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Science China(Technological Sciences) 2018年第7期61卷 1012-1020页

作者： LIU Li HU DeAn zhang youmin HAN Xu State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Key Laboratory of Advanced Design and Simulation Technology for Special Equipments Ministry of Education Hunan University School of Mechanical Engineering Hebei University of Technology

An experimental procedure is conducted to investigate the mechanism of the non-monotonic characteristic between curing temperature and mechanical behaviors of the Kevlar/epoxy composite in macro and micro levels. Different specimens are fabricated at four different curing temperatures and tested with ±45° off-axis tensile loading on a universal test machine coupled with digital image correlation(DIC). Moreover, the environmental scanning electron microscope(SEM) was used to obtain the micrographs and reveal their mechanism. The tested results show that the tensile mechanical behaviors are sensitive to the curing temperature and the relationship is non-monotonic. Also, as the temperature increases, the thicknesses of the specimens are significantly enlarged. By analyzing the SEM micrographs of the matrix grooves in the damage zone and DIC strain contours, it is concluded that the non-monotonic relationship is dominated by the properties of the Kevlar/epoxy interfaces and deformation of the distorted fibers.

关键词： Kevlar/epoxy composite mechanical behavior digital image correlation SEM micrograph non-monotonic character-istic distorted fiber

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)

Fault-tolerant cooperative control for multiple UAVs based on sliding mode techniques

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Science China(Information Sciences) 2017年第7期60卷 54-66页

作者： Peng LI Xiang YU Xiaoyan PENG Zhiqiang ZHENG youmin zhang College of Mechatronics Engineering and Automation National University of Defense Technology Department of Mechanical and Industrial Engineering Concordia University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University

This paper proposes a fault-tolerant cooperative control(FTCC) design approach for multiple unmanned aerial vehicles(UAVs), where the outer-loop control and the inner-loop fault accommodation are explicitly considered. The reference signals for the inner-loop of the follower UAV can be directly produced by resorting to a proportional control. In the presence of actuator faults, the estimation of the fault information can be completed within finite time. Moreover, the control of the inner-loop is reconfigured based on the fault information adaptation and sliding mode techniques, such that the deleterious effects due to failed actuators can be compensated within finite time. Simulations of UAV cooperative flight are conducted to illustrate the effectiveness of this FTCC scheme.

关键词： fault-tolerant cooperative control unmanned aerial vehicle actuator faults finite-time fault ac commodation

New health-state assessment model based on belief rule base with interpretability

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Science China(Information Sciences) 2021年第7期64卷 209-223页

作者： Zhijie ZHOU You CAO Guanyu HU youmin zhang Shuaiwen TANG Yuan CHEN High-Tech Institute of Xi'an Department of Information and Control Engineering Xi'an University of Technology School of Computer Science and Information Security Guilin University of Electronic Technology Department of Mechanical Industrial and Aerospace Engineering Concordia University

Health-state assessment is the foundation of optimal-maintenance decision-making for complex systems to maintain reliability and safety. Generating the assessment results in a convincing and interpretable way to avoid potential risks is of great importance. Belief rule base(BRB) as an interpretable model performs well in health-state assessment. However, the interpretability of a BRB-based model may be lost during the optimization process, which is expressed mainly as three problems: expert knowledge is not effectively used in the optimization process; the optimized rules of BRB may be in conflict with real systems; and some parameters get over-optimized, which may affect experts’ initial judgment. Three concepts — "searching intensity", "interpretability constraint of belief distribution", and "rule-activation factor" — are defined to address these problems. Using these concepts, we propose a new health-state assessment model based on the interpretable BRB and a new optimization method to improve the accuracy and preserve the interpretability of the new model. To demonstrate the effectiveness of the proposed model, we conducted an aero-engine case study.

关键词： health-state assessment belief rule base interpretability complex systems

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多无人机编队避障和编队重构方法

计算机应用 2024年第9期44卷 2938-2946页

作者：穆凌霞周政君王斑张友民薛向宏宁凯凯复杂系统控制与智能信息处理陕西省重点实验室(西安理工大学) 西安710048 西北工业大学航空学院西安710072 康考迪亚大学机械、工业与航空工程系加拿大蒙特利尔H3G 1M8

针对多无人机(UAV)编队飞行过程中的避障和故障问题,提出一种编队动态变换与重构方法。编队内UAV将障碍物和其余UAV作为动态威胁,根据当前飞行环境自适应地改变航迹评价函数的得分权重,提高编队在动态环境下的避障能力;当编队中某一UAV... 详细信息

针对多无人机(UAV)编队飞行过程中的避障和故障问题,提出一种编队动态变换与重构方法。编队内UAV将障碍物和其余UAV作为动态威胁,根据当前飞行环境自适应地改变航迹评价函数的得分权重,提高编队在动态环境下的避障能力;当编队中某一UAV故障时,对剩余UAV进行编队队形重构,改变动态窗口法(DWA)目标函数中僚机相对于长机的位置,实时调整得到新的编队,从而实现容错编队飞行。仿真实验结果表明,所提编队避障和重构方法能够实现动态避障以及单机故障或动力不足情况下的容错编队飞行;与传统DWA相比,所得到的编队无人机间距离误差更小。

关键词：无人机编队避障队形变换队形重构容错编队

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Distributed filtering and control of complex networks and systems

