiveness of our control strategy.

关键词： Rendezvous and docking adaptive control energy-efficiency optimal control

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Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

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science China(Information sciences) 2017年第7期60卷 29-39页

作者： Chunyan WANG Zongyu ZUO Qinghai GONG Zhengtao DING School of Electrical and Electronic Engineering University of Manchester Sackville Street Building Sino-British Joint Advanced Control System Technology Laboratory James Lighthill Building The Seventh Research Division and Science and Technology on Aircraft Control Laboratory Beihang University Beijing Aerospace Automatic Control Institute

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

关键词： multi-agent systems formation control Lipschitz nonlinearity disturbance rejection

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Research on a full envelop controller for an unmanned ducted-fan helicopter based on switching control theory

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science China(Technological sciences) 2019年第10期62卷 1837-1844页

作者： WANG Yin SONG HongYi LI Qiang ZHANG Hui College of Astronautics Nanjing University of Aeronautics and AstronauticsNanjing210016China Science and Technology on Aircraft Control Laboratory Flight Automatic Control Research InstituteXi’an710000China

Rotor and ducted-fan structured unmanned helicopters have shown energy efficiency in low flight speed and hovering, due to the novel ducted-fan structure. However, its aerodynamic characteristics may change dramatically when flight at higher speed,resulting in a wide flight envelope when compared with conventional structured helicopters. Hence, the flight controller is required to schedule itself based on the flight states and guarantees the overall performances of the helicopter on the entire flight envelop. This paper presents a switching system theory based approach to design the optimal controllers over a wide region of flight envelop. In the proposed method, a family of robust controller are designed based on typical operational conditions and the controller is adjusted to guarantee the stability when the switching event is trigged. A hysteresis switching logic is utilized to ensure smooth transient between specific operational subspaces. The stability of the proposed control method was analyzed through Lyapunov theory. Nonlinear simulations based flight dynamics of the prototype helicopter have demonstrated the flexibility and efficiency of the proposed work.

关键词： switching system robust control unmanned helicopter flight control

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