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Aerial refueling scheduling of multi-receiver and multi-tanker under spatial-temporal constraints for forest firefighting

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Chinese Journal of Aeronautics 2024年第5期37卷 71-91,I0001页

作者： Jing HUANG Jiaqi XING Jinrui REN Quan QUAN youmin zhang Department of Information and Control Engineering Xi’an University of TechnologyXi’an 710048China Jiujiang Measuring Test Technology Research Institute Jiujiang 332000China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Automation Xi’an University of Posts&TelecommunicationsShaanxiXi’an 710121China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontreal H3G 1M8Canada

Forest fires pose a significant threat to human life and property,so the utilization of unmanned aircraft systems provides new ways for forest *** the constrained load capacities of these aircraft,aerial refueling becomes crucial to extend their operational time and *** order to address the complexities of firefighting missions involving multi-receiver and multi-tanker deployed from various airports,first,a fuel consumption calculation model for aerial refueling scheduling is established based on the receiver ***,two distinct methods,including an integrated one and a decomposed one,are designed to address the challenges of establishing refueling airspace and allocating tasks for *** methods aim to optimize total fuel consumption of the receivers and tankers within the aerial refueling scheduling *** optimization problem is established as nonlinear optimization models along with *** integrated method seamlessly combines refueling rendezvous point scheduling and tanker task allocation into unified *** has a complete solution space and excels in optimizing total fuel *** decomposed method,through the separation of rendezvous point scheduling and task allocation,achieves a reduced computational ***,this comes at the cost of sacrificing optimality by excluding specific feasible ***,numerical simulations are carried out to verify the feasibility and effectiveness of the proposed *** simulations yield insights crucial for the practical engineering application of both the integrated and decomposed methods in real-world *** comprehensive approach aims to enhance the efficiency of forest firefighting operations,mitigating the risks posed by forest fires to human life and property.

关键词： Aerial refueling Scheduling Planning Spatial-temporal constraint Firefighting

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新传播媒介下的中国油画色彩的衍变——高明度、高纯度的流行化趋势

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鞋类工艺与设计 2024年第13期4卷 97-99页

作者：张佑民安徽艺术职业学院美术学院安徽合肥230031

油画在中国发展的不同阶段所产生的色彩演变反映了时代进步、技术发展的特征。现今,当全民进入移动网络时代,观看方式和艺术作品的展示方式愈加向屏幕端集中,中国油画色彩高明度、高纯度的流行趋势显现出来。这种趋向与流行文化是共生... 详细信息

油画在中国发展的不同阶段所产生的色彩演变反映了时代进步、技术发展的特征。现今,当全民进入移动网络时代,观看方式和艺术作品的展示方式愈加向屏幕端集中,中国油画色彩高明度、高纯度的流行趋势显现出来。这种趋向与流行文化是共生共存的关系,流行文化一直以来对油画艺术与人们的视觉习惯影响巨大,当下这种影响则更为显著。

关键词：油画色彩自媒体移动网络屏幕观看

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Cooperative localization against GPS signal loss in multiple UAVs flight

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Journal of Systems Engineering and Electronics 2011年第1期22卷 103-112页

作者： Yaohong Qu youmin zhang School of Automation Northwestern Polytechnical University Xi'an 710072 P. R. China Department of Mechanical and Industrial Engineering Concordia University Montreal H3G 1M8 Canada

Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction is *** to the traditional means with single UAV,the proposed method is based on the use of inter-UAV relative range measurements against GPS signal loss and more suitable for the small-size and low-cost UAV ***,for re-localizing an UAV with a malfunction in its GPS receiver,an algorithm which makes use of any other three healthy UAVs in the cooperative flight as the reference points for re-localization is ***,by using the relative ranges from the faulty UAV to the other three UAVs,its horizontal location can be determined after the GPS signal is *** order to improve an accuracy of the localization,a Kalman filter is further exploited to provide the estimated location of the UAV with the GPS signal *** Kalman filter calculates the variance of observations in terms of horizontal dilution of positioning（HDOP） ***,during each discrete computing time step,the best reference points are selected adaptively by minimizing the ***,two simulation examples in Matlab/Simulink environment with five UAVs in cooperative flight are shown to evaluate the effectiveness of the proposed method.

