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Hardware-in-loop adaptive neural control for a tiltable V-tail morphing aircraft

Defence technology（防务技术） 2023年第4期22卷 197-211页

作者： Fu-xiang Qiao Jing-ping Shi Xiao-bo Qu Yong-xi Lyu School of Automation Northwestern Polytechnical UniversityXi'an710129China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi'an710129China

This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom is *** first-order sliding mode differentiator(FSMD)is applied to the control scheme to avoid the problem of“differential explosion”.Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model,and an ANC controller is proposed based on this design *** stability of the proposed ANC controller is proved using Lyapunov theory,and the tracking error of the closed-loop system is semi-globally uniformly *** effectiveness and robustness of the proposed method are verified by numerical simulations and hardware-in-the-loop(HIL)simulations.

关键词： Morphing aircraft Back-stepping control Adaptive control Neural networks Radial basis function

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Nonlinear tight formation control of multiple UAVs based on model predictive control

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Defence technology（防务技术） 2023年第7期25卷 69-75页

作者： Ruiping Zheng Yongxi Lyu School of Automation Northwestern Polytechnical UniversityXi'an 710129China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi'an 710129China

A tight formation of unmanned aerial vehicles(UAVs) has many advantages, such as fuel saving and deceiving enemy radar during battlefield entry. As a result, research on UAVs in close formation has received much attention, and the controller design for formation holding has become a popular research topic in the control field. However, there are many unknown disturbances in tight formation, and the tail aircraft is disturbed by the wake. This paper establishes a mathematical model of wake vortices for tail aircraft that considers uncertainty and strong interference. Two UAVs are simulated by Computational Fluid Dynamics software, followed by the design of a semiphysical simulation model predictive control(MPC) scheme that suppresses uncertainty and interference sufficiently to enable the tail aircraft to accurately track the lead aircraft and maintain a stable, tight formation. The tight formation controller is verified by numerical simulation and semiphysical simulation. The results show that the designed controller has an excellent control effect in the case of disturbance caused by the wake vortex.

关键词： Unmanned aerial vehicles Tight formation Wake vortex model Model predictive control

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Coordinated Standoff Tracking of a Moving Target Based on the Lateral Offset

Coordinated Standoff Tracking of a Moving Target Based on th...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Huang, Shan Lyu, Yongxi Shi, Jingping Zhu, Qi Su, Lei Lin, Chuanjian Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi’an710129 China

ISBN: (纸本)9789811966125

Compared with one single unmanned aerial vehicle (UAV), multiple UAV cooperative tracking can detect the target information more comprehensively, estimate the target state more accurately, and improve the efficiency of task completion, thus it has great significance. This paper presents a guidance method that can realize standoff tracking of a stationary target only by relying on ranging sensors. Firstly, we propose a algorithm for a UAV standoff tracking a stationary target which is based on the lateral offset, and analyze its stability. The guidance method can produce stable convergence to a circling limit cycle behavior. Secondly, we modify the guidance law by adding a correction term, which considers the moving speed of the target and can extend the guidance law to track the moving target. Thirdly, combined with the phase separation method, the guidance law is extended to multiple UAVs cooperative tracking the moving target, which proves the stability of the cooperative guidance method. Finally, the numerical simulation results indicate that under the guidance method, the UAVs can track the ground moving target quickly, and its effectiveness and robustness are demonstrated. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Autonomous maneuver decision-making for a UCAV in short-range aerial combat based on an MS-DDQN algorithm

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Defence technology（防务技术） 2022年第9期18卷 1697-1714页

作者： Yong-feng Li Jing-ping Shi Wei Jiang Wei-guo Zhang Yong-xi Lyu School of Automation Northwestern Polytechnical UniversityXi'an 710129China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi'an 710129China

To solve the problem of realizing autonomous aerial combat decision-making for unmanned combat aerial vehicles(UCAVs) rapidly and accurately in an uncertain environment, this paper proposes a decision-making method based on an improved deep reinforcement learning(DRL) algorithm: the multistep double deep Q-network(MS-DDQN) algorithm. First, a six-degree-of-freedom UCAV model based on an aircraft control system is established on a simulation platform, and the situation assessment functions of the UCAV and its target are established by considering their angles, altitudes, environments, missile attack performances, and UCAV performance. By controlling the flight path angle, roll angle, and flight velocity, 27 common basic actions are designed. On this basis, aiming to overcome the defects of traditional DRL in terms of training speed and convergence speed, the improved MS-DDQN method is introduced to incorporate the final return value into the previous steps. Finally, the pre-training learning model is used as the starting point for the second learning model to simulate the UCAV aerial combat decision-making process based on the basic training method, which helps to shorten the training time and improve the learning efficiency. The improved DRL algorithm significantly accelerates the training speed and estimates the target value more accurately during training, and it can be applied to aerial combat decision-making.

