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Defence Technology（防务技术） 2024年第2期32卷 1-22页

作者： Zengliang Han mou chen Haojie Zhu Qingxian Wu School of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China

Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.

关键词： UAH Path planning Ground threat prediction Hybrid enhanced Collaborative thinking

Dynamic event-triggered fault-tolerant cooperative resilient tracking control with prescribed performance for UAVs

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Science China(Information Sciences) 2024年

作者： Rong YUAN Zhengcai AN Shuyi SHAO mou chen Mihai LUNGU College of Automation Engineering Nanjing University of Aeronautics and Astronautics Science and Technology on Electro-optic Control Laboratory Luoyang Faculty of Electrical Engineering University of Craiova Aerospace Engineering Doctoral School University Politehnica of Bucharest

In this paper, a resilient tracking control scheme with cooperative collision avoidance performance is studied for the fixed-wing unmanned aerial vehicle(UAV) leader-follower formation in the presence of actuator failures and external disturbances. Firstly, based on the control objectives of UAV formation tracking and collision avoidance, the transformation tracking errors are obtained using the prescribed performance control technique. Next, a fault detection mechanism is introduced to determine if there is the actuator fault. Subsequently, the event-triggered resilient fault observers are designed based on a dynamic eventtriggered mechanism to estimate actuator faults. Furthermore, the prescribed performance functions and the H∞ performance index are employed to ensure the UAV formation collision-free and mitigate the impact of disturbances. Moreover, the resilient controller is designed to minimize the effect of the perturbations for the control gain and the fault observer gain on the system. The stability of the system is also proven through the Lyapunov stability analysis, and the controller gains are calculated by solving the linear matrix inequality.Finally, the validity of the proposed control strategy is demonstrated by the simulation analysis.

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Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances

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自动化学报:英文版 2023年第11期10卷 2056-2069页

作者： Haoxiang Ma mou chen Qingxian Wu College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106 College of Information Engineering Henan University of Science and TechnologyLuoyang 471023China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China IEEE

In this paper, a disturbance observer-based safe tracking control scheme is proposed for a medium-scale unmanned helicopter with rotor flapping dynamics in the presence of partial state constraints and unknown external disturbances. A safety protection algorithm is proposed to keep the constrained states within the given safe-set. A second-order disturbance observer technique is utilized to estimate the external disturbances. It is shown that the desired tracking performance of the controlled unmanned helicopter can be achieved with the application of the backstepping approach, dynamic surface control technique, and Lyapunov method. Finally, the availability of the proposed control scheme has been shown by simulation results.

关键词： Disturbance observer dynamic surface control safe tracking control safety protection algorithm unmanned autonomous helicopter

Noncertainty-equivalent observer-based noncooperative target tracking control for unmanned aerial vehicles

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Science China(Information Sciences) 2022年第5期65卷 142-156页

作者： Kenan YONG mou chen Qingxian WU College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Target tracking is a typical and challenging scenario that is required to be executed by unmanned aerial vehicles(UAVs) in operational environments. This work investigates the noncooperative target tracking control problem for UAVs. An integrated model is constructed by combining the dynamics of both the line-of-sight variables and the acceleration components. Particularly, the dynamics of the acceleration components, that contain unmeasurable states, characterize the relative motion between the noncooperative target and the UAV. To estimate these states, a globally convergent observer is developed by utilizing the noncertainty-equivalent(NCE) structure. With the integrated model and the NCE observer, an output-feedback target tracking control scheme is proposed using the dynamic surface control technique and the prescribed performance control method. Based on the Lyapunov approach, the relative spatial positions of the target and the UAV are proved to always stay within a specified operation region and ultimately converge to a small terminal region. Finally, simulation results are presented to illustrate the effectiveness of the proposed target tracking control scheme.

关键词： noncooperative target tracking unmanned aerial vehicles noncertainty-equivalent observer prescribed performance control

Improved lazy theta algorithm based on octree map for path planning of UAV

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Defence Technology（防务技术） 2023年第5期23卷 8-18页

作者： Meng-shun Yuan Tong-le Zhou mou chen College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing211106China

This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight.

关键词： Unmanned aerial vehicle Path planning Lazy theta*algorithm Octree map Line-of-sight algorithm

Air combat decision-making of multiple UCAVs based on constraint strategy games

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Defence Technology（防务技术） 2022年第3期18卷 368-383页

作者： Shou-yi Li mou chen Yu-hui Wang Qing-xian Wu College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing211100China

Game theory can be applied to the air combat decision-making problem of multiple unmanned combat air vehicles(UCAVs).However,it is difficult to have satisfactory decision-making results completely relying on air combat situation information,because there is a lot of time-sensitive information in a complex air combat environment.In this paper,a constraint strategy game approach is developed to generate intelligent decision-making for multiple UCAVs in complex air combat environment with air combat situation information and time-sensitive information.Initially,a constraint strategy game is employed to model attack-defense decision-making problem in complex air combat environment.Then,an algorithm is proposed for solving the constraint strategy game based on linear programming and linear inequality(CSG-LL).Finally,an example is given to illustrate the effectiveness of the proposed approach.

