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Robust fault detection and optimization for a network of unmanned vehicles with imperfect communication channels

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Chinese Journal of Aeronautics 2014年第1期27卷 65-75页

作者： Niu Erzhuo Wang Qing dong chaoyang School of Automation Science and Electrical Engineering Beihang University School of Aeronautical Science and Engineering Beihang University

The observer-based robust fault detection and optimization for a network of unmanned vehicles with imperfect communication channels and norm bounded modeling uncertainties are addressed. The network of unmanned vehicles is modeled as a discrete-time uncertain Markovian jump system. Based on the model, a residual generator is constructed and the sufficient condition for the existence of the desired fault detection filter is derived in terms of linear matrix inequality. Furthermore, a time domain optimization approach is proposed to improve the performance of the fault detection system. The problem of detecting small faults can be formulated as an optimization problem and its solution is given. For preventing false alarms, a new adaptive threshold function is established. The combined fault detection and optimization algorithm and the adaptive threshold are then applied to a network of highly maneuverable technology vehicles to illustrate the effective- ness of the orooosed aooroach.

关键词： Fault detection andoptimization Imperfect communicationchannel Network Uncertainty Unmanned vehicle

Switching disturbance rejection attitude control of near space vehicles with variable structure

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Journal of Systems Engineering and Electronics 2019年第1期30卷 167-179页

作者： GONG Ligang WANG Qing dong chaoyang School of Automation Science and Electrical Engineering Beihang University School of Aeronautic Science and Engineering Beihang University

A switching disturbance rejection attitude control law is proposed for a near space vehicle(NSV) with variable *** multiple flight modes, system uncertainties and disturbances of the NSV are taken into account based on switched nonlinear systems. Compared with traditional backstepping design methods,the proposed method utilizes the added integrals of attitude angle and angular rate tracking errors to further decrease the tracking errors. Moreover, to reduce the computation complexity, a rapid convergent differentiator is employed to obtain the derivative of the virtual control command. Finally, for disturbance rejection, based on the idea from the extended state observer(ESO), two disturbance observers are designed by using non-smooth functions to estimate the disturbances in the switched nonlinear systems. All signals of the closed-loop system are proven to be uniformly ultimately bounded under the Lyapunov function framework. Simulation results demonstrate the effectiveness of the proposed control scheme.

关键词： near space vehicle (NSV) variable structure switched nonlinear system extended state observer (ESO).

A systematic method of smooth switching LPV controllers design for a morphing aircraft

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Chinese Journal of Aeronautics 2015年第6期28卷 1640-1649页

作者： Jiang Weilai dong chaoyang Wang Qing School of Aeronautic Science and Engineering Beihang University School of Automation Science and Electrical Engineering Beihang University

This paper is concerned with a systematic method of smooth switching linear parameter- varying （LPV） controllers design for a morphing aircraft with a variable wing sweep angle. The morphing aircraft is modeled as an LPV system, whose scheduling parameter is the variation rate of the wing sweep angle. By dividing the scheduling parameter set into subsets with overlaps, output feedback controllers which consider smooth switching are designed and the controllers in over- lapped subsets are interpolated from two adjacent subsets. A switching law without constraint on the average dwell time is obtained which makes the conclusion less conservative. Furthermore, a systematic algorithm is developed to improve the efficiency of the controllers design process. The parameter set is divided into the fewest subsets on the premise that the closed-loop system has a desired performance. Simulation results demonstrate the effectiveness of this approach.

关键词： Morphing aircraft Parameter set division:Robust control Smooth switching Switched linear parameter-varying system

Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

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Chinese Journal of Aeronautics 2020年第11期33卷 2907-2920页

作者： Wenqiang ZHANG chaoyang dong Maopeng RAN Yang LIU School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology.A novel Finite-Time Convergent Extended State Observer(FTCESO)based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked *** adopting the hierarchical control strategy,the multiquadrotor system is separated into two subsystems:the outer-loop cooperative subsystem and the inner-loop attitude *** the outer-loop subsystem,with the estimation of disturbing forces and uncertain dynamics from FTCESOs,an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring *** the inner-loop subsystem,the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite *** on a detailed algorithm to specify the cooperative control protocol,the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is *** numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.

关键词： Directed interaction topology Distributed control Disturbance rejection Finite-time convergent extended state observer(FTCESO) Formation tracking control Multi-agent systems

Phase plane design based fast altitude tracking control for hypersonic flight vehicle with angle of attack constraint

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Chinese Journal of Aeronautics 2021年第2期34卷 490-503页

作者： Yang LIU chaoyang dong Wenqiang ZHANG Qing WANG School of Aeronautic Science and Engineering Beihang UniversityBeijing 100083China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China

In this paper, fast setpoint altitude tracking control for Hypersonic Flight Vehicle(HFV)satisfying Angle of Attack(AOA) constraint is studied with a two-loop structure controller, in the presence of parameter uncertainties and disturbances. For the outer loop, phase plane design is adopted for the simplified model under Bang-Bang controller to generate AOA command guaranteeing fast tracking performance. Modifications based on Feedback-Linearization(FL) technique are adopted to transform the phase trajectory into a sliding curve. Moreover, to resist mismatch between design model and actual model, Fast Exponential Reaching Law(FERL) is augmented with the baseline controller to maintain state on the sliding curve. The inner-loop controller is based on backstepping technique to track the AOA command generated by outer-loop controller. Barrier Lyapunov Function(BLF) design is employed to satisfy AOA requirement. Moreover, a novel auxiliary state is introduced to remove the restriction of BLF design on initial tracking errors. Dynamic Surface Control(DSC) is utilized to ease the computation burden. Rigorous stability proof is then given, and AOA is guaranteed to stay in predefined region theoretically. Simulations are conducted to verify the efficiency and superior performance of the proposed method.

