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A multi-strategy pigeon-inspired optimization approach to active disturbance rejection control parameters tuning for vertical take-off and landing fixed-wing UAV

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Chinese Journal of Aeronautics 2022年第1期35卷 19-30,I0001页

作者： Hangxuan HE haibin Duan State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China Peng Cheng Laboratory Shenzhen 518000China

In this paper.Active Disturbance Rejection Control(ADRC)is utilized in the pitch control of a vertical take-off and landing fixed-wing Unmanned Aerial Vehicle(UAV)to address the problem of height fluctuation during the transition from hover to level flight.Considering the difficulty of parameter tuning of ADRC as well as the requirement of accuracy and rapidity of the controller,a Multi-Strategy Pigeon-Inspired Optimization(MSPIO)algorithm is employed.Particle Swarm Optimization(PSO),Genetic Algorithm(GA),the basic Pigeon-Inspired Optimization(PIO),and an improved PIO algorithm CMPIO are compared.In addition,the optimized ADRC control system is compared with the pure Proportional-Integral-Derivative(PID)control system and the non-optimized ADRC control system.The effectiveness of the designed control strategy for forward transition is verified and the faster convergence speed and better exploitation ability of the proposed MSPIO algorithm are confirmed by simulation results.

关键词： Active Disturbance Rejection Control(ADRC) Pigeon-inspired optimization algorithm Transition mode Unmanned Aerial Vehicle(UAV) Vertical take-off and landing

Create Machine Vision Inspired by Eagle Eye

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Research 2022年第4期2022卷 205-209页

作者： haibin Duan Xiaobin Xu State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100083China Peng Cheng Laboratory Shenzhen 518055China

Eagle,a representative species in the raptor world,has the sharpest visual acuity among all animals.The reputation of the“clairvoyance”is employed to describe an eagle.The excellent visual skills of eagles depend on their unique eye structures and special visual principles.The powerful vision perception mechanisms of the eagle bring abundant inspiration for traditional visual applications.Biological eagle eye vision technology provides a creative way to solve visual perception issues of“Knowing What is Where by Seeing.”The theoretical research and practical works of eagle vision would contribute to the development of machine vision,or even artificial intelligence(AI)in the real world.Furthermore,eagle eye vision also provides feasible ideas for the popularization of new concepts in the virtual world in the future.

关键词： visual artificial Eagle

Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1151-1162页

作者： Yang Yuan haibin Duan Zhigang Zeng State Key Laboratory of Virtual Reality Technology and Systems the School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083China State Key Laboratory of Virtual Reality Technology and Systems the School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083 Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China

The shipboard landing problem for a quadrotor is addressed in this paper,where the ship trajectory tracking control issue is transformed into a stabilization control issue by building a relative position model.To guarantee both transient performance and steady-state landing error,a prescribed performance evolution control(PPEC)method is developed for the relative position control.In addition,a novel compensation system is proposed to expand the performance boundaries when the input saturation occurs and the error exceeds the predefined threshold.Considering the wind and wave on the relative position model,an adaptive sliding mode observer(ASMO)is designed for the disturbance with unknown upper bound.Based on the dynamic surface control framework,a shipboard landing controller integrating PPEC and ASMO is established for the quadrotor,and the relative position control error is guaranteed to be uniformly ultimately bounded.Simulation results have verified the feasibility and effectiveness of the proposed shipboard landing control scheme.

关键词： error integrating stabilization

Autonomous Maneuver Decisions via Transfer Learning Pigeon-Inspired Optimization for UCAVs in Dogfight Engagements

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1639-1657页

作者： Wanying Ruan haibin Duan Yimin Deng the School of Automation Science and Electrical Engineering Beihang University(BUAA)Beijing 100083China the State Key Laboratory of Virtual Reality Technology and Systems the School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100083 Peng Cheng Laboratory Shenzhen 518000China

This paper proposes an autonomous maneuver decision method using transfer learning pigeon-inspired optimization(TLPIO)for unmanned combat aerial vehicles(UCAVs)in dogfight engagements.Firstly,a nonlinear F-16 aircraft model and automatic control system are constructed by a MATLAB/Simulink platform.Secondly,a 3-degrees-of-freedom(3-DOF)aircraft model is used as a maneuvering command generator,and the expanded elemental maneuver library is designed,so that the aircraft state reachable set can be obtained.Then,the game matrix is composed with the air combat situation evaluation function calculated according to the angle and range threats.Finally,a key point is that the objective function to be optimized is designed using the game mixed strategy,and the optimal mixed strategy is obtained by TLPIO.Significantly,the proposed TLPIO does not initialize the population randomly,but adopts the transfer learning method based on Kullback-Leibler(KL)divergence to initialize the population,which improves the search accuracy of the optimization algorithm.Besides,the convergence and time complexity of TLPIO are discussed.Comparison analysis with other classical optimization algorithms highlights the advantage of TLPIO.In the simulation of air combat,three initial scenarios are set,namely,opposite,offensive and defensive conditions.The effectiveness performance of the proposed autonomous maneuver decision method is verified by simulation results.

