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Research on key technologies of UAV cluster cooperative system for Internet of Things applications

Journal of control and Decision 2024年第1期11卷 26-35页

作者： Xu Jing Xi’an International University Xi’anPeople’s Republic of China

The combat tasks faced by UAVs are becoming more and more complex.Traditional single UAVs are limited by the constraints of platform load capacity,lightweight load,and insufficient lowpower equipment,so it is difficult to complete complex tasks independently.Aiming at typical UAV collaborative confrontation application scenarios,this paper constructs a multi-agentoriented cluster collaborative intelligent system architecture and establishes a swarm-oriented intelligent UAV cluster collaborative control algorithm.Moreover,this paper forms a simulation environment for UAV cluster collaborative confrontation and completes the design and implementation of the UAV cluster collaborative confrontation system based on swarm intelligence.In addition,this paper analyses the key technologies of the UAV cluster collaborative system with the support of the Internet of Things technology and verifies the performance of the system after constructing the corresponding system.The experimental results show that the system constructed in this paper is effective.

关键词： Internet of Things UAV cluster collaborative control key technology

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Unmanned autonomous air-to-air refueling intelligent docking technology

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Chinese Journal of Aeronautics 2024年第5期37卷 1-5页

作者： Peng LIN Yakun HE Yuanze CHEN Chinese Aeronautical Establishment Beijing 100029China

Unmanned autonomous Air-to-Air Refueling(AAR)capability is the key guarantee to support the distant-field,high-intensity and durable operations of the penetration counterair combat system.In the future,the long-range unmanned reconnaissance and attack platform can reach the maximum flight range requirement through AAR.At present,large transport aircraft platforms in China are still equipped with probe-and-drogue systems,and the refueling mode is gradually changing from manned to unmanned autonomous operation.The docking process is the riskiest and most important part,and there are strict safety,precision,and efficiency requirements for refueling operation,especially during close-distance docking and formation maintenance phases.In this paper,five issues that need to be solved to achieve autonomous AAR docking are summarized.On this basis,five key technology development needs are proposed to solve these engineering issues.Finally,some prospects are given.

关键词： Air-to-air refueling Probe-and-drogue Unmanned aerial vehicles Docking Perception collaborative control

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collaborative control of a Mother-child Type UGV Platform,a Flying Robot,and a Ground Robot

Collaborative Control of a Mother-child Type UGV Platform,a ...

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2018中国汽车工程学会年会

作者： NI Jun XU Bin WANG Yang XIANG Changle Beijing Institnfe of Technology

This paper reports an collaborative system with UAVs,a UGV Platform,and a ground robots,which is called unmanned ground carrier（UGC）.The UGC is able to conduct complex mission through the collaborative remote control between the UGV platform,UAVs,and ground robots.The details of the design of the UGV platform and the carried flying robot are described.The collaborative control strategy between them is described,including the control signal flow,yaw moment control of the platform,tyre slip ratio control of the platform,and the H-infinity control of the carried flying robot.The experiments of various missions show the functions of the UGC and performance of the collaborative controller between the UGV platform,flying robot,and ground robot.

关键词： collaborative control flying robot unmanned ground vehicle dynamics control

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Study on Fit Quality collaborative control under Networked Manufacturing Environment （ID:B-013）

Study on Fit Quality Collaborative Control under Networked M...

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第十四届工业工程与工程管理国际会议

作者： Yang Musheng~( 2) Zhang yu~1 Chen Rong~1 1 School of Mechanical Engineering Shandong University of Science and Technology Zibo P.R.China 255049 2 School of Mechanical Engineering Nanjing University of Science and Technology Nanjing P.R.China 210094

＜正＞Networked Manufacturing is an advanced manufacturing mode that is brought in Networked economy condition and be used widely.Product quality control of Host machine factory is difficult to ensure because of complexity and dis- tribution of the networked manufacturing.The engineers and specialists have done a great deal of study in this field, mostly about the architecture of Network Manufacture system,networked manufacturing quality management,quality col- laborative ensure and so on,but it is not pay more attention to fit quality collaborative control in Network Manufactur- ing. This paper presents an architecture of product quality collaborative control based on Network Manufacture mode is presented,discuss that how to using the quality collaborative control between host machine factory and collaborative fac- tory to ensure product quality,and how to guarantee final product quality of host machine factory.By utilizing effective data model,statistical inference techniques,quality-oriented statistical tolerance technique,statistical quality control techniques,quality collaborative controller,the optimal fit quality of product is guaranteed.The method provides good method for networked manufacturing to control product quality in practice.It’s also worth for a mass customization tech- nique in Network Manufacture.

关键词： Process Capability Fit Quality collaborative control Quality-oriented Target

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A collaborative control method for multi-UAVs based on ADRC control

A collaborative control method for multi-UAVs based on ADRC ...