关键词： Game theory Time-sensitive information Constraint strategy games Polytope strategy games Multiple UCAVs Air combat decision-making

Robust Tracking Control for Self-balancing Mobile Robots Using Disturbance Observer

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 458-465页

作者： mou chen College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China IEEE

In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.

关键词： Disturbance observer robust tracking control self-balancing mobile robot sliding mode control(SMC)

Fractional-Order Control for a Novel Chaotic System Without Equilibrium

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IEEE/CAA Journal of Automatica Sinica 2019年第4期6卷 1000-1009页

作者： Shuyi Shao mou chen the College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China IEEE

The control problem is discussed for a chaotic system without equilibrium in this paper.On the basis of the linear mathematical model of the two-wheeled self-balancing robot,a novel chaotic system which has no equilibrium is proposed.The basic dynamical properties of this new system are studied via Lyapunov exponents and Poincar′e map.To further demonstrate the physical realizability of the presented novel chaotic system,a chaotic circuit is designed.By using fractional-order operators,a controller is designed based on the state-feedback method.According to the Gronwall inequality,Laplace transform and Mittag-Leffler function,a new control scheme is explored for the whole closed-loop system.Under the developed control scheme,the state variables of the closed-loop system are controlled to stabilize them to zero.Finally,the numerical simulation results of the chaotic system with equilibrium and without equilibrium illustrate the effectiveness of the proposed control scheme.

关键词： Chaotic system circuit implementation fractional-order stabilization

Event-Triggered-Backstepping-Based Parallel Approaching Guidance Method for Maneuvering Target Interception

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Guidance, Navigation and Control 2022年第1期2卷 77-100页

作者： Yaohua Shen mou chen Zixuan Zheng Hongzhen Guo College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016P.R.China School of Astronautics National Key Laboratory of Aerospace Flight DynamicsNorthwestern Polytechnical UniversityXian 710072P.R.China

In order to achieve a straight ballistic trajectory of missile and reduce the update frequency of the missile normal acceleration for the interception of maneuvering target,a backstepping-based parallel approaching guidance method is designed with nonlinear disturbance observer(NDO)technique and event-triggered(ET)mechanism in this paper.In order to suppress the adverse e®ect of target maneuver,the NDO is designed to estimate the target maneuvering acceleration.Then,the NDO-based backstepping method is used to obtain the normal acceleration of missile and realize the parallel approaching guidance.In order to reduce the update frequency of missile normal acceleration,the ET mechanism is employed in the parallel approaching guidance method.If the missile trajectory is relatively straight,the normal acceleration of missile remains unchanged.On the contrary,if the missile trajectory is not straight,the normal acceleration of missile is updated to make the missile trajectory straight.In this way,the ET-based parallel approaching guidance can be obtained.Furthermore,a determined method for the initial missile°ight-path angle is proposed to keep the normal acceleration of missile at zero in the initial stage of interception.Besides,Lyapunov stability analysis method is used to prove that all signals in the closed-loop guidance system are uniformly ultimately bounded.Finally,simulation results show the e®ectiveness of the proposed guidance method.

关键词： Parallel approaching guidance maneuvering target nonlinear disturbance observer event-triggered mechanism backstepping method

Robust bounded control for uncertain flight dynamics using disturbance observer

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Journal of Systems Engineering and Electronics 2014年第4期25卷 640-647页

作者： mou chen Bin Jiang College of Automation Engineering Nanjing University of Aeronautics and Astronautics

The robust bounded flight control scheme is developed for the uncertain longitudinal flight dynamics of the fighter with control input saturation invoking the backstepping technique. To enhance the disturbance rejection ability of the robust flight control for fighters, the sliding mode disturbance observer is designed to estimate the compounded disturbance including the unknown external disturbance and the effect of the control input saturation. Based on the backstepping technique and the compounded disturbance estimated output, the robust bounded flight control scheme is proposed for the fighter with the unknown external disturbance and the control input saturation. The closed-loop system stability under the developed robust bounded flight control scheme is rigorously proved using the Lyapunov method and the uniformly asymptotical convergences of all closed-loop signals are guaranteed. Finally, simulation results are presented to show the effectiveness of the proposed robust bounded flight control scheme for the uncertain longitudinal flight dynamics of the fighter.

关键词： flight dynamics bounded control robust control backstepping control disturbance observer.