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Three-dimensional cooperative guidance strategy and guidance law for intercepting highly maneuvering target

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Chinese Journal of Aeronautics 2021年第5期34卷 485-495页

作者： Ziyan CHEN jianglong yu Xiwang DONG Zhang REN School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijing 100191China Beijing Advanced Innovation Center for Big Data cmd Brain Computing Beihang UniversityBeijing 100191China

Cooperative interception of the target with strong maneuverability by multiple missiles with weak maneuverability in the three-dimensional nonlinear model is ***,the three-dimensional nonlinear model of cooperative guidance is *** three-dimensional reachable region is represented composed of lateral acceleration and longitudinal acceleration in the two-dimensional coordinate ***,the problem of the multiple missile’s reachable coverage area is transformed into the problem of cooperative coverage.A cooperative coverage strategy is proposed and an algorithm for quickly calculating the number of required missiles is ***,the guidance law based on the cooperative coverage strategy is proposed,and it is proved that cooperative interception of the target can be achieved under the acceleration ***,the relations among the number of missiles,the initial array position of terminal guidance and the coverage area of the target’s large maneuver are *** dynamic adjustment strategy of guidance parameters is proposed to reduce the guidance ***,simulation results show that multiple missiles with low maneuverability can achieve effective interception of target with strong maneuverability through the proposed cooperative strategy and cooperative guidance method.

关键词： Acceleration constraint Cooperative interception Coverage strategy Guidance law Highly maneuvering target

Cooperative guidance strategy for multiple hypersonic gliding vehicles system

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Chinese Journal of Aeronautics 2020年第3期33卷 990-1005页

作者： jianglong yu Xiwang DONG Qingdong LI Zhang REN Jinhu LV School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijing 100083China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang UniversityBeijing 100083China Shananxi Key Laboratory of Integrated and Intelligent Navigation Xi’an 710068China

Cooperative guidance strategy for multiple hypersonic gliding vehicles system with flight constraints and cooperative constraints is *** paper mainly cares about the coordination of the entry glide flight phase and driving-down *** from the existing results,both the attack time and the attack angle constraints are considered ***, for the entry glide flight phase, a two-stage method is proposed to achieve the rapid cooperative trajectories planning, where the control signal corridors are designed based on the quasi-equilibrium gliding *** the first stage, the bank angle curve is optimized to achieve the attack angle *** the second stage, the angle of attack curve is optimized to achieve the attack time *** optimized parameters can be obtained by the secant ***, for the driving-down phase, the cooperative terminal guidance law is designed where the terminal attack time and attack angle are *** guidance law is then transformed into the bank angle and angle of attack *** cooperative guidance strategy is summarized as an ***, a numerical simulation example with three hypersonic gliding vehicles is provided for revealing the effectiveness of the acquired strategy and algorithm.

关键词： Attack angle constraints Attack time constraints Cooperative guidance Cooperative path planning Entry guidance Hypersonic vehicles

A review on research and development of iron-based sorbents for removal of hydrogen sulfide from hot coal gases

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Frontiers of Chemical Science and Engineering 2010年第4期4卷 529-535页

作者： jianglong yu Liping CHANG Fan LI Kechang XIE Key Laboratory of Coal-Based Fuels for Aviation Shenyang Aerospace UniversityShenyang 110136China Key Laboratory of Coal Science and Technology(Ministry of Education and Shanxi Province) Taiyuan University of TechnologyTaiyuan 030024China School of Chemical Engineering University of Science and Technology LiaoningAnshan 114051China

In poly-generation and integrated gasificationcombined cycle(IGCC)systems for clean energy conversion,it is essential to remove impurities such as sulfur species from hot coal gases prior to entering the subsequent *** paper provides a comprehensive review on previous studies on high temperature removal of hydrogen sulfide from high temperature coal gases using iron-based sorbents.A two-step desulphurization process for hot coal gas cleanup is highlighted,which is integrated with direct production of elemental sulfur during regeneration of ironbased sorbents in the primary desulphurization *** kinetic modeling approaches for sulfidation and regeneration were *** research on activated carbon supported sorbents was also briefly summarized.

关键词： hot coal gas cleanup iron-based sorbents sulfidation regeneration sulphur recovery

Control Strategy for the Transition Flight of a Tail-Sitter UAV 36

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Control Strategy for the Transition Flight of a Tail-Sitter ...

第36届中国控制会议

作者： Yining Wang jianglong yu Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

The tail-sitter unmanned aerial vehicle（UAV） is a kind of vertical take-off and landing（VTOL） UAV which has the merits of both fixed-wing and *** tail-sitter UAV in this paper has three flight *** most important stage is the transition *** model for the transition stage is established and a transition flight strategy is constructed so that the UAV can change vertical takeoff mode to cruise mode stably.A nonlinear extended state observer is presented to estimate the unknown nonlinear terms,the uncertainties and external disturbances during mode *** backstepping controller based on the observer is designed to implement transition flight mode.A numerical simulation is given to demonstrate the effectiveness of the obtained results.

关键词： Tail-sitter UAV Control strategy for transition Backstepping control Nonlinear Extended State Observer

Distributed observer-based time-varying formation tracking for high-order multi-agent systems with nonlinear dynamics 36

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Distributed observer-based time-varying formation tracking f...

