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Time-Coordinated Path Following for Multiple Agile Fixed-Wing UAVs with End-Roll Expectations

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Guidance, Navigation and Control 2023年第4期3卷 58-84页

作者： Fei Zou Jie Li yifeng niu College of Intelligence Science and Technology National University of Defense Technology Changsha 410078 P.R.China

This paper presents a control strategy for multiple unmanned aerial vehicle systems(multi-UAVs)time-coordinated path following with desired endpoint roll *** utilizes the strong maneuvering capabilities of agile fixed-wing UAVs and incorporates an end-roll *** strategy consists of four steps:time-coordinated control,position control,roll angle planning and attitude *** position and attitude controllers exhibit Lyapunov exponential *** time-coordinated controller addresses the synchronization problem by adjusting the speed based on the coordinated state to achieve progress *** position controller operates based on the cross-track error and altitude error in the Gravity-Referenced Moving *** employing an optimization approach and designing a penalty function,the roll angle sequence is *** attitude inner-loop control operates in the SO(3)space and allows for control of large ***-fidelity simulation validates the effectiveness of the proposed method,with normalized coordination error and following error controlled within 2%and 1.2m.

关键词： Agile fixed-wing time-coordinated control path following roll angle planning

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从美路线图看无人系统技术体系与发展趋势

无人系统技术 2024年第2期7卷 14-27页

作者：喻煌超全世鸣牛轶峰尹栋李杰国防科技大学智能科学学院长沙410073

对无人系统技术进行了综合评述,并对其发展趋势进行了展望。首先,基于美国国防部八版无人机/无人系统路线图的规划,深入分析了互操作性、自主性、人机协同、通信、网络安全、动力与能源、载荷等主要技术方向的内涵和关键能力,绘制了各... 详细信息

对无人系统技术进行了综合评述,并对其发展趋势进行了展望。首先,基于美国国防部八版无人机/无人系统路线图的规划,深入分析了互操作性、自主性、人机协同、通信、网络安全、动力与能源、载荷等主要技术方向的内涵和关键能力,绘制了各个技术方向的发展规划脉络。随后,调研分析了美国在不同技术方向的发展现状和应用情况。最后,综合路线图分析和发展情况分析,研判了未来无人系统技术的发展趋势。综述表明,未来无人系统技术将呈现体系化、智能化、高能化三大发展趋势。所提出的从路线图规划和发展现状分析来研判无人系统技术发展的方法对厘清无人系统技术体系和发展趋势具有一定借鉴意义。

关键词：自主性互操作性人机协同通信网络安全动力与能源载荷高能化

Adaptive level of autonomy for human-UAVs collaborative surveillance using situated fuzzy cognitive maps

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Chinese Journal of Aeronautics 2020年第11期33卷 2835-2850页

作者： Zhe ZHAO yifeng niu Lincheng SHEN College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China

Collaborating with a squad of Unmanned Aerial Vehicles(UAVs)is challenging for a human operator in a cooperative surveillance *** this paper,we propose a cognitive model that can dynamically adjust the Levels of Autonomy(LOA)of the human-UAVs team according to the changes in task complexity and human cognitive ***,we use the Situated Fuzzy Cognitive Map(Si FCM)to model the relations among tasks,situations,human states and LOA.A recurrent structure has been used to learn the strategy of adjusting the LOA,while the collaboration task is separated into a perception routine and a control *** results have shown that the workload of the human operator is well balanced with the task efficiency.

关键词： Adaptive LOA Cognitive Model Human-UAVs collaboration Situated Fuzzy Cognitive Map(SiFCM) Time series learning

AN IMPROVED ALGORITHM FOR SOLVING ALL D-MPS IN MULTI-STATE NETWORKS

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Journal of Systems Science and Systems Engineering 2017年第6期26卷 711-731页

作者： niu, yifeng Gao, Ziyou Sun, Huijun School of Mathematics and Information Science Henan Polytechnic University Jiaozuo China School of Traffic and Transportation Beijing Jiaotong University Beijing China

Reliability is a desirable performance indicator of many real-world systems to measure the quality level. One general method for evaluating multi-state reliability is using d-minimal paths （d-MPs）. However, being an NP-hard problem, searching for all d-MPs is a rather challenging task. This paper proposes an improved algorithm to solve the d-MP problem. To reduce the search space of d-MPs, a concept of lower capacity bound is introduced into the d-MP problem, and an effective technique is developed to fred lower capacity bounds. Meanwhile, the fast enumeration method which is a recent improvement to the traditional enunaeration method is employed to solve d-MPs. In addition, by introducing the operation of transforming undirected edges into directed edges, the proposed algorithm is applicable to solving both directed networks and undirected networks. Through numerical experiments, it is found that the proposed algorithm holds a distinct advantage over the existing methods in solving all d-MPs.

关键词： Reliability multi-state network d-minimal paths state vector

Consensus disturbance rejection control of directed multi-agent networks with extended state observer

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Chinese Journal of Aeronautics 2020年第5期33卷 1486-1493页

作者： Shaopan GUO Zhongkui LI yifeng niu Lizhen WU State Key Laboratory for Turbulence Complex System Department of Mechanics and Aerospace EngineeringPeking UniversityBeijing 100871China College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China

This paper investigates the consensus disturbance rejection problem among multiple high-order agents with directed *** on disturbance observers,distributed consensus disturbance rejection protocols are constructed in leaderless and leader-follower consensus *** from the previous related papers,the consensus protocols in this paper are developed in a fully distributed fashion,relying on only the state information of each agent and its *** conditions are provided to guarantee that the asymptotic stability of high-order multi-agent systems can be reached with matched disturbances.

