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Distributed fault diagnosis observer for multi-agent system against actuator and sensor faults

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Journal of Systems Engineering and Electronics 2023年第3期34卷 766-774页

作者： YE Zhengyu JIANG Bin CHENG yuehua yu ziquan YANG Yang College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Component failures can cause multi-agent system(MAS)performance degradation and even disasters,which provokes the demand of the fault diagnosis method.A distributed sliding mode observer-based fault diagnosis method for MAS is developed in presence of actuator and sensor ***,the actuator and sensor faults are extended to the system state,and the system is transformed into a descriptor system ***,a sliding mode-based distributed unknown input observer is proposed to estimate the extended ***,adaptive laws are introduced to adjust the observer ***,the effectiveness of the proposed method is demonstrated with numerical simulations.

关键词： multi-agent system(MAS) sensor fault actuator fault unknown input observer sliding mode fault diagnosis

A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles

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Chinese Journal of Aeronautics 2022年第1期35卷 1-18,I0001页

作者： ziquan yu Youmin ZHANG Bin JIANG Jun FU Ying JIN College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontrealQC H3G 1M8Canada State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China

This paper presents the recent developments in Fault-Tolerant Cooperative Control(FTCC)of multiple unmanned aerial vehicles(multi-UAVs).To facilitate the analyses of FTCC methods for *** formation control strategies under fault-free flight conditions of multi-UAVs are first summarized and analyzed,including the leader-following,behavior-based,virtual structure,collision avoidance,algebraic graph-based,and close formation control methods,which are viewed as the cooperative control methods for multi-UAVs at the pre-fault ***,by considering the various faults encountered by the multi-UAVs,the state-of-the-art developments on individual,leader-following,and distributed FTCC schemes for multi-UAVs are reviewed in ***,conclusions and challenging issues towards future developments are presented.

关键词： Cooperative Fault Detection and Diagnosis(CFDD) Cooperative/formation/swarm control Fault Detection and Diagnosis(FDD) Fault-Tolerant Control(FTC) Fault-Tolerant Cooperative Control(FTCC) Unmanned Aerial Vehicles(UAVs)

Path Following Control for UAV Using Deep Reinforcement Learning Approach

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Guidance, Navigation and Control 2021年第1期1卷 91-108页

作者： Yintao Zhang Youmin Zhang ziquan yu Department of Mechanical Industrial and Aerospace EngineeringConcordia University1455 De Maisonneuve Boulevard WestMontrealQuebec H3G 1M8Canada College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106P.R.China

Unmanned aerial vehicles(UAVs)have been extensively used in civil and industrial applications due to the rapid development of the guidance,navigation and control(GNC)***,using deep reinforcement learning methods for motion control acquires a major progress recently,since deep Q-learning algorithm has been successfully applied to the continuous action domain *** paper proposes an improved deep deterministic policy gradient(DDPG)algorithm for path following control problem of UAV.A speci-c reward function is designed for minimizing the cross-track error of the path following *** the training phase,a double experience replay bu®er(DERB)is used to increase the learning e±ciency and accelerate the convergence ***,the model of UAV path following problem has been *** that,the framework of DDPG algorithm is *** the state space,action space and reward function of the UAV path following algorithm are *** is proposed to accelerate the training ***,simulation results are carried out to show the e®ectiveness of the proposed DERB–DDPG method.

关键词： Path following deep deterministic policy gradient double experience replay bu®er

Homology Modeling of CrylAc Toxin-binding Alkaline Phosphatase Receptor from Helicoverpa armigera and Its Functional Interpretation

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Chinese Journal of Chemistry 2011年第3期29卷 427-432页

作者： Shan, Shiping Xia, Liqiu Ding, Xuezhi Zhang, Youming Hu, Shengbiao Sun, yunjun yu, ziquan Han, Lizhen Key Laboratory of Microbial Molecular Biology of Hunan Province College of Life Science Hunan Normal University Changsha Hunan 410081 China College of Life Science Guizhou University Guiyang Guizhou 550025 China