关键词： Unmanned combat aerial vehicle Aerial combat decision Multi-step double deep Q-network Six-degree-of-freedom Aerial combat maneuver library

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A Multi-UCAV cooperative occupation method based on weapon engagement zones for beyond-visual-range air combat

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Defence technology（防务技术） 2022年第6期18卷 1006-1022页

作者： Wei-hua Li Jing-ping Shi Yun-yan Wu Yue-ping Wang Yong-xi Lyu School of Automation Northwestern Polytechnical UniversityXi'an710129China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi'an710129China Science and Technology on Aircraft Control Laboratory FACRIXi'an710065China

Recent advances in on-board radar and missile capabilities,combined with individual payload limitations,have led to increased interest in the use of unmanned combat aerial vehicles(UCAVs)for cooperative occupation during beyond-visual-range(BVR)air ***,prior research on occupational decision-making in BVR air combat has mostly been limited to one-on-one *** such,this study presents a practical cooperative occupation decision-making methodology for use with multiple *** weapon engagement zone(WEZ)and combat geometry were first used to develop an advantage function for situational assessment of one-on-one *** encircling advantage function was then designed to represent the cooperation of UCAVs,thereby establishing a cooperative occupation *** corresponding objective function was derived from the one-on-one engagement advantage function and the encircling advantage *** resulting model exhibited similarities to a mixed-integer nonlinear programming(MINLP)*** such,an improved discrete particle swarm optimization(DPSO)algorithm was used to identify a *** occupation process was then converted into a formation switching task as part of the cooperative occupation model.A series of simulations were conducted to verify occupational solutions in varying situations,including two-on-two *** results showed these solutions varied with initial conditions and weighting *** occupation process,based on formation switching,effectively demonstrates the viability of the proposed *** cooperative occupation results could provide a theoretical framework for subsequent research in cooperative BVR air combat.

关键词： Unmanned combat aerial vehicle Cooperative occupation Beyond-visual-range air combat Weapon engagement zone Discrete particle swarm optimization Formation switching

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Research on Real-Time Fault Detection of UAV flight control System Sensor Based on Riemannian Manifold

Research on Real-Time Fault Detection of UAV Flight Control ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Chi, ChengZhi Su, Lei Lyu, Yongxi Shi, JingPing Huang, Shan Chinese Aeronautical Establishment Beijing100029 China School of Automation Northwestern Polytechnical University Xi’an710129 China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi’an710129 China

ISBN: (纸本)9789811966125

Aiming at the difficulty of real-time fault diagnosis of sensors in flight control system of unmanned aerial vehicle (UAV), a fault diagnosis method based on Pearson correlation coefficient and Riemannian manifold is proposed. Firstly, a correlation coefficient matrix can be calculated from the data of a sensor in flight control system to quantitatively represent the correlation characteristics of each channel data in a sensor. Then, the similarity degree between the real-time correlation coefficient matrix and the reference matrix is calculated in the Riemann space, and the working state of the sensor is judged by whether the similarity degree exceeds the limit value. Finally, in order to verify the effectiveness of the method, a semi-physical simulation platform is built, and simulation results show that the method is efficient and robust, which can quickly detect the real-time faults of the sensors in UAV flight control system, and has the potential for real flight verification. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： flight control systems

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Design and Optimization of Ascent Trajectory for a Novel HV Based on APSO Algorithm

Design and Optimization of Ascent Trajectory for a Novel HV ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Xu, Sui Li, Guangwen Jia, Qiuling Zhai, Shaobo Li, Qizheng School of Automation Northwestern Polytechnical University Xi’an710129 China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi’an710129 China Key Laboratory of Information Fusion Technology Ministry of Education Northwestern Polytechnical University Xi’an710072 China

ISBN: (纸本)9789811966125

The novel hypersonic vehicle (HV) is one of the mainstream research directions in the international aerospace field in the 21st century. In order to reduce the difficulty of the overload design when the novel HV flight in endo-atmosphere and improve the versatility of trajectory optimization algorithms, the longitudinal trajectory design and optimization methods of a novel HV in ascent phase based on an adaptive particle swarm optimization (APSO) algorithm was studied in this paper. A longitudinal trajectory design method in ascent phase based on multiple maneuvers at AOA control variable with Mach as the independent variable was proposed. In order to optimize multiple unknown design parameters that determine the trajectory change more universally and efficiently, an APSO algorithm was proposed to reduce the undetermined parameters by introducing distance measure function and adaptive penalty function strategy. A simulation based on the HV demonstrates the rationality and validity of the proposed methods. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Trajectories

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Integrated Guidance and control Design for Homing Missile with Terminal Angular Constraint

Integrated Guidance and Control Design for Homing Missile wi...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Shichao, Ma Aijun, Li Enhe, Wang Yong, Guo Danyang, Song School of Automation Northwestern Polytechnical University Xi’an710072 China Shaanxi Provincial Key Laboratory of Flight Control and Simulation Technology Xi’an710072 China