关键词： Autonomous maneuver decisions dogfight engagement game mixed strategy transfer learning pigeon-inspired optimization(TLPIO) unmanned combat aerial vehicle(UCAV)

Drogue detection for autonomous aerial refueling via hybrid pigeon-inspired optimized color opponent and saliency aggregation

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Chinese Journal of Aeronautics 2024年第5期37卷 27-38页

作者： Tongyan WU haibin Duan Yanming FAN State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China

Drogue detection is one of the challenging tasks in autonomous aerial refueling due to the requirement for accuracy and rapidity.Saliency detection based on image intrinsic cues can achieve fast detection,but with poor accuracy.Recent studies reveal that optimization-based methods provide accurate and quick solutions for saliency detection.This paper presents a hybrid pigeon-inspired optimization method,the optimized color opponent,that aims to adjust the weight of color opponent channels to detect the drogue region.It can optimize the weights in the selected aerial refueling scene offline,and the results are applied for drogue detection in the scene.A novel algorithm aggregated by the optimized color opponent and robust background detection is presented to provide better precision and robustness.Experimental results on benchmark datasets and aerial refueling images show that the proposed method successfully extracts the saliency region or drogue and exhibits superior performance against the other saliency detection methods with intrinsic cues.The algorithm designed in this paper is competent for the drogue detection task of autonomous aerial refueling.

关键词： Autonomous aerial refueling Drones Hybrid pigeon-inspired optimization Color opponent Saliency detection Saliency aggregation

Hierarchical Visual Attention Model for Saliency Detection Inspired by Avian Visual Pathways

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 540-552页

作者： Xiaohua Wang haibin Duan the State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical Engineering Beihang University the State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang University the Peng Cheng Laboratory

Visual attention is a mechanism that enables the visual system to detect potentially important objects in complex environment. Most computational visual attention models are designed with inspirations from mammalian visual systems.However, electrophysiological and behavioral evidences indicate that avian species are animals with high visual capability that can process complex information accurately in real time. Therefore,the visual system of the avian species, especially the nuclei related to the visual attention mechanism, are investigated in this paper. Afterwards, a hierarchical visual attention model is proposed for saliency detection. The optic tectum neuron responses are computed and the self-information is used to compute primary saliency maps in the first hierarchy. The "winner-takeall" network in the tecto-isthmal projection is simulated and final saliency maps are estimated with the regularized random walks ranking in the second hierarchy. Comparison results verify that the proposed model, which can define the focus of attention accurately, outperforms several state-of-the-art models.This study provides insights into the relationship between the visual attention mechanism and the avian visual pathways. The computational visual attention model may reveal the underlying neural mechanism of the nuclei for biological visual attention.

关键词： Avian visual pathways bio-inspired saliency detection visual attention

Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles

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Frontiers of Information Technology & Electronic Engineering 2022年第7期23卷 1020-1031页

作者： Yang YUAN Yimin DENG Sida LUO haibin Duan State Key Laboratory of Virtual Reality Technology and Systems School of Autonomous Science and Electrical EngineeringBeihang UniversityBeijing 100083China School of Mechanical Engineering&Automation Beihang UniversityBeijing 100191China Peng Cheng Laboratory Shenzhen 518000China

We investigate a distributed game strategy for unmanned aerial vehicle(UAV)formations with external disturbances and obstacles.The strategy is based on a distributed model predictive control(MPC)framework and Levy flight based pigeon inspired optimization(LFPIO).First,we propose a non-singular fast terminal sliding mode observer(NFTSMO)to estimate the influence of a disturbance,and prove that the observer converges in fixed time using a Lyapunov function.Second,we design an obstacle avoidance strategy based on topology reconstruction,by which the UAV can save energy and safely pass obstacles.Third,we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors.Further,the cost function of each UAV is designed,by which the UAV formation problem is transformed into a game problem.Finally,we develop LFPIO and use it to solve the Nash equilibrium.Numerical simulations are conducted,and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.

关键词： Distributed game strategy Unmanned aerial vehicle(UAV) Distributed model predictive control(MPC) Levy flight based pigeon inspired optimization(LFPIO) Non-singular fast terminal sliding mode observer(NFTSMO) Obstacle avoidance strategy

Advancements in pigeon-inspired optimization and its variants

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Science China(Information Sciences) 2019年第7期62卷 5-14页

作者： haibin Duan Huaxin QIU State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical Engineering Beihang University Peng Cheng Laboratory

The returning of homing pigeons to their lofts from remote and unfamiliar locations with great accuracy remains a mystery. Pigeon-inspired optimization(PIO), which is a novel mono-objective continuous optimization algorithm, is inspired by the hidden mechanism behind the remarkable navigation capacity of homing pigeons. Since their development, PIO and its variants have been widely applied to various fields ranging from combinatorial optimization to multi-objective optimization in many areas, such as aerospace,medicine, and energy. This study aims to review the modifications of PIO from four aspects of improvement measures, namely, component replacement, operation addition, structure adjustment, and application expansion. It also summarizes the problems of existing research and plots the course of future effort.

关键词： pigeon-inspired optimization homing pigeon bio-inspired computing map and compass operator landmark operator

Robust Attitude Control for Reusable Launch Vehicles Based on Fractional Calculus and Pigeon-inspired Optimization

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IEEE/CAA Journal of Automatica Sinica 2017年第1期4卷 89-97页

作者： Qiang Xue haibin Duan Bio-inspired Autonomous Flight Systems(BAFS) Research Group the Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University (BUAA) IEEE

In this paper, a robust attitude control system based on fractional order sliding mode control and dynamic inversion approach is presented for the reusable launch vehicle(RLV)during the reentry phase. By introducing the fractional order sliding surface to replace the integer order one, we design robust outer loop controller to compensate the error introduced by inner loop controller designed by dynamic inversion approach. To take the uncertainties of aerodynamic parameters into account,stochastic robustness design approach based on the Monte Carlo simulation and Pigeon-inspired optimization is established to increase the robustness of the controller. Some simulation results are given out which indicate the reliability and effectiveness of the attitude control system.

关键词： Attitude control fractional calculus pigeoninspired optimization reusable launch vehicle(RLV) sliding mode control