Alkaline phosphatases （ALPs） attached to the midgut membrane with glycosyl phosphotidyl inositol （GPI） have been proposed as the putative CrylAc toxin receptor in Helicoverpa armigera. Activated toxins bind to ALP receptors on the brush border membrane vesicle （BBMV） of the midgut epithelium, which activates intracellular oncotic pathways and leads to cell death. However, with the long-term use of Cry toxin, insects can develop a strong resistance to insecticidal delta-endotoxins. Although the molecular mechanism of insect resistance has not been fully understood, insects develop resistance to biopesticides due to changes of toxins binding to midgut receptors. So, it is a good idea to investigate the molecular mechanism of insect resistance by analyzing ALP receptor from Helicoverpa armigera （Ha-ALP）. Based on crystal structure of shrimp alkaline phosphatase, the three-dimensional structure of the CrylAc toxin-binding Ha-ALP receptor was obtained by homology modeling and the model was further evaluated using PROSA energy and ERRAT. The important role of binding of toxin to GalNAc on Ha-ALP was discussed in the aspect of CrylAc toxicity. Specific recognition sites of the binding of oligosaccharides to Ha-ALP were predicted. Post-translational modification of ALP provides insights into the functional properties of ALP and leads to profound understanding of receptor and toxin interactions.

关键词： alkaline phosphatase receptor brush border membrane vesicle GalNAc oligosacchride

Route planning method for UAV in unknown environment based on improved SAS algorithm

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Route planning method for UAV in unknown environment based o...

Active Visual Servo Pan/Tilt Control Design based on Improved Augmented LQR

第32届中国控制与决策会议

作者： yuanjie Song Xiaojun Xing Qingbiao Xi Bing Yang ziquan yu School of Automation Northwest Polytechnical University No.365 Research Institute College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Unmanned aerial vehicle（UAV） real-time target tracking in an unknown environment can be considered as a route planning *** at this problem,this paper proposes a three-dimensional（3 D） route planning method based on an improved sparse A* search（SAS） *** method improves the evaluation *** actual cost in the evaluation function of the SAS algorithm is removed,and the threat information in the mission environment is constructed as part of the evaluation function to guide the UAV to move away from the threat *** planned trajectory in this method takes into account the updating of real-time environmental information and can achieve real-time trajectory ***,the filtering effect of singer model,current "statistical" model,and interactive multi-model（IMM） algorithm are compared and the current "statistical" model is finally chosen as the maneuvering target tracking model.

关键词： Route Planning Target Tracking SAS Algorithm A* Algorithm

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Active Visual Servo Pan/Tilt Control Design based on Improve...

Line-of-Sight Path Following Control on UAV with Sideslip Estimation and Compensation

第32届中国控制与决策会议

作者： Yaohong Qu Bing Yang ziquan yu yuanjie Song Ying Sun School of Automation Northwestern Polytechnical University College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Aiming at the problem of imbalance between response time and overshoot in traditional visual servo systems,weak disturbance suppression ability and re-searching after target loss,this paper analyzed the tracking control principle and imaging principle of visual servo Pan/Tilt/Zoom(PTZ),and designed a method based on an improved augmented LQR(IALQR) method for a servo PTZ controller,and proposed a global scan search control method with high engineering *** mathematical model of the gimbal was established through system identification,and the gimbal controller was designed and verified in a simulation *** servo performance of the gimbal and the effectiveness of the global scanning search control method were verified in an experimental *** simulation results show that the angle loop controller developed in this paper has shorter adjustment time and less overshoot than the PID control,and can effectively reduce overshoot and compensate for disturbance compared with the traditional augmented LQR *** experimental results show that the designed PTZ controller can achieve stable servo *** with the traditional single-loop PID servo control,the steady-state error is *** the same time,the probability of researching after the target is lost is more than 90%.

关键词： Visual Servo Augmented LQR Disturbance Camera Field of View Scan Search

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Line-of-Sight Path Following Control on UAV with Sideslip Es...

第37届中国控制会议

作者： Yintao Zhang Youmin Zhang Zhixiang Liu ziquan yu Yaohong Qu Department of Mechanical Industrial and Aerospace EngineeringConcordia University School of Automation Northwestern Polytechnical University

This paper presents a new online reconfigurable line-of-sight（LOS） path following control approach for an unmanned aerial vehicle（UAV）. First, a time-varying lookahead distance mechanism is developed for guaranteeing agile and abrupt actions of the UAV by moving it towards the desired path from which the UAV is far away, while generating more smooth operations of the UAV to reduce the fluctuations when it is close to the demanded path. Then, a self-adjustable integral LOS guidance strategy is devised to effectively compensate the steady-state errors and sideslip angles which are caused by the negative impacts from wind. The neural network technique is employed for learning and regulating control parameters of the proposed guidance law online in order to precisely counteract the adverse effects of time-varying wind-induced sideslips. Finally, extensive simulation studies are carried out to demonstrate the effectiveness of the proposed path following methodology.

