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Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and external disturbance

IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 505-516页

作者： Yangyang Chen Rui Yu Ya Zhang Chenglin Liu School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan UniversityWuxi 214122China

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target sphere.Different from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper bound.Distinguishing from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as input.Then the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)theory.For the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching function.Meanwhile,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation keeping.The validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

关键词： Directed network external disturbance flight control unmanned aerial vehicles(UAVs)

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Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance

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Applied Mathematics and Mechanics(English Edition) 2008年第5期29卷 583-590页

作者：郭益深陈力 College of Mechanical Engineering Fuzhou University

The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.

关键词： free-floating space rigid manipulator external disturbance terminal slidingsurface coordinated motion terminal sliding mode control

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Research of Risk Identification and Prevention of Underground Pressure Pipelines Damage Caused by external disturbance

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Journal of Architectural Research and Development 2023年第3期7卷 31-39页

作者： Xinxing Han Zhuangzhuang Zhang Hefei Institute for Public Safety Research Tsinghua UniversityHefei 230601Anhui ProvinceChina Operation and Monitoring Center for Hefei Urban Safety&Security Hefei 230601Anhui ProvinceChina Anhui Province Key Laboratory of Human Safety Hefei 230601Anhui ProvinceChina

external disturbance is an important cause of underground pressure pipeline damage,which leads to accidents,and it is crucial to study the risk of damage caused by external disturbance and come up with proper prevention and control measures.We reviewed literature on risk identification of underground pressure pipelines damage due to external disturbance was conducted,and a list of risk factors was formed.Based on the list of risk factors,fault tree analysis was carried out on underground pressure pipelines damage caused by external disturbances,and risk prevention and control measures were proposed through the calculation of minimum cut sets,minimum path sets,and structural importance,in hopes of providing reference for the normal operation of underground pressure pipelines.

关键词： Underground pressure pipeline damage external disturbance Risk identification Fault tree Risk prevention and control

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Adaptive dynamic sliding mode control for space manipulator with external disturbance

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Journal of Control and Decision 2019年第4期6卷 236-251页

作者： Jing Zhao Sen Jiang Fei Xie Xian Wang Zeyun Li School of Automation Nanjing University of Posts and TelecommunicationsNanjing 210023People’s Republic of China Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing 210042People’s Republic of China School of Electrical and Automation Engineering Nanjing Normal UniversityNanjingPeople’s Republic of China

In this paper,a novel adaptive dynamic sliding mode control(ADSMC)methodology is developed for space manipulator control systems with external disturbance.The proposed ADSMC approach can make the systems stable and accurately track the desired signals in the presence of external disturbances.Firstly,the simplified dynamic model of the manipulator is introduced.Then,the proposed adaptive dynamic sliding mode(ADSM)controller is given,which is proved to be able to guarantee high tracking accuracy via effectively estimating the disturbance boundary.Finally,experimental results show that the dynamic sliding mode controller proposed in this paper can not only track the desired trajectory,but also present strong robustness for external disturbance,meanwhile effectively reduce the chattering phenomenon generated by switching between different sliding mode surfaces.

关键词： Manipulator adaptive sliding mode control external disturbance chattering phenomenon

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Adaptive H_∞ Synchronization for General Delayed Complex Networks with external disturbance

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Wuhan University Journal of Natural Sciences 2013年第1期18卷 29-36页

作者： TU Lilan XIONG Aiming Hubei Province Key Laboratory of Systems Science in Metallurgical Process Wuhan University of Science and Technology

The global adaptive H∞ synchronization is intensively investigated for the general delayed complex dynamical networks. The network under consideration contains unknown but bounded nonlinear coupling functions, time-varying delay, and external disturbance. Based on the Lyapunov stability theory, linear matrix inequality （LMI） optimization technique and adaptive control, several global adaptive H∞ synchronization schemes are estab- lished, which guarantee robust asymptotical synchronization of noise-perturbed network as well as a prescribed robust H∞ per- formance level. Finally, numerical simulations have shown the feasibility and effectiveness of the proposed techniques.