关键词： unmanned aerial vehicle(UAV) cooperative localization Kalman filter horizontal dilution of positioning(HDOP).

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Design of passive fault-tolerant flight controller against actuator failures

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Chinese Journal of Aeronautics 2015年第1期28卷 180-190页

作者： Yu Xiang zhang youmin Department of Mechanical and Industrial Engineering Concordia University

The problem of designing passive fault-tolerant flight controller is addressed when the normal and faulty cases are prescribed. First of all, the considered fault and fault-free cases are formed by polytopes. As considering that the safety of a post-fault system is directly related to the maximum values of physical variables in the system, peak-to-peak gain is selected to represent the relationships among the amplitudes of actuator outputs, system outputs, and reference commands. Based on the parameter dependent Lyapunov and slack methods, the passive fault-tolerant flight controllers in the absence/presence of system uncertainty for actuator failure cases are designed, respectively. Case studies of an airplane under actuator failures are carried out to validate the effectiveness of the proposed approach

关键词： actuator tolerant uncertainty prescribed addressed nominal matrices validate outputs designing

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PID-type fault-tolerant prescribed performance control of fixed-wing UAV

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Journal of Systems Engineering and Electronics 2021年第5期32卷 1053-1061页

作者： YU Ziquan zhang youmin JIANG Bin College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontreal H3G 1M8Canada

This paper introduces a fault-tolerant control(FTC)design for a faulty fixed-wing unmanned aerial vehicle(UAV).To constrain tracking errors against actuator faults,error constraint inequalities are first transformed to a new set of variables based on prescribed performance ***,the commonly used and powerful proportional-integral-derivative(PID)control concept is employed to filter the transformed error *** handle the fault-induced nonlinear terms,a composite learning algorithm consisting of neural network and disturbance observer is incorporated for increasing flight *** is shown by Lyapunov stability analysis that the tracking errors are strictly constrained within the specified error *** results are presented to verify the feasibility of the developed FTC scheme.

关键词： unmanned aerial vehicle(UAV) fault-tolerant control(FTC) prescribed performance control(PPC) proportional-integral-derivative(PID) composite learning actuator faults

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基于半空间约束理论的自动泊车高性能轨迹优化方法

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机械工程学报 2024年第10期60卷 273-288页

作者：陈晓明李柏范丽丽王涯舟张坦探张友民曹东璞湖南大学机械与运载工程学院长沙410082 湖南大学整车先进设计制造技术全国重点实验室长沙410082 北京理工大学信息与电子学院北京100081 康考迪亚大学机械与航空航天工程学院加拿大蒙特利尔H3G 1M8 清华大学车辆与运载学院北京100084

轨迹规划是车载自动泊车系统中的重要功能,而现有的泊车轨迹规划算法无法兼顾算法泛化性、计算精度、求解时效性以及结果最优性。现采用基于数值优化的轨迹规划技术路线,首先将泊车轨迹规划任务表述为一则通用的最优控制问题;随后提出... 详细信息

轨迹规划是车载自动泊车系统中的重要功能,而现有的泊车轨迹规划算法无法兼顾算法泛化性、计算精度、求解时效性以及结果最优性。现采用基于数值优化的轨迹规划技术路线,首先将泊车轨迹规划任务表述为一则通用的最优控制问题;随后提出半空间约束理论,结合概略轨迹先验信息将原本具有高维度、强非凸非线性特点的名义避障约束简化为线性不等式约束,继而利用信任域约束进一步降低线性不等式约束的规模;最后调用非线性规划求解器对简化后的最优控制问题进行数值求解,可在极短时间内生成高精度数值最优泊车轨迹:将上述泊车轨迹规划方法命名为预设空间快速优化法。大量仿真试验表明,在同样使用混合A^(*)搜索算法提供先验的概略轨迹的前提下,预设空间快速优化法的求解成功率、计算耗时以及结果最优性均优于OBCA(Optimization-based collision avoidance)、LIOM(Lightweight iteratwe optimization method)等主流泊车轨迹优化算法。

