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Performance-guaranteed adaptive fault-tolerant tracking control of six-DOF spacecraft

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Science China(Information Sciences) 2023年第1期66卷 328-329页

作者： Kewei XIA yao zou Yonsei University Observatory Yonsei University School of Automation and Electrical Engineering University of Science and Technology Beijing Institute of Artificial Intelligence University of Science and Technology Beijing

Dear editor,In recent decades, the six-DOF(degree-of-freedom) spacecraft(i.e., motions of the attitude and the orbit) control has received considerable attention owing to its broad applications in aerospace missions l...

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Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor:System,Algorithms,and Experiments

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 344-360页

作者： Yuzhen Liu Ziyang Meng yao zou Ming Cao the Department of Precision Instrument Tsinghua UniversityBeijing 100084China the School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 10083China the Institute of Engineering and Technology University of GroningenGroningen 9747AGThe Netherlands

There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging *** this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose *** order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing *** particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely ***,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive *** and accurate object tracking is achieved even under *** results are presented to demonstrate the high accuracy and stability of the whole tracking system.

关键词： Nano-scale quadrotor nonlinear control positionbased visual servoing visual object tracking

Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles

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IEEE/CAA Journal of Automatica Sinica 2021年第1期8卷 148-156页

作者： Wei He Xinxing Mu Liang Zhang yao zou the Institute of Artificial Intelligence University of Science and Technology Beijingand also with the School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China

This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal *** of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing *** achieve autonomous tracking,an adaptive control scheme is proposed under the hierarchical ***,a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force,and a pitch command is extracted from the designed position ***,an adaptive attitude controller is designed to track the extracted pitch command,where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation ***,the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers,*** terms of Lyapunov's direct method,it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the *** are carried out to verify the effectiveness of the proposed control scheme.

关键词： Flapping-wing micro aerial vehicles(FWMAVs) modeling neural networks trajectory tracking

Distributed Predefined-Time Control for Cooperative Tracking of Multiple Quadrotor UAVs

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2179-2181页

作者： Kewei Xia Xinyi Li Kaidan Li yao zou Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of TechnologyBeijing 100081China School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China the School of Automation Beijing Institute of TechnologyBeijing 100081China the School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China the Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of EducationUniversity of Science and Technology BeijingBeijing 100083China

Dear Editor,This letter addresses the predefined-time control for cooperative tracking of multiple quadrotor unmanned aerial vehicles(UAVs)under a directed communication network.A predefined-time distributed estimator... 详细信息

关键词： acceleration letter estimator

Effects of airfoil on aerodynamic performance of flapping wing

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Biomimetic Intelligence & Robotics 2021年第1期1卷 31-35页

作者： Min Zhao yao zou Qiang Fu Wei He School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China

Flapping-wing aircraft(FWA)operates in a flight mode that mimics natural flyers,such as birds,bats and *** large scale bird-inspired flapping wings aircraft,the design of airfoil parameters is crucial to improving the aerodynamic *** order to study the effect of camber on the aerodynamic characteristics,we developed four different airfoils with a chord length of 12 *** cambers of airfoils are respectively 30 mm,25 mm,20 mm and 15 mm.A numerical investigation into the effects of camber on aerodynamic performance is carried out through COMSOL Multiphysics software using Fluid–Structure Interaction(FSI)*** this work,the fluid–structure module employs the Navier–Stokes equations coupled with a solid stress–strain physics module and a moving mesh *** three-dimensional(3D)flapping wing computational models with different cambers are *** results show that certain camber of airfoil can improve the aerodynamic characteristics of flapping wing.

关键词： Aerodynamic performance Airfoil Camber FIS COMSOL

Moving Target Landing of a Quadrotor Using Robust Optimal Guaranteed Cost Control

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 819-821页

作者： Kewei Xia Seong-Min Lee Wonmo Chung yao zou Hungsun Son Department of Mechanical Engineering Ulsan National Institute of Science and TechnologyUlsan 44919South Korea Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China IEEE

Dear Editor,This letter proposes a robust control strategy for the autonomous landing of a quadrotor on a moving ***,a force command that consists of a cascade dynamics estimator and an optimal guaranteed cost control law is exploited for the position-loop ***,an orientation constraint torque command is employed for the attitude-loop tracking such that the quadrotor refrains from flipping during the landing operation.