第36届中国控制会议

作者： jianglong yu Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Time-varying formation tracking problems for high-order nonlinear multi-agent systems are investigated by using a distributed observer-based *** from the previous work,the states of followers form a predefined time-varying formation while tracking the states of the leader with unknown but bounded control ***,the dynamics of each agent is high-order and has ***,a nonlinear time-varying formation tracking control protocol is proposed based on the distributed observer which is constructed using only local neighboring output ***,an algorithm with three steps is proposed to design the distributed observer-based formation tracking protocol,where the time-varying formation tracking feasibility condition is ***,by using Lyapunov theory,the stability of the proposed algorithm is ***,a numerical example with three followers and one leader is provided to demonstrate the effectiveness of the obtained results.

关键词： Time-varying formation tracking High-order nonlinear dynamics Multi-agent systems Distributed observer

Practical time-varying formation tracking control for second-order nonlinear multi-agent systems based on the distributed extend state observer 36

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Practical time-varying formation tracking control for second...

第36届中国控制会议

作者： jianglong yu Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Practical time-varying formation tracking analysis and design problems for second-order nonlinear multi-agent systems are investigated by using a novel distributed extended state observer,where the formation tracking error can be arbitrarily *** from the previous work on formation tracking problems,the states of followers form a predefined time-varying formation while tracking the state of the leader with unknown but derivative-bounded control ***,the dynamics of each agent has heterogeneous ***,a novel distributed extended state observer is constructed by using only neighboring relative information,which can process not only the heterogeneous nonlinearity of each follower,but also the unknown control input of the ***,a practical time-varying formation tracking control protocol with the distributed extended state observer is ***,the stability of the closed-loop multi-agent system under the protocol is proven by using the Lyapunov ***,an approach is derived to design the control parameters in the practical time-varying formation tracking protocol by solving a linear matrix ***,simulation results are given to illustrate the effectiveness of the obtained theoretical results.

关键词： Practical time-varying formation tracking Second-order nonlinear dynamics Unknown control input Multi-agent systems Distributed extended state observer

Multi-agent differential game based cooperative synchronization control using a data-drivenmethod

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Frontiers of Information Technology & Electronic Engineering 2022年第7期23卷 1043-1056页

作者： yu SHI Yongzhao HUA jianglong yu Xiwang DONG Zhang REN School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Institute of Artificial Intelligence Beihang UniversityBeijing 100191China

This paper studies the multi-agent differential game based problem and its application to cooperative synchronization control.A systematized formulation and analysis method for the multi-agent differential game is proposed and a data-driven methodology based on the reinforcement learning(RL)technique is ***,it is pointed out that typical distributed controllers may not necessarily lead to global Nash equilibrium of the differential game in general cases because of the coupling of networked ***,to this end,an alternative local Nash solution is derived by defining the best response concept,while the problem is decomposed into local differential *** off-policy RL algorithm using neighboring interactive data is constructed to update the controller without requiring a system model,while the stability and robustness properties are ***,to further tackle the dilemma,another differential game configuration is investigated based on modified coupling index *** distributed solution can achieve global Nash equilibrium in contrast to the previous case while guaranteeing the *** equivalent parallel RL method is constructed corresponding to this Nash ***,the effectiveness of the learning process and the stability of synchronization control are illustrated in simulation results.

关键词： Multi-agent system Differential game Synchronization control Data-driven Reinforcement learning

Robust adaptive attitude control for carrier based aircrafts in the landing process under the carrier air wake disturbance 36

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Robust adaptive attitude control for carrier based aircrafts...

第36届中国控制会议

作者： jianglong yu Yongzhao Hua Peng Yang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Aviation System Research Department System Engineering Research Institute

ISBN: (纸本)9781538629185

When naval vessels moving on the sea, the carrier air wake disturbance will arise. The carrier air wake makes the landing environment of carrier aircraft fair adverse, which puts forward a high demand for the high precise attitude control of carrier based aircrafts. In this paper, high precise robust attitude control problems for carrier based aircrafts with the carrier air wake disturbance are investigated. Firstly, the small disturbance linearization method is introduced to transform the nonlinear system into a linear one, which is a necessary procedure for aircraft system analysis and controller design. Secondly, the model of the carrier air wake disturbance is established and its effects on the aerodynamic parameters are analyzed in detail. Then the effects are transformed into the augmented disturbance in the system. Thirdly, a nonlinear extended state observer is utilized to estimate the disturbance. Besides, a robust adaptive attitude controller with integral term is proposed to achieve high precision attitude tracking. The stability of the closed-loop system is prove based on Lyapunov theory. Finally, a numerical example is provided to demonstrate the effectiveness of the obtained results.

关键词： Carrier based aircraft Carrier air wake Disturbance Robust adaptive control Nonlinear extended state observer

Reverse time migration based on normalized wavefield decomposition imaging condition

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Global Geology 2016年第2期19卷 95-101页

作者： yu jianglong HAN Liguo ZHOU Yan ZHANG Yongsheng College of Geo-Exploration Science and Technology Jilin University Drilling Division CNPC Offshore Engineering Corporation

With the increasing complexity of prospecting objectives,reverse time migration( RTM) has attracted more and more attention due to its outstanding imaging quality. RTM is based on two-way wave equation,so it can avoid the limits of angle in traditional one-way wave equation migration,image reverse branch,prism waves and multi-reflected wave precisely and obtain accurate dynamic information. However,the huge demands for storage and computation as well as low frequency noises restrict its wide application. The normalized cross-correlation imaging conditions based on wave field decomposition are derived from traditional cross-correlation imaging condition,and it can eliminate the low-frequency noises effectively and improve the imaging resolution. The practical procedure includes separating source and receiver wave field into one-way components respectively,and conducting cross-correlation imaging condition to the post-separated wave field. In this way,the resolution and precision of the imaging result will be promoted greatly.

关键词： reverse time migration low-frequency noises imaging condition wave field decomposition