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Frontiers of Information Technology & Electronic Engineering 2021年第1期22卷 1-4页

作者： Guanrong CHEN Sergej CELIKOVSKY Lei GUO youmin zhang Tiancheng LI Depariment of Electrical Engineering City University of Hong KongHong KongChina The Czech Academy of Sciences Institute of Imnformation Theory and AutomationPrague 18200Czech Republic School of Automation Science and Electrical Engineering Beihang UniversityBejjing 100191China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversitMontrealQuebec H3G 1M8Canada MOE Key Laboratory of Information Pusion Technology School ofAutomationNorthwestern Polytechnical UniversiyXi'an 710072China

In the last two decades,research on distributed filtering and control(FAC)has burgeoned into large-scale complex networks and systems.A distributed networked system,typically composed of a number of cost-effective dynamical nodes(agents)with limited sensing,computing,and communication capabilities,is gaining considerable popularity due to its low power consumption,simple installation,high performance,and strong reliability,as compared with the centralized *** a result,various networkinduced FAC systems,techniques,and algorithms have emerged,including node registration and control,network consensus and synchronization,multi-sensor data clustering/fusion,network topological design and analysis,and the like.

关键词： networks filtering network

Flocking control of a fleet of unmanned aerial vehicles

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Control Theory and Technology 2018年第2期16卷 82-92页

作者： Adel BELKADI Zhixiang LIU Laurent CIARLETTA youmin zhang Didier THEILLIOL CRAN University of Lorraine Nancy France Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Canada Lorraine Research Laboratory in Computer Science and its Applications (LORIA) University of Lorraine Nancy France

Current applications using single unmanned vehicle have been gradually extended to multiple ones due to their increased efficiency in mission accomplishment, expanded coverage areas and ranges, as well as enhanced system reliability. This paper presents a flocking control method with application to a fleet of unmanned quadrotor helicopters （UQHs）. Three critical characteristics of formation keeping, collision avoidance, and velocity matching have been taken into account in the algorithm development to make it capable of accomplishing the desired objectives （like forest/pipeline surveillance） by safely and efficiently operating a group of UQHs. To achieve these, three layered system design philosophy is considered in this study. The first layer is the flocking controller which is designed based on the kinematics of UQH. The modified Cucker and Smale model is used for guaranteeing the convergence of UQHs to flocking, while a repelling force between each two UQHs is also added for ensuring a specified safety distance. The second layer is the motion controller which is devised based on the kinetics of UQH by employing the augmented state-feedback control approach to greatly minimize the steady-state error. The last layer is the UQH system along with its actuators. Two primary contributions have been made in this work： first, different from most of the existing works conducted on agents with double integrator dynamics, a new flocking control algorithm has been designed and implemented on a group of UQHs with nonlinear dynamics. Furthermore, the constraint of fixed neighbouring distance in formation has been relaxed expecting to significantly reduce the complexity caused by the increase of agents number and provide more flexibility to the formation control. Extensive numerical simulations on a group of UQH nonlinear models have been carried out to verify the effectiveness of the proposed method.

关键词： Flocking unmanned aerial vehicles unmanned quadrotor helicopters Cucker and Smale formation control

Adaptive Robust Control of Quadrotor Helicopter towards Payload Transportation Applications

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Adaptive Robust Control of Quadrotor Helicopter towards Payl...

Adaptive Fault Compensation for Aircraft Flight Systems with Actuator Faults 25th

第36届中国控制会议

作者： Ban Wang Lingxia Mu youmin zhang Department of Mechannical Industrial and Aerospace EngineeringConcordia University School of Automation Northwestern Polytechnical University

ISBN: (纸本)9781538629185

Sliding mode control is known as a robust control approach to maintain system performance and keep it insensitive to *** paper proposes an integral sliding mode based adaptive robust control for a quadrotor helicopter with parametric uncertainties and *** the help of the synthesized on-line adaptive scheme,the uncertain parameters can be accurately estimated without the knowledge of the uncertainty *** this case,there is no need to increase the discontinuous control gain,which may stimulate control chattering effect,to maintain the robustness of the *** effectiveness of the proposed control strategy is validated through a simulation of the payload transportation *** to the commonly used linear quadratic regulator（LQR） approach,the proposed adaptive robust control strategy can maintain the tracking performance during the whole flight phase.

关键词： Adaptive robust control integral sliding mode quadrotor helicopter payload transportation

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Adaptive Fault Compensation for Aircraft Flight Systems with...

Fault-Tolerant Control Design against Actuator Faults with Application to UAV Formation Flight

第25届中国控制与决策会议

作者： Yuying Guo youmin zhang Bin Jiang School of Information Engineering Southwest University of Science and Technology Dept. of Mechanical and Industrial Engineering Concordia University College of Automation Engineering Nanjing University of Aeronautics and Astronautics

ISBN: (纸本)9781467355339

In this paper, an adaptive fault compensation scheme is investigated for aircraft flight systems in the presence of non-measurable rate on the actuator second-order dynamics. The proposed fault compensation scheme is a combination between multiple model and adaptive reconfiguration control. By means of the designed method, the system output can track that of reference model asymptotically, and desired performance of the developed scheme is demonstrated by simulation studies on the lateral dynamic model of a Boeing 747 airplane.

关键词： Actuator Fault Multiple Model Fault Compensation Flight Control System

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Fault-Tolerant Control Design against Actuator Faults with A...