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第三十九届中国控制会议

作者： Fuchun Liu Tao Lan Songbo Wang School of Automation Science and Engineering South China University of Technology

The demand of the market makes the requirements for the load capacity of UAVs（unmanned aerial vehicles） become higher and higher. Due to the high reliability, strong robustness and fast response capability, the multi-UAVs collaborative control system is of great significance. The traditional multi-UAVs cooperative control system is limited by the data transmission capacity of wireless networks. The subordinate UAV can move in the direction of the passive force passed by load to reduce the external force and follow the main UAV. The collaborative control method for multi-UAVs based on ADRC（Active Disturbances Rejection control） uses that passive force as the controlled variable. Compensating the passive force to eliminate the resultant external force of the subordinate UAV, and the subordinate UAV can follow the main UAV in real time.

关键词： ADRC Multi-UAVs collaborative control

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A Cloud Robotics Solution For collaborative control In Heterogeneous Environments

A Cloud Robotics Solution For Collaborative Control In Heter...

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第37届中国控制会议

作者： Song Zheng ZhiCheng Lin QiJun Zeng Rong Zheng ChaoRu Liu HuaFeng Xiong XiaoQuan Huang JiWei Zhang College of Electrical Engineering and Automation Fuzhou University

In recent years, the research of cloud robots has gained widespread academic attention for their rapid development. As the robotic system and function become more and more complex, it is more difficult to implement the robotic control algorithm in the edge system accordingly, and the programming language and execution environment of multi-vendor robots are also significantly different. In order to solve the robotic control problems in cloud computing environments, including the programming diversity, the online-test complexity and the difficulty of the collaborative control for multi-robot systems, this paper proposes a new control platform architecture for cloud robots, called IAPcloud, in which the virtual controller technology is introduced to solve the collaborative control issue among heterogeneous robots or robots and devices. A hardware-agnostic communication technology of the edge controller for heterogeneous robots or devices is also presented. The proposed platform architecture has been tested in a designed cloud robot experimental system by two cases, including the image recognition and tracking case and the human-machine gobang game case. The results indicate the effectiveness of our approach for simplifying the cloud robotic programming method, shorten the development and deployment cycle, and tackling the complex collaborative control task of heterogeneous robots or devices.

关键词： cloud robot virtual controller collaborative control robot programming control configuration

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Formation Flight control and Cooperative Obstacle Avoidance of Multiple UAVs

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Guidance, Navigation and control 2023年第4期3卷 111-134页

作者： Xiaotong Jiang Wangcheng Zhang Mingyang Sun Shuang Tang Ziyang Zhen College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P.R.China CASIC Research Institute of Intelligent Decision Engineering Wuhan 430040 P.R.China

This paper primarily focuses on the obstacle avoidance issue of followers in unmanned aerial vehicle(UAV)formation flight while considering formation constraints.Based on consensus theory and the artificial potential field(APF)principle,a new fusion UAV formation control algorithm is proposed.The method employs a formation control strategy that combines the leader-following method and the virtual structure method,enabling the generation,maintenance and transformation of the formation through the utilization of a consensus controller.In response to the specific problem of the follower within the formation entering the no-fly zone and the self-collision among UAVs,APF-based formation path replanning and self-collision prevention algorithms are introduced.The simulation results demonstrate the effectiveness of the proposed algorithm.

关键词： Formation flight collaborative control consensus theory artificial potential field

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一种反弹道导弹作战的战斗时空分析方法研究

一种反弹道导弹作战的战斗时空分析方法研究

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2021中国自动化大会——中国自动化学会60周年会庆暨...

作者：刘颖张昕白新有北京系统工程研究所中国电子科技集团公司第二十八研究所 66135部队

作战时空(Battle Space-Time Analysis-BSTA)最早来自美军弹道导弹防御体系的作战管理与指挥控制系统(BM/C2),其目的是确定满足系统性能约束的作战机会。作战时空分析是基于信息系统的反弹道导弹作战体系的核心要素。本文从反弹道导弹... 详细信息

作战时空(Battle Space-Time Analysis-BSTA)最早来自美军弹道导弹防御体系的作战管理与指挥控制系统(BM/C2),其目的是确定满足系统性能约束的作战机会。作战时空分析是基于信息系统的反弹道导弹作战体系的核心要素。本文从反弹道导弹作战样式和特点出发,探讨其时空分析需求及其概念、方法与流程机理,以期对反弹道导弹作战体系发展建设提供理论参考。

关键词： Battle space-time BM/C2 Information system collaborative control

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Hardware-in-the-Loop Simulations for Connected Vehicle

Hardware-in-the-Loop Simulations for Connected Vehicle

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2015年中国智能自动化学术会议

作者： Yulin Ma Youchun Xu Jianshi Li Department of Military Vehicle Military Transportation University

Connected vehicle is a typical application that is demonstrated in intelligent transport systems. Hardware-in-the-loop simulations put discrete events,finite states transition, and continuous vehicle dynamics modeling together to conveniently and effectively achieve the integration and test of connected vehicle system. The emphasis and difficulty of the connected vehicle system are discussed,including loosely coupled distributed architecture, information sharing, and conflict resolution mechanism among vehicles, roadsides and information center, and collaborative control scheme driven by discrete event flow, and results of cooperative driving for connected vehicle via HILS are also given.

关键词： Connected vehicle Hardware-in-the-loop simulations Loosely coupled distributed architecture Hybrid automata collaborative control

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