关键词： Adaptive control Consensus control Distributed control Disturbance rejection Multi-agent systems

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2023年无人机热点回眸

科技导报 2024年第1期42卷 217-231页

作者：段海滨梅宇赵彦杰霍梦真牛轶峰王寅袁莞迈邓亦敏范彦铭朱纪洪李轩罗德林北京航空航天大学自动化科学与电气工程学院北京100083 中国电子科技集团公司信息科学研究院北京100086 国防科技大学智能科学学院长沙410073 南京航空航天大学航天学院南京210016 中国航空工业集团公司沈阳飞机设计研究所沈阳110035 清华大学精密仪器系北京100084 鹏城实验室数学与理论部深圳518000 厦门大学航空航天学院厦门361102

2023年,无人机技术方面实现了革新和突破,展现出了引人瞩目的技术创新进展和广泛的应用态势。从无人机管控政策、无人机技术革新、无人机关键技术、无人机集群验证、反无人机技术等多个角度全方位分析了2023年无人机的科技热点。随着视... 详细信息

2023年,无人机技术方面实现了革新和突破,展现出了引人瞩目的技术创新进展和广泛的应用态势。从无人机管控政策、无人机技术革新、无人机关键技术、无人机集群验证、反无人机技术等多个角度全方位分析了2023年无人机的科技热点。随着视觉应急避障技术、智能自主飞行能力的提升,无人机性能和功能均得到了显著提升。随着无人机的不断普及和应用,无人机集群的关键技术、作战样式和平台建设也不断完善,行业定制化、自主智能化、跨域实战化依然是无人机未来发展的重要方向。

关键词：无人机行业规范技术革新集群智能

A Visual Saliency Detection Algorithm Based on Channel Selecting in Transform Domains 26th

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A Visual Saliency Detection Algorithm Based on Channel Selec...

UAV low-altitude obstacle detection based on the fusion of LiDAR and camera

第26届中国控制与决策会议

作者： Shen yifeng niu yifeng Shen Lincheng College of Mechatronics Engineering and Automation National University of Defense Technology

ISBN: (纸本)9781479937097

A transform domain algorithm using channel selecting is proposed for visual saliency in this paper. This algorithm is able to improve the accuracy of the traditional transform domain saliency detection while preserving their advantage of fast processing speed. Based on the image signature algorithm, we select the channels by calculating the correlation values between each channel. Then, the selected channels, instead of all of the channels, are combined for the final saliency map according to the corresponding combination rule which we designed. The experimental comparison between the proposed and original approaches demonstrates that our method is higher in accuracy while maintaining high processing speed.

关键词： Saliency Detection Transform Domain Image Signature Channel Selecting

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Autonomous Intelligent Systems 2021年第1期1卷 182-191页

作者： Zhaowei Ma Wenchen Yao yifeng niu Bosen Lin Tianqing Liu College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410000China

In this paper,aiming at the flying scene of the small unmanned aerial vehicle(UAV)in the low-altitude suburban environment,we choose the sensor configuration scheme of LiDAR and visible light camera,and design the static and dynamic obstacle detection algorithms based on sensor *** static obstacles such as power lines and buildings in the low-altitude environment,the way that image-assisted verification of point clouds is used to fuse the contour information of the images and the depth information of the point clouds to obtain the location and size of static *** unknown dynamic obstacles such as rotary-wing UAVs,the IMM-UKF algorithm is designed to fuse the distance measurement information of point clouds and the high precision angle measurement information of image to achieve accurate estimation of the location and velocity of the dynamic *** build an experimental platform to verify the effectiveness of the obstacle detection algorithm in actual scenes and evaluate the relevant performance indexes.

关键词： UAV Obstacle detection Sensor fusion

An improved interval model updating method via adaptive Kriging models

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Applied Mathematics and Mechanics(English Edition) 2024年第3期45卷 497-514页

作者： Sha WEI yifeng CHEN Hu DING Liqun CHEN Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai Frontier Science Center of MechanoinformaticsShanghai Institute of Applied Mathematics and MechanicsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai 200072China Shanghai Institute of Aircraft Mechanics and Control Shanghai 200092China

Interval model updating(IMU)methods have been widely used in uncertain model updating due to their low requirements for sample ***,the surrogate model in IMU methods mostly adopts the one-time construction *** makes the accuracy of the surrogate model highly dependent on the experience of users and affects the accuracy of IMU ***,an improved IMU method via the adaptive Kriging models is *** method transforms the objective function of the IMU problem into two deterministic global optimization problems about the upper bound and the interval diameter through universal grey *** optimization problems are addressed through the adaptive Kriging models and the particle swarm optimization(PSO)method to quantify the uncertain parameters,and the IMU is *** the construction of these adaptive Kriging models,the sample space is gridded according to sensitivity *** sampling is then performed in key subspaces based on the maximum mean square error(MMSE)*** interval division coefficient and random sampling coefficient are adaptively adjusted without human interference until the model meets accuracy *** effectiveness of the proposed method is demonstrated by a numerical example of a three-degree-of-freedom mass-spring system and an experimental example of a butted cylindrical *** results show that the updated results of the interval model are in good agreement with the experimental results.

关键词： interval model updating(IMU) non-probabilistic uncertainty adaptive Kriging model surrogate model grey number