关键词： Path following Line-of-sight Unmanned aerial vehicle Environmental disturbance

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群体无人机分数阶智能容错同步跟踪控制

中国科学：技术科学 2020年第4期50卷 389-402页

作者：余自权张友民姜斌南京航空航天大学自动化学院南京211106 西北工业大学自动化学院西安710129 Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontreal QC H3G 1M8Canada

针对群体无人机编队飞行遭遇执行器故障的问题,提出一种基于分数阶理论的群体智能容错同步跟踪控制方法,提升了整体编队飞行的安全性.首先,对无人机数学模型进行变换,将其分解为外环位置子系统和内环姿态子系统;其次,利用分数阶理论和... 详细信息

针对群体无人机编队飞行遭遇执行器故障的问题,提出一种基于分数阶理论的群体智能容错同步跟踪控制方法,提升了整体编队飞行的安全性.首先,对无人机数学模型进行变换,将其分解为外环位置子系统和内环姿态子系统;其次,利用分数阶理论和神经网络自适应控制策略,针对外环位置子系统设计群体无人机容错位置同步跟踪控制器;然后,利用从位置子系统同步跟踪控制信号解算出的理想姿态信号,构建内环姿态跟踪偏差,并再次结合分数阶理论和神经网络自适应控制策略,设计内环容错姿态控制信号;最后,通过仿真验证所设计控制方案的有效性.

关键词：群体智能无人机容错控制分数阶控制神经网络

新型抑菌蛋白APn5抑制胡萝卜软腐欧文氏菌

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微生物学报 2008年第9期48卷 1192-1197页

作者：韩冬梅班慧芳余子全喻子牛孙明华中农业大学生命科学技术学院农业微生物学国家重点实验室武汉430070

【目的】魔芋软腐病是一种由胡萝卜软腐欧文氏菌引起的病害,严重影响了魔芋产业的发展。枯草芽胞杆菌BSn5所产生的蛋白APn5对胡萝卜欧文氏菌具有良好的抑菌效果,本文将对该蛋白进行鉴定和性质分析。【方法】用饱和度为30%的硫酸铵沉淀... 详细信息

【目的】魔芋软腐病是一种由胡萝卜软腐欧文氏菌引起的病害,严重影响了魔芋产业的发展。枯草芽胞杆菌BSn5所产生的蛋白APn5对胡萝卜欧文氏菌具有良好的抑菌效果,本文将对该蛋白进行鉴定和性质分析。【方法】用饱和度为30%的硫酸铵沉淀和超滤离心的方法从枯草芽胞杆菌BSn5的发酵上清液中分离纯化APn5蛋白。以滤纸片法检测APn5蛋白的抑菌谱。用不同的温度、pH条件和蛋白酶处理APn5蛋白,并检测其抑菌活性变化。测定菌株BSn5的生长周期,同步检测其发酵上清液的抑菌活性。利用基质协助激光解吸附离子化-飞行时间质谱(MALDI-TOF-MS)和电喷雾四极杆飞行时间串联质谱(Q-TOF)分析APn5蛋白。【结果】APn5蛋白对于魔芋软腐病菌具有较好的抑菌活性,抑菌谱较窄,主要对细菌性植物病原菌具有较强的抑制作用;对高温敏感,对蛋白酶E敏感,对蛋白酶K和胰蛋白酶部分敏感;在酸性环境下其抑菌活性稳定,碱性环境下活性不稳定。在菌株BSn5的生长周期中,该蛋白的抑菌活性不能稳定存在,其发酵上清液在对数生长期抑菌活性逐渐升高,进入稳定期后抑菌活性开始下降,直至完全消失。质谱分析未发现其与已知蛋白具有高度相关性。【结论】APn5蛋白具有不同于已报道的枯草芽胞杆菌所产生的抑菌物质的性质,推测为一种新型的抑菌蛋白。

关键词：枯草芽胞杆菌抑菌蛋白抑菌谱性质鉴定