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基于终端滑模的F-16固定翼飞行器有限时间编队控制

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控制工程 2024年第6期31卷 973-980页

作者：辛颖姜斌冒泽慧吕迅竑马亚杰南京航空航天大学自动化学院江苏南京210000

以F-16固定翼飞行器为研究对象,采用终端滑模控制方法,实现了六自由度固定翼飞行器的有限时间编队控制。首先,根据奇异摄动理论,将固定翼飞行器十二阶微分运动方程按照响应速度快慢分为外环位置编队控制系统和内环姿态跟踪控制系统。外... 详细信息

以F-16固定翼飞行器为研究对象,采用终端滑模控制方法,实现了六自由度固定翼飞行器的有限时间编队控制。首先,根据奇异摄动理论,将固定翼飞行器十二阶微分运动方程按照响应速度快慢分为外环位置编队控制系统和内环姿态跟踪控制系统。外环应用有限时间稳定性理论和非线性滑模控制方法设计了分布式控制器,实现多固定翼飞行器系统的有限时间编队控制。然后,将外环分布式控制器产生的控制信号转换为内环单架固定翼飞行器的姿态跟踪参考信号,内环应用非线性动态逆(nonlinear dynamic inversion,NDI)控制和增量非线性动态逆(incremental nonlinear dynamic inversion,INDI)控制在可能存在执行器故障的情况下实现单架固定翼飞行器姿态的跟踪控制。最后,通过仿真实例验证了该控制方法的有效性。

关键词：有限时间稳定固定翼编队控制滑模控制增量非线性动态逆

Trajectory tracking anti-disturbance control for unmanned aerial helicopter based on disturbance characterization index

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Control Theory and Technology 2023年第2期21卷 233-245页

作者： Linbo Chen Tao Li Lijun Liu zehui mao College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106JiangsuChina

This work studies the trajectory tracking control for unmanned aerial helicopter(UAH)system under both matched disturbance and mismatched ***,to tackle the strong coupling,an input-output feedback linearization method is utilized to simplify the nonlinear UAH ***,a set of finite-time disturbance observers(FTDOs)are proposed to estimate mismatched disturbances with their successive derivatives,which are utilized to design the feedforward controller via ***,as for matched disturbance,by defining the disturbance characterization index(DCI)to determine whether the disturbance is harmful or not for the UAH system,a feedback controller is proposed and a sufficient condition is established to ensure the convergence of the tracking ***,some numerical simulations and comparisons illustrate the validity and advantages of our control scheme.

关键词： Unmanned aerial helicopter(UAH) Trajectory tracking control Finite-time disturbance observer(FTDO) Backstepping control Disturbance characterization index(DCI)

基于完全邻域保持嵌入的光伏组件热斑故障诊断

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计算机集成制造系统 2024年第2期30卷 460-468页

作者：宋远大易辉缪小冬冒泽慧李红涛南京工业大学电气工程与控制科学学院江苏南京211816 南京航空航天大学自动化学院江苏南京210016 中国电力科学研究院有限公司江苏南京210003

针对局部阴影遮挡引起的光伏组件热斑,提出一种基于完全邻域保持嵌入的热斑故障诊断方法。该方法采用流形学习从光伏组件运行数据中提取非线性特征,在不借助红外图像的前提下实现组件状态的高灵敏检测。所提方法较传统方法能够更精准地... 详细信息

针对局部阴影遮挡引起的光伏组件热斑,提出一种基于完全邻域保持嵌入的热斑故障诊断方法。该方法采用流形学习从光伏组件运行数据中提取非线性特征,在不借助红外图像的前提下实现组件状态的高灵敏检测。所提方法较传统方法能够更精准地反映组件运行状态,进而实现故障检测与故障分级。依托国家电网电力科学研究院实验平台,通过对15组不同程度的热斑故障样本进行性能验证与对比,所提方法能够有效实现故障检测与评估。

关键词：数据驱动光伏组件热斑故障评估函数

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

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Guidance, Navigation and Control 2021年第1期1卷 1-24页

作者： Jianye Gong Yajie Ma Bin Jiang zehui mao College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjingJiangsu 210016P.R.China

In this paper,the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle(UAV)and unmanned ground vehicle(UGV)systems with actuator loss of effectiveness faults is *** cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classi-ed into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all *** altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired prede-ned ***,based on synchronization formation error information,the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation *** adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness ***,a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

