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A novel adaptive coordinated tracking control scheme for a morphing aircraft with telescopic wings

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Chinese Journal of Aeronautics 2024年第2期37卷 148-162页

作者： Enmei wang Hao LU Jianchun ZHANG chenliang wang Jianzhong QIAO Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Inspired by flight biology,morphing flight technology has great potential to improve the adaptability and maneuverability of *** paper is devoted to the flight control problem of morphing aircraft,and aimed at safe and fuel-saving flight through morphing ***,the longitudinal dynamics of a morphing aircraft with telescopic wings is modelled as a strict-feedback nonlinear *** fitting the expression of aerodynamic parameters by the mor-phing ratio,the model uncertainties induced by morphing errors are embedded in the *** meet the safety and fuel-saving requirements,an Adaptive Coordinated Tracking Control Scheme(ACTCS)is then proposed,which consists of a morphing control module and a tracking control *** the morphing control module,an on-line morphing decision model is given in an optimization process with respect to the morphing ratio,and a second-order tracking filter is introduced to smooth the decision output and ensure the physical *** the tracking control module,the novel adaptive controllers for the velocity and altitude subsystems are proposed based on the dynamic surface control method,in which adaptive mechanisms are designed to com-pensate for the model ***,the proposed ACTCS is simulated in nine different cases of the test flight mission,to verify its effectiveness,robustness and fuel-saving effect.

关键词： Morphing aircraft Adaptive tracking control Morphing decision Dynamic surface control Morphing error

Event-triggered adaptive control for attitude tracking of spacecraft

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Chinese Journal of Aeronautics 2019年第2期32卷 454-462页

作者： chenliang wang Yun LI Qinglei HU Jian HUANG School of Automation Science and Electrical Engineering Beihang University Beijing Institute of Automatic Control Equipment

Plug-and-play technology is an important direction for future development of spacecraft and how to design controllers with less communication burden and satisfactory performance is of great importance for plug-and-play spacecraft. Considering attitude tracking of such spacecraft with unknown inertial parameters and unknown disturbances, an event-triggered adaptive backstepping controller is designed in this paper. Particularly, a switching threshold strategy is employed to design the event-triggering mechanism. By introducing a new linear time-varying model, a smooth function, an integrable auxiliary signal and a bound estimation approach, the impacts of the network-induced error and the disturbances are effectively compensated for and Zeno phenomenon is successfully avoided. It is shown that all signals of the closed-loop system are globally uniformly bounded and both the attitude tracking error and the angular velocity tracking error converge to zero. Compared with conventional control schemes, the proposed scheme significantly reduces the communication burden while providing stable and accurate response for attitude maneuvers. Simulation results are presented to illustrate the effectiveness of the proposed scheme.

关键词： Adaptive control Attitude tracking Event-triggered control Spacecraft Uncertainties

Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

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Chinese Journal of Aeronautics 2024年第2期37卷 431-445页

作者： Hao LU Lan GAO Yunda YAN Mingzhe HOU chenliang wang Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information Science and Technology Hangzhou Normal UniversityHangzhou 311121China Department of Computer Science University College LondonLondon WC1E 6BTUnited Kingdom Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight *** cope with various wind conditions,this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the *** the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the compensation and nominal ***,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector ***-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds.

关键词： Path following Guiding vector field Wind disturbance Disturbance rejection Fixed wings

Adaptive Consensus Quantized Control for a Class of High-Order Nonlinear Multi-Agent Systems With Input Hysteresis and Full State Constraints

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1574-1589页

作者： Guoqiang Zhu Haoqi Li Xiuyu Zhang chenliang wang Chun-Yi Su Jiangping Hu the School of Automation Engineering Northeast Electric Power UniversityJilin 132012 the Jilin Province International Research Center of Precision Drive and Intelligent Control Jilin 132012China the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the Department of Mechanical and Industrial Engineering Concordia UniversityQCMontrealH3B 1R6Canada the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China(

For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is *** major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent *** constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is *** stability analysis has proved that all signals of the closed-loop are semi-globally uniformly *** Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.

