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Aerodynamic Effects Compensation on Multi-Rotor UAVs Based on a Neural Network control allocation Approach

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 295-312页

作者： Sarah P.Madruga Augusto H.B.M.Tavares Saulo O.D.Luiz Tiago P.do Nascimento Antonio Marcus N.Lima Graduate Program of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil Department of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil IEEE Department of Computer Systems Universidade Federal da ParaibaJoao Pessoa-PBBrazil

This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural networks.Thus,the system performance can be improved by replacing the classic allocation matrix,without using the aerodynamic inflow equations directly.The network training is performed offline,which requires low computational power.The target system is a Parrot MAMBO drone whose flight control is composed of PD-PID controllers followed by the proposed neural network control allocation algorithm.Such a quadrotor is particularly susceptible to the aerodynamics effects of interest to this work,because of its small size.We compared the mechanical torques commanded by the flight controller,i.e.,the control input,to those actually generated by the actuators and established at the aircraft.It was observed that the proposed neural network was able to closely match them,while the classic allocation matrix could not achieve that.The allocation error was also determined in both cases.Furthermore,the closed-loop performance also improved with the use of the proposed neural network control allocation,as well as the quality of the thrust and torque signals,in which we perceived a much less noisy behavior.

关键词： Aerodynamics effects control allocation minidrone multi-rotor UAV neural networks

control allocation for aircraft with input constraints based on improved cuckoo search algorithm

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Defence Technology（防务技术） 2017年第1期13卷 1-5页

作者： Yao LU Chao-yang DONG Qing WANG School of Aeronautic Science and Engineering BUAABeijing 100191China School of Automation Science and Electrical Engineering BUAABeijing 100191China

The control allocation problem of aircraft whose control inputs contain integer constraints is investigated. The control allocation problem is described as an integer programming problem and solved by the cuckoo search algorithm. In order to enhance the search capability of the cuckoo search algorithm, the adaptive detection probability and amplification factor are designed. Finally, the control allocation method based on the proposed improved cuckoo search algorithm is applied to the tracking control problem of the innovative control effector aircraft. The comparative simulation results demonstrate the superiority and effectiveness of the proposed improved cuckoo search algorithm in control allocation of aircraft.

关键词： control allocation Optimization Cuckoo search algorithm Innovative control effector aircraft Tracking

control allocation for a class of morphing aircraft with integer constraints based on Lévy flight

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Journal of Systems Engineering and Electronics 2020年第4期31卷 826-840页

作者： LU Yao SUN You LIU Xiaodong GAO Bo Beijing Aerospace Automatic control Institute Beijing 100854China National Key Laboratory of Science and Technology on Aerospace Intelligence control Beijing 100854China

Aiming at tracking control of a class of innovative control effector(ICE) aircraft with distributed arrays of actuators, this paper proposes a control allocation scheme based on the Lévy flight.Different from the conventional aircraft control allocation problem,the particular characteristic of actuators makes the actuator control command totally subject to integer constraints. In order to tackle this problem, first, the control allocation problem is described as an integer programming problem with two desired objectives. Then considering the requirement of real-time, a metaheuristic algorithm based on the Lévy flight is introduced to tackling this problem. In order to improve the searching efficiency, several targeted and heuristic strategies including variable step length and inherited population initialization according to feedback and so on are designed. Moreover, to prevent the incertitude of the metaheuristic algorithm and ensure the flight stability, a guaranteed control strategy is designed. Finally, a time-varying simulation model is introduced to verifying the effectiveness of the proposed scheme. The contrastive simulation results indicate that the proposed scheme achieves superior tracking performance with appropriate actuator dynamics and computational time, and the improvements for efficiency are active and the parameter settings are reasonable.

关键词： flight control control allocation optimization Lévy flight tracking control

control allocation for a V/STOL aircraft based on robust fuzzy control

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Science China(Information Sciences) 2011年第6期54卷 1321-1326页

作者： FAN Yong , MENG XianYu, YANG XiLi, LIU Kai & ZHU JiHong Department of Science and Technology, Tsinghua University, Beijing 100084, China Department of Science and Technology Tsinghua University Beijing China

This study addresses the design of an output-feedback H-infinity and fuzzy mixed controller for an advanced vertical and/or short take-off and landing aircraft that exhibits satisfactory global stability criteria. A fuzzy logic based optimization approach is employed to solve autonomously the constrained control allocation problem by suitably adjusting the components of the output vector and finding a proper vector in the attainable moment set. Simulations show that the designed fuzzy controller is better suited to resist external disturbances, and is robust against parameter perturbations.