关键词： Cooperative formation control fault-tolerant control heterogeneous dynamics

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网络控制系统的故障诊断

南京航空航天大学学报 2009年第2期41卷 145-149页

作者：姜斌冒泽慧南京航空航天大学自动化学院南京210016

网络控制系统(Networked control systems,NCSs)是反馈通过数据网络的控制系统,跟传统控制系统相比,具有很多优点。但是,网络包含的时滞和其他数据特性会使得设计时未考虑网络的反馈系统性能下降。本文总结了近年来一些关于网络控制系... 详细信息

网络控制系统(Networked control systems,NCSs)是反馈通过数据网络的控制系统,跟传统控制系统相比,具有很多优点。但是,网络包含的时滞和其他数据特性会使得设计时未考虑网络的反馈系统性能下降。本文总结了近年来一些关于网络控制系统故障诊断的主要思想和结果,包括具有时滞的网络控制系统的故障检测及诊断技术,基于简单时滞系统模型;Markovian跳跃系统模型,混合系统模型及T-S模型的网络控制系统;以及对今后研究的展望。

关键词：故障诊断故障检测网络控制系统时滞丢包

Observer-based Fault Detection for Rail Vehicle Suspension Systems

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Observer-based Fault Detection for Rail Vehicle Suspension S...

第26届中国控制与决策会议

作者： Yue Wang zehui mao Bin Jiang College of Automation Engineering Nanjing University of Aeronautics and Astronautics

This paper is concerned with the design of an observer-based fault detection module for nonlinear rail vehicle suspension systems with the method of restructuring states and faults which can affect the system performance. An alarm signal will be sent by the designed observer if the residual evaluation is larger than a prescribed threshold when there are detectable actuator and sensor faults. The track irregularity generated by the spatial power spectral density is regarded as the system disturbances. Simulation result shows the effectiveness of the proposed method for Rail Vehicle Suspension Systems’ fault detection.

关键词： Rail Vehicle Suspension Systems Fault Detection Observer

Fault Diagnosis for Induction Motor with Rotor Broken Bar Fault Based on Multiple-model Estimation

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cnki会议

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Fault Diagnosis for Induction Motor with Rotor Broken Bar Fa...

第36届中国控制会议

作者： Hongyu Zhu zehui mao Bin Jiang Hengbo Liu Nanjing University of Aeronautics and Astronautics

ISBN: (纸本)9781538629185

In this paper,the fault diagnosis problem for induction motor is studied on the basis of multiple-model estimation *** the time-varying parameters of motor with the changes of motor operation,a multiple model is proposed for induction motor with rotor broken bar *** corresponding Kalman filters are used to estimate the state under the random noise for each *** on the estimations from multiple model filters,the fault diagnosis algorithm is ***,the feasibility and effectiveness of the proposed method are illustrated by simulation.

关键词： Fault diagnosis Induction Motor Multiple-model estimation Fusion estimation

Fault-tolerant Control Design for a kind of Nonlinear Networked Control System with Communication Constraints

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Fault-tolerant Control Design for a kind of Nonlinear Networ...

2009中国控制与决策会议

作者： Yang Wang,Bin Jiang,zehui mao College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,China,210016

＜正＞In this paper,a fault tolerant control（FTC） method is presented for a class of the nonlinear networked control systems（NCSs） with communication ***,using Euler approximate method and Takagi-Sugeno（T-S） fuzzy model,a new nonlinear NCSs model is *** the sensor faults and the actuator faults,a fault-tolerant control method is proposed for nonlinear NCSs,which is based on robust control theory and information *** control law is given via some ***,an example is used to illustrate the efficiency of the proposed technique.

关键词： Fault tolerant control networked control systems transfer delays

Sliding Mode Observer-Based Fault Estimation for Nonlinear Networked Control Systems

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Sliding Mode Observer-Based Fault Estimation for Nonlinear N...

第二十七届中国控制会议

作者： mao zehui,Jiang Bin College of Automation Engineering Nanjing University of Aeronautics and Astronautics,Nanjing 210016,P.R.China

In this paper,a novel sliding mode observer-based fault estimation（FE） method is presented for a class of the nonlinear networked control systems（NCSs） with Markov transfer ***,the nonlinear NCS is modelled by a nonlinear discrete Takagi-sugeno（T-S） fuzzy model using Euler approximate ***,a sliding mode based nonlinear discrete observer is proposed such that the sliding motion of the error dynamical system is asymptotically stable on a designed *** the FE can be achieved through this ***,an example is included to show the efficiency of the proposed method.

关键词： Nonlinear networked control systems Fault estimation Sliding mode observer