ISBN: (纸本)9789811581540

Aiming at homing missiles, an integrated guidance and control (IGC) design scheme is developed. Meanwhile, the situation of terminal angular constraint is also taken into account. Firstly, considering a kind of homing missile, the nonlinear mathematical model is formulated in the longitudinal plane. For the purpose of dealing with the numerous states regulation problem of such a nonlinear system, a novel dynamic surface control algorithm combined with adaptive control law is deduced based on the backstepping approach. It is testified that the developed control scheme is capable of simultaneously achieving the stability of the missile dynamics and accuracy of intercepting target within a desired constraint angular. Moreover, numerical simulations are exhibited to illustrate the validity of the designed control method. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Adaptive control systems

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RESEARCH ON FAULT DIAGNOSIS AND FAILURE RECONFIGURATION OF FLUSH AIR DATA SENSING 32

RESEARCH ON FAULT DIAGNOSIS AND FAILURE RECONFIGURATION OF F...

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32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021

作者： Jia, Qianlei Zhang, Weiguo Shi, Jingping Hu, Jiayue Safwat, Ehab School of Automation Northwestern Polytechnical University Xi'an710072 China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi'an710072 China Guidance Department Military Technical College Cairo11435 Egypt

ISBN: (纸本)9783932182914

In 2018 and 2019, two Boeing 737 MAX belonging to PT Lion Mentari Airlines and Ethiopian Airlines crashed, resulting in 346 deaths. Afterward, the accident investigation revealed that the main reason was the failure of the traditional angle of attack sensor. Unlike the traditional probe-type atmospheric data sensor, flush air data sensing (FADS) employs the pressure values measured by pressure sensors that are embedded in pressure taps to deduce angle of attack α, angle of sideslip β, Mach number Ma, dynamic pressure qc, and static pressure P∞, which effectively overcomes the former shortcomings and deficiencies. As a result, many countries, including the United States, France, and the United Kingdom, have carried out relevant research. The chief purpose of this paper is to propose a new fault diagnosis method for FADS and carry out further research on failure reconfiguration. First, the aerodynamic knowledge under subsonic and supersonic conditions is applied to establish a high-precision aerodynamic model of the sensor. Considering the severe working environment such as low temperature and low pressure, pressure taps in FADS will inevitably fail during the process of application. To address the problem, a new fault diagnosis method for the failure of single pressure tap and simultaneous failure of multiple pressure taps is proposed with the consideration of redundant signals. Besides, to reduce the false alarm rate and improve diagnosis accuracy, the threshold of alarm times is designed with statistical knowledge. Furthermore, after the fault diagnosis of FADS is realized by using the proposed method, the next step is to make use of the remaining normal pressure taps to continue measuring atmospheric data, i.e., failure reconfiguration. In this part of the study, the fault is divided into two cases: 1) single pressure tap fails;2) multiple pressure taps fail. When a single pressure tap fails, we start from the derivation algorithm and employ the redundancy of FADS

关键词： Failure analysis

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Multiple Uavs Cooperatively Circumnavigating a Group of Non-Cooperative Targets in a Gps-Free Environment Via a Range-Only Distributed controller

SSRN

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SSRN 2024年

作者： Huang, Shan Shi, Jingping Zhu, Qi Du, Zhihui Lyu, Yongxi Liu, Zhunga School of Automation Northwestern Polytechnical University 1 Dongxiang Road Chang'an District Shaanxi Xi'An710129 China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology 1 Dongxiang Road Chang'an District Shaanxi Xi'An710129 China Department of Precision Instrument Tsinghua University 30 Shuangqing Road Haidian District Beijing100084 China

This article proposes a distributed controller for multiple unmanned aerial vehicles (UAVs) cooperatively circumnavigating a group of non-cooperative targets by only using range measurements. Unlike most existing methods that either consider only a single target, or know the global locations of the UAV and the target beforehand, this article investigates a more general situation in which to circumnavigate multiple unknown targets in a GPS-free environment. First, based on the range measurements, a fixed-time sliding-mode observer and a relative position observer are designed to estimate the relative position, thus eliminating the requirement for global position measurements. On this basis, each UAV can reconstruct the relative geometric center of multiple targets. Second, an observer-based range-only control method is developed to drive an UAV to encircle a group of unknown targets. It is also shown that the velocity of the UAV does not affect the global convergence of the range-only controller. Following this, a range-only distributed controller is proposed to coordinate the velocities of multiple UAVs so that they can encircle multiple targets with a desired angular spacing between them relative to the geometric center. Furthermore, by using cascade system theory and Lyapunov stability analysis method, it is demonstrated that the proposed distributed controller still exhibits global asymptotic convergence. Finally, the effectiveness and benefits of the proposed method are verified via numerical simulations. © 2024, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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