关键词： V/STOL tailless robust control fuzzy control allocation

Fixed-Time Sliding Mode control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 514-528页

作者： Jianquan Yang Chunxi Yang Xiufeng Zhang Jing Na Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyKunming 650500 Yunnan International Joint Laboratory of Intelligent control and Aoolication of Advanced Equipment Kunming 650500China IEEE

The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

关键词： control allocation dynamic model fixed-time stabilization modular reconfigurable flight array(MRFA) sliding mode

Effective control allocation using hierarchical multi-objective optimization for multi-phase flight

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Chinese Journal of Aeronautics 2020年第7期33卷 2002-2013页

作者： Liguo SUN Qing ZHOU Baoxu JIA Wenqian TAN Hangxu LI School of Aeronautic Science and Engineering Beihang UniversityBeijing 100083China Shanghai Aircraft Design and Research Institute Commercial Aircraft Corporation of China Ltd.Shanghai 201210China

For different flight phases in an overall flight mission,different control and allocation preferences should be pursued considering lift,drag or maneuverability characteristics.The multi-objective flight control allocation problem for a multi-phase flight mission is studied.For an overall flight mission,different flight phases namely climbing,cruise,maneuver and gliding phases are defined.Firstly,a multi-objective control allocation problem considering drag,lift or control energy preference is constructed.Secondly,considering different control preferences at different flight phases,the analytic hierarchical process method is used to construct a comprehensive performance index from different objectives such as lift or drag preferences.The active set based dynamic programming optimization method is used to solve the real-time optimization problem.For the validation,the Innovative control Effector(ICE)tailless aircraft nonlinear model and the angular acceleration measurements based adaptive Incremental Backstepping(IBKS)are used to construct the validation platform.Finally,an overall flight mission is simulated to demonstrate the efficiency of the proposed multi-phase and multi-objective flight control allocation method.The results show that the comprehensive performance index for different phases,which are determined from the Analytic Hierarchy Process(AHP)method,can suitably satisfy the preference requirements for different flight phases.

关键词： Adaptive control control allocation Flying-wing aircraft Multi-phase and multi-objective Real-time optimization

Event-triggered fault-tolerant consensus control with control allocation in leader-following multi-agent systems

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Science China(Technological Sciences) 2021年第4期64卷 879-889页

作者： WANG XingXia LIU ZhongXin CHEN ZengQiang College of Artificial Intelligence Nankai UniversityTianjin 300350China Key Laboratory of Intelligent Robotics of Tianjin Tianjin 300350China

Event-triggered consensus in leader-following multi-agent systems with actuator fault is considered in this paper, in which the fault investigated can be multiplicative fault and outage fault. An event-triggered mechanism is utilized to relieve the communication burden of the interconnected system. Then, control allocation is proposed to solve actuator fault in the multi-agent systems for the first time. Compared with the existing fault-tolerant methods, the proposed method can guarantee that the consensus errors converge to zero asymptotically without the traditional rank assumption. Meanwhile, the Zeno behavior of the event-triggered system is proved to be avoided. Simulation results are also provided to verify the effectiveness of the proposed method.

关键词： multi-agent systems fault-tolerant control consensus event-triggered mechanism control allocation optimal

Adaptive Neural Network control with control allocation for A Manned Submersible in Deep Sea

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China Ocean Engineering 2007年第1期21卷 147-161页

作者：俞建成张艾群王晓辉吴宝举 Shenyang Institute of Automation Chinese Academy of Sciences

This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China. The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module. A control energy cost function is used as the optimization criteria of the control allocation module, and weighted pseudo-inverse is used to find the solution of the control allocation problem. In the presence of bounded unknown disturbance and neural networks approximation error, stability of the closed-loop control system of manned submersible is proved with Lyaponov theory. The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea.

关键词： manned submersibles neural networks adaptive control control allocation underwater vehicles

Guaranteed feasible control allocation using model predictive control

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control Theory and Technology 2019年第3期17卷 252-264页

作者： Mehdi NADERI Ali KHAKI SEDIGH Tor Arne JOHANSEN Center of Excellence in Industrial control Faculty of Electrical Engineering K. N. Toosi University of Technology Seyyed Khandan Bridge Shariati Ave. Tehran Iran Center for Autonomous Marine Operation and Systems Department of Engineering Cybernetics Norwegian University of Science and Technology N7491 Trondheim Norway

This paper proposes a guaranteed feasible control allocation method based on the model predictive control. Feasible region is considered to guarantee the determination of the desired virtual control signal using the pseudo inverse methodology and is described as a set of constraints of an MPC problem. With linear models and the given constraints, feasible region defines a convex polyhedral in the virtual control space. In order to reduce the computational time, the polyhedral can be approximated by a few axis alig ned hypercubes. Employing the MPC with rectangular constraints substantially reduces the computational complexity .In two dimensions, the feasible region can be approximated by a few rectangles of the maximum area using numerical geometry techniques which are considered as the constraints of the MPC problem. Also, an active MPC is defined as the controller to minimize the cost function in the control horizon. Finally, several simulation examples are employed to illustrate the effectiveness of the proposed techniques.

关键词： control allocation feasible region actuator constraints model predictive control