关键词： Adaptive quantized control barrier Lyapunov function input hysteresis multi-agent systems

A fundamental theorem for eco-environmental surface modelling and its applications

维普期刊数据库博看期刊评论

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Science China Earth Sciences 2020年第8期63卷 1092-1112页

作者： Tianxiang YUE Na ZHAO Yu LIU Yifu wang Bin ZHANG Zhengping DU Zemeng FAN Wenjiao SHI Chuanfa CHEN Mingwei ZHAO Dunjiang SONG Shihai wang Yinjun SONG Changqing YAN Qiquan LI Xiaofang SUN Lili ZHANG Yongzhong TIAN Wei wang Ying’an wang Shengnan MA Hongsheng HUANG Yimin LU Qing wang chenliang wang Yuzhu wang Ming LU Wei ZHOU Yi LIU Xiaozhe YIN Zong wang Zhengyi BAO Miaomiao ZHAO Yapeng ZHAO Yimeng JIAO Ufra NASEER Bin FAN Saibo LI Yang YANG John PWILSON State Key L aboratory of Resources and Environment Information System Institute of Geographical Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China College of Resources and Environment University of Chinese Academy of SciencesBeijing 100049China College of Land Resources and Environment Jiangxi Agricultural UniversityNanchang 330045China College of Geomatics Shandong University of Science and TechnologyQingdao 266590China College of Forestry Beijing Forestry UniversityBeijing 100083China School of Land and Resources China West Normal UniversityNanchong 637002China College of Geographical Information and Tourism Chuzhou UniversityChuzhou 239000China Institutes of Science and Development Chinese Academy of SciencesBeijing 100190China Department of Information Engineering Shandong University of Science and TechnologyTai'an 271019China College of Resources Sichuan Agricultural UniversityChengdu 611130China College of Geography and Tourism Qufu Normal UniversityRizhao 276828China Aerospace Information Research Institute Chinese Academy of SciencesBeijing 100101China School of Geographical Science Southwest UniversityChongqing 400715China National Disaster Reduction Center of China Ministry of Emergency ManagementBeijing 100721China Department for Population Data China Population and Development Research CenterBeijing 100081China Department for Industrial Standard China Standardization AdministrationBeijing 100088China The Academy of Digital China Fuzhou UniversityFuzhou 350002China National Institute of Environmental Health Chinese Center for Disease Control and PreventionBeijing 100021China School of Information Engineering China University of GeoscienceBeijing 100083China Qian Xuesen Laboratory of Space Technology Beijing 100094China College of Architecture and Urban Planning Chongqing Jiaotong UniversityChongqing 400074China Jiangsu Center for Collaborative Innovation in Geographical Information Resource Development and Application Nanjing

We propose a fundamental theorem for eco-environmental surface modelling(FTEEM) in order to apply it into the fields of ecology and environmental science more easily after the fundamental theorem for Earth’s surface system modeling(FTESM). The Beijing-Tianjin-Hebei(BTH) region is taken as a case area to conduct empirical studies of algorithms for spatial upscaling, spatial downscaling, spatial interpolation, data fusion and model-data assimilation, which are based on high accuracy surface modelling(HASM), corresponding with corollaries of FTEEM. The case studies demonstrate how eco-environmental surface modelling is substantially improved when both extrinsic and intrinsic information are used along with an appropriate method of HASM. Compared with classic algorithms, the HASM-based algorithm for spatial upscaling reduced the root-meansquare error of the BTH elevation surface by 9 m. The HASM-based algorithm for spatial downscaling reduced the relative error of future scenarios of annual mean temperature by 16%. The HASM-based algorithm for spatial interpolation reduced the relative error of change trend of annual mean precipitation by 0.2%. The HASM-based algorithm for data fusion reduced the relative error of change trend of annual mean temperature by 70%. The HASM-based algorithm for model-data assimilation reduced the relative error of carbon stocks by 40%. We propose five theoretical challenges and three application problems of HASM that need to be addressed to improve FTEEM.