关键词： Adaptive control Angle of attack constraints Barrier Lyapunov function Hypersonic flight vehicle Phase plane design Reaching law design

Closed-loop fault detection for full-envelope flight vehicle with measurement delays

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Chinese Journal of Aeronautics 2015年第3期28卷 832-844页

作者： Wang Zhaolei Wang Qing dong chaoyang Gong Ligang School of Automation Science and Electrical Engineering Beihang University Beijing Aerospace Automatic Control Institute School of Aeronautical Science and Engineering Beihang University

Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.

关键词： Fault diagnosis Measurement delays Asynchronous switching Full-envelope flight vehicle Closed-loop fault detection

Fault detection and optimization for networked control systems with uncertain time-varying delay

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Journal of Systems Engineering and Electronics 2015年第3期26卷 544-556页

作者： Qing Wang Zhaolei Wang chaoyang dong Erzhuo Niu School of Automation Science and Electrical Engineering Beihang University Beijing Aerospace Automatic Control Institute School of Aeronautic Science and Engineering Beihang University Flight Automatic Control Research Institute Aviation Industry Corporation

The observer-based robust fault detection filter design and optimization for networked control systems （NOSs） with uncer- tain time-varying delays are addressed. The NCSs with uncertain time-varying delays are modeled as parameter-uncertain systems by the matrix theory. Based on the model, an observer-based residual generator is constructed and the sufficient condition for the existence of the desired fault detection filter is derived in terms of the linear matrix inequality. Furthermore, a time domain opti- mization approach is proposed to improve the performance of the fault detection system. To prevent the false alarms, a new thresh- old function is established, and the solution of the optimization problem is given by using the singular value decomposition （SVD） of the matrix. A numerical example is provided to illustrate the effectiveness of the proposed approach.

关键词： fault detection networked control systems residual generator time-varying delay time domain optimization approach.

Switched adaptive active disturbance rejection control of variable structure near space vehicles based on adaptive dynamic programming

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Chinese Journal of Aeronautics 2019年第7期32卷 1684-1694页

作者： chaoyang dong Chen LIU Qing WANG Ligang GONG School of Aeronautic Science and Engineering Beihang UniversityBeijing100083China Beijing Institute of Electric System Engineering Beijing100854China School of Automation Science and Electrical Engineering Beihang UniversityBeijing100083China

Based on the switched nonlinear system, a switched adaptive Active Disturbance Rejection Control(ADRC) law is proposed for the Variable Structure Near Space Vehicle(VSNSV) with unknown uncertainties and external disturbances. The reduced-order Extended State Observers(ESOs) are constructed for the attitude angle system and the angular rate system to estimate the total disturbance in real time. With the extended state introduced to counteract the effects of uncertainties and disturbances, a systematic procedure is presented for the synthesis of the switched adaptive ADRC strategy. Rigorous proof shows that the estimation errors of the reduced-order ESOs would converge to a small neighborhood of zero in finite time, and that the output of the closedloop system can track a given signal stably for a class of switching signals with average dwell time via the proposed approach. The variable gain control strategy based on Adaptive Dynamic Programming(ADP) with the actor-critic structure is also designed to improve the dynamic performance of the system. Simulation results verify the effectiveness and advantage of the proposed control scheme.

关键词： Adaptive control ADP ADRC Attitude control Switched nonlinear system VSNSV

H_∞ output tracking control for flight control systems with time-varying delay

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Chinese Journal of Aeronautics 2013年第5期26卷 1251-1258页

作者： Zhang Yingxin Wang Qing dong chaoyang Jiang Yifan School of Automation Science and Electrical Engineering Beihang University School of Aeronautic Science and Engineering Beihang University

For flight control systems with time-varying delay, an H∞ output tracking controller is proposed. The controller is designed for the discrete-time state-space model of general aircraft to reduce the effects of uncertainties of the mathematical model, external disturbances, and bounded time-varying delay. It is assumed that the feedback-control loop is closed by the communication network, and the network-based control architecture induces time-delays in the feedback information. Suppose that the time delay has both an upper bound and a lower bound. By using the Lyapu- nov-Krasovskii function and the linear matrix inequality （LMI）, the delay-dependent stability criterion is derived for the time-delay system. Based on the criterion, a state-feedback H∞ output tracking controller for systems with norm-bounded uncertainties and time-varying delay is presented. The control scheme is applied to the high incidence research model （HIRM）, which shows the effectiveness of the proposed approach.

关键词： Discrete time control systems Flight control systems H∞ output tracking Time-varying delay Uncertainty