关键词： Optimal constraint autonomous

Voltage Profile Optimization of Active Distribution Networks Considering Dispatchable Capacity of 5G Base Station Backup Batteries

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Journal of Modern Power Systems and Clean Energy 2023年第6期11卷 1842-1856页

作者： Yiyao Zhou Qianggang Wang yao zou Yuan Chi Niancheng Zhou Xuefei Zhang Chen Li Qinqin Xia School of Electrical Engineering Chongqing UniversityChongqingChina

The penetration of distributed energy resources(DERs) and energy-intensive resources is gradually increasing in active distribution networks(ADNs), which leads to frequent and severe voltage violation problems. As a densely distributed flexible resource in the future distribution network, 5G base station(BS) backup battery is used to regulate the voltage profile of ADN in this paper. First, the dispatchable potential of 5G BS backup batteries is analyzed. Considering the spatial-temporal characteristics of electric load for 5G BS, the dispatchable capacity of backup batteries at different time intervals is evaluated based on historical heat map data. Then, a voltage profile optimization model for ADN is established, consisting of 5G BS backup batteries and other voltage regulation resources. In this model, the charging/discharging behavior of backup batteries is based on its evaluation result of dispatchable capacity. Finally, the range of charging/discharging cost coefficients of 5G BS that benefits ADN and 5G operators are analyzed respectively. Further, an incentive policy for 5G operators is proposed. Under this policy, the charging/discharging cost coefficients of 5G BS can achieve a win-win situation for ADN and 5G operators. As an emerging flexible resource in ADN, the effectiveness and economy of 5G BS backup batteries participating in voltage profile optimization are verified in a test distribution network.

关键词： Voltage profile optimization 5G base station(BS)backup battery active distribution network(ADN) flexible resource voltage violation

A comprehensive review of Energy Internet: basic concept,operation and planning methods, and research prospects

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Journal of Modern Power Systems and Clean Energy 2018年第3期6卷 399-411页

作者： Yijia CAO Qiang LI Yi TAN Yong LI Yuanyang CHEN Xia SHAO yao zou College of Electrical and Information Engineering Hunan University State Grid Hunan Electric Power Company Limited

With the intensifying energy crisis and environmental pollution, the Energy Internet and corresponding patterns of energy use have been attracting more and more attention. In this paper, the basic concept and characteristics of the Energy Internet are summarized, and its basic structural framework is analyzed in detail. On this basis,couplings between the electric power system and other systems such as the cooling and heating system, the natural gas system, and the traffic system are analyzed, and the operation and planning of integrated energy systems in both deterministic and uncertain environments are comprehensively reviewed. Finally, the research prospects and main technical challenges of the Energy Internet are discussed.

关键词： Energy Internet Combined cooling heating and power(CCHP) Integrated natural gas and electric power system Integrated electric and traffic system

A Miniature Video Stabilization System for Flapping-Wing Aerial Vehicles

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Guidance, Navigation and Control 2022年第1期2卷 1-22页

作者： Qiang Fu Xinqi Wang yao zou Wei He School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083P.R.China Institute of Arti¯cial Intelligence University of Science and Technology BeijingBeijing 100083P.R.China

In this paper,a miniature video stabilization system is designed to deal with the image jitter and motion blur problem for°apping-wing aerial vehicles(FWAVs).First,a light and two-axis pan–tilt(about 13 g)is built for the FWAV to counteract most of the jitter e®***,an electronic image stabilization method combined with a Micro-Electro Mechanical Systems(MEMSs)gyroscope is proposed to further stabilize the ***,°ight experiment results show that the designed video stabilization system e®ectively improves the quality of aerial videos.

关键词： Flapping-wing aerial vehicle image jitter pan-tilt MEMS gyroscope video stabilization