关键词： HASM FTEEM Spatial upscaling Spatial downscaling Spatial interpolation Data fusion Model-data assimilation Model coupling

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外泌体:连接机械力感应和肝癌发生的纽带

Science Bulletin 2023年第24期68卷 3087-3090页

作者：唐梅汪辰靓赵斌 MOE Key Laboratory of Biosystems Homeostasis&Protection Zhejiang Provincial Key Laboratory for Cancer Molecular Cell Biologyand Innovation Center for Cell Signaling NetworkLife Sciences InstituteZhejiang UniversityHangzhou 310058China Department of Hepatobiliary and Pancreatic Surgery The First Affiliated HospitalSchool of MedicineZhejiang UniversityHangzhou 310058China Center for Life Sciences Shaoxing InstituteZhejiang UniversityShaoxing 321000China

Hepatocellular carcinoma(HCC)is the most common type of primary liver cancer,and the third leading cause of cancer-related mortality *** disease is intimately related to mechanical *** HCCs develop in the context of l... 详细信息

关键词：肝癌发生外泌体 liver

A Sensorless Haptic Force Estimation Method and Its Application to Uncertain Robotic Manipulators

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A Sensorless Haptic Force Estimation Method and Its Applicat...

第40届中国控制会议

作者： Yanran Wei Yukai Zhu chenliang wang Jianwei Xu Lei Guo School of Automation Science and Electrical Engineering Beihang University School of Astronautics Beihang University Systems Engineering Research Institute China State Shipbuilding Corporation Limited

In this paper, a haptic force estimation scheme without force sensors is proposed for a class of robotic manipulators with multiple disturbances. Different from previous methods, besides haptic force, other disturbances and uncertainties of robotic manipulators are taken into account simultaneously. Motivated by the composite hierarchical anti-disturbance control strategy,a robust haptic force observer（RHOB） is designed by a solution of a linear matrix inequality（LMI）, which can extract precise haptic force from multiple disturbances by taking a strategy of compensation and suppression in due course. Moreover, some integral auxiliary signals are regarded as the robust performance indices introduced in the design and analysis. Also, a composite control strategy based on the mentioned design of RHOB guarantees the boundedness of all signals in the augmented closedloop system and the proposed robust performance indices, and furthermore, the asymptotic convergences of tracking error and force estimation error, in the case of slow-varying haptic force, are successfully achieved. Simulation results demonstrate the effectiveness of the proposed method.

关键词： Haptic force robotic manipulators disturbance observer parametric uncertainties LMI

来源： cnki会议评论

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基于分裂最优乘子重要抽样的电网可靠性评估

电力系统自动化 2008年第19期32卷 30-34页

作者：王斌赵渊刘威王成亮刘家伟重庆大学输配电装备及系统安全与新技术国家重点实验室重庆市400044 山东电力工程咨询院山东省济南市250001

提出一种按系统中各元件对系统可靠性影响不同而使用不同最优乘子的重要抽样技巧,以加快系统的蒙特卡罗模拟速度。针对影响程度不同,提出基于元件最大容量和无效度的简便的元件重要度识别方法。在对系统进行蒙特卡罗模拟前快速识别出对... 详细信息

提出一种按系统中各元件对系统可靠性影响不同而使用不同最优乘子的重要抽样技巧,以加快系统的蒙特卡罗模拟速度。针对影响程度不同,提出基于元件最大容量和无效度的简便的元件重要度识别方法。在对系统进行蒙特卡罗模拟前快速识别出对系统可靠性影响较大的元件,并对它们进行重要抽样;对剩下的元件进行一般的蒙特卡罗抽样。其间,用黄金分割法在系统蒙特卡罗模拟的同时进行最优乘子的求取,得到最优乘子后继续抽样直到满足预定的收敛准则。通过对IEEE-RTS79可靠性测试系统的验算,证明该方法在传统的重要抽样法基础上进一步提高了蒙特卡罗模拟的收敛速度。

关键词：可靠性评估蒙特卡罗法重要抽样法重要度因子最优乘子收敛速度

Malt1 inhibition efficiently dampens psoriasis development

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Malt1 inhibition efficiently dampens psoriasis development