关键词：自动泊车轨迹规划计算最优控制非线性规划智能车

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A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties

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Journal of Systems Science & Complexity 2022年第1期35卷 81-104页

作者： WANG Ban zhang youmin zhang Wei School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontreal H3G 1M8QCCanada

In this paper,a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle(UAV)to simultaneously compensate actuator faults,model uncertainties and external *** assuming knowledge of the bounds on external disturbances,a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to ***,regarding actuator faults and model uncertainties of the quadrotor UAV,neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with ***,in terms of unknown external disturbances,a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control ***,a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator *** capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results.

关键词： Actuator fault composite adaptive fault-tolerant control external disturbance model uncertainty quadrotor UAV

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A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 292-300页

作者： Yuying Guo Bin Jiang youmin zhang School of Information Engineering Southwest University of Science and Technology Mianyang 621010 China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Department of Mechanical Industrial and Aerospace Engineering and the Concordia Institute of Aerospace Design and Innovation Faculty of Engineering and Computer Science Concordia University Montreal Quebec H3G 1M8 Canada IEEE

A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this ***, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then,based on active disturbance rejection control(ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts,actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer(ESO)and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.

关键词： Active disturbance rejection control(ADRC) attitude control actuator faults disturbances rejection quadrotor aircraft

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Novel robust fault diagnosis method for flight control systems

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Journal of Systems Engineering and Electronics 2008年第5期19卷 1017-1023页

作者： Guo Yuying Jiang Bin zhang youmin Wang dianfei Coll. of Automation Engineering Nanjing Univ. of Aeronautics and Astronautics Nanjing 210016 P. R. China Southwestern Univ. of Science and Technology Mianyang 621010 P. R. China Dept. of Mechanical and Industrial Engineering Concordia Univ. Montreal Quebec H3G 1M8 Canada

A novel robust fault diagnosis scheme, which possesses fault estimate capability as well as fault diagnosis property, is proposed. The scheme is developed based on a suitable combination of the adaptive multiple model （AMM） and unknown input observer （UIO）. The main idea of the proposed scheme stems from the fact that the actuator Lock-in-Place fault is unknown （when and where the actuator gets locked are unknown）, and multiple models are used to describe different fault scenarios, then a bank of unknown input observers are designed to implement the disturbance de-coupling. According to Lyapunov theory, proof of the robustness of the newly developed scheme in the presence of faults and disturbances is derived. Numerical simulation results on an aircraft example show satisfactory performance of the proposed algorithm.

关键词： fault diagnosis adaptive multiple model unknown input observer flight control.

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Adaptive Integral-type Sliding Mode Control for Spacecraft Attitude Maneuvering Under Actuator Stuck Failures

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Chinese Journal of Aeronautics 2011年第1期24卷 32-45页

作者： HU Qinglei zhang youmin HUO Xing XIAO Bing Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China Department of Mechanical and Industrial Engineering Concordia University Montreal H3G 2W1 Canada

A fault tolerant control （FTC） design technique against actuator stuck faults is investigated using integral-type sliding mode control （ISMC） with application to spacecraft attitude maneuvering control system. The principle of the proposed FTC scheme is to design an integral-type sliding mode attitude controller using on-line parameter adaptive updating law to compensate for the effects of stuck actuators. This adaptive law also provides both the estimates of the system parameters and external disturbances such that a prior knowledge of the spacecraft inertia or boundedness of disturbances is not required. Moreover, by including the integral feedback term, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. For the synthesis of controller, the fault time, patterns and values are unknown in advance, as motivated from a practical spacecraft control application. Complete stability and performance analysis are presented and illustrative simulation results of application to a spacecraft show that high precise attitude control with zero steady-error is successfully achieved using various scenarios of stuck failures in actuators.

关键词： integral sliding mode control attitude maneuvering stuck failure adaptive control spacecraft

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