关键词： H∞ synchronization general delayed complex net-works external disturbance LMI adaptive control

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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 disturbances.By 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 disturbances.Then,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 them.Moreover,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 strategy.Finally,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 faults.The 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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Detection and Estimation of False Data Injection Attacks for Load Frequency Control Systems

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Journal of Modern Power Systems and Clean Energy 2022年第4期10卷 861-870页

作者： Jun Ye Xiang Yu Hangzhou Innovation Institute Beihang UniversityHangzhouChina School of Automation Science and Electrical Engineering Beihang UniversityBeijingChina

False data injection attacks(FDIAs)against the load frequency control(LFC)system can lead to unstable operation of power systems.In this paper,the problems of detecting and estimating the FDIAs for the LFC system in the presence of external disturbances are investigated.First,the LFC system model with FDIAs against frequency and tie-line power measurements is established.Then,a design procedure for the unknown input observer(UIO)is presented and the residual signal is generated to detect the FDIAs.The UIO is designed to decouple the effect of the unknown external disturbance on the residual signal.After that,an attack estimation method based on a robust adaptive observer(RAO)is proposed to estimate the state and the FDIAs simultaneously.In order to improve the performance of attack estimation,the H¥technique is employed to minimize the effect of external disturbance on estimation errors,and the uniform boundedness of the state and attack estimation errors is proven using Lyapunov stability theory.Finally,a two-area interconnected power system is simulated to demonstrate the effectiveness of the proposed attack detection and estimation algorithms.

关键词： external disturbance false data injection attacks load frequency control robust adaptive observer unknown input observer

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Robust Event-Triggered Control of Nonlinear Systems Under a Global Sector-Bound Condition

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Guidance, Navigation and Control 2022年第2期2卷 59-79页

作者： Pengpeng Zhang Tengfei Liu Zhong-Ping Jiang Department of Control Science&Engineering Frontiers Science Center for Intelligent Autonomous SystemsTongji UniversityShanghai 201804P.R.China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819P.R.China Department of Electrical and Computer Engineering New York University370 Jay StreetBrooklynNY 11201USA

This paper studies an event-tniggered control problem for nonlinear systems subject to both external disturbancoes and dy namic uncertainties.It is assumed that the system satisfies a global sector bound condition.To avold infnitely fast samplng,a novel eventriggred sampling mechanism is propoeed,which use8 not only the measuned system state but also an estimation of the inluence of the disturbances.With the propoeed design,the intersampling intervals an be lower bounded by a poeitive constant,and it is independent of botb external disturbances and dynamie umcertainties.Moreover,the doeedl loop event-tniggered system i proved to be input-torstate stable with repect to the extemal disturbances.Advanced smalgain techmigues are;used for the stability analysis of the dloeeil-bop system.

关键词： Event-triggered control external disturbance dynamic uncertainty input-to-state stability

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Pinning Synchronization Between Two General Fractional Complex Dynamical Networks With external disturbances

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IEEE/CAA Journal of Automatica Sinica 2017年第2期4卷 332-339页

作者： Weiyuan Ma Yujiang Wu Changpin Li School of Mathematics and Statistics Lanzhou University School of Mathematics and Computer Science Northwest University for Nationalities Department of Mathematics Shanghai University

In this paper, the pinning synchronization between two fractional complex dynamical networks with nonlinear coupling, time delays and external disturbances is investigated.A Lyapunov-like theorem for the fractional system with time delays is obtained. A class of novel controllers is designed for the pinning synchronization of fractional complex networks with disturbances. By using this technique, fractional calculus theory and linear matrix inequalities, all nodes of the fractional complex networks reach complete synchronization. In the above framework, the coupling-configuration matrix and the innercoupling matrix are not necessarily symmetric. All involved numerical simulations verify the effectiveness of the proposed scheme.

关键词： external disturbance fractional complex network nonlinear coupling pinning control time delay

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Consensus Control of Leader-Following Multi-Agent Systems in Directed Topology With Heterogeneous disturbances

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 423-431页

作者： Qinglai Wei Xin Wang Xiangnan Zhong Naiqi Wu the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049and also with Qingdao Academy of Intelligent IndustriesQingdao 266109China the Department of Computer and Electrical Engineering and Computer Science Florida Atlantic UniversityBoca Raton FL33431 USA the Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and SystemsMacao University of Science and TechnologyMacao 999078China

This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown motion.Its main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic noise.In traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent agents.By introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local interaction.Through the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is analyzed.Two simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.

关键词： Consensus control directed topology external disturbance multi-agent(MA)systems

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