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Autonomous navigation method of satellite constellation based on adaptive forgetting factors

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Chinese Journal of Aeronautics 2024年第7期37卷 317-332页

作者： Dong WANG Jing YANG Kai XIONG School of automation science and electrical engineering Beihang UniversityBeijing 100191China science and technology on Space Intelligent control laboratory Beijing Institute of Control EngineeringBeijing 100094China

To address the problem that model uncertainty and unknown time-varying system noise hinder the filtering accuracy of the autonomous navigation system of satellite constellation,an autonomous navigation method of satellite constellation based on the Unscented Kalman Filter with Adaptive Forgetting Factors(UKF-AFF)is *** process noise covariance matrix is estimated online with the strategy that combines covariance matching and adaptive adjustment of forgetting *** adaptive adjustment coefficient based on squared Mahalanobis distance of state residual is employed to achieve online regulation of forgetting factors,equipping this method with more *** intersatellite direction vector obtained from photographic observations is introduced to determine the constellation satellite orbit together with the distance measurement to avoid rank deficiency *** that the number of available measurements varies online with intersatellite visibility in practical applications such as time-varying constellation configurations,the smooth covariance matrix of state correction determined by innovation and gain is adopted and constructed *** analysis of the proposed method is also *** effectiveness of the proposed method is verified by the Monte Carlo simulation and comparison *** estimation accuracy of constellation position and velocity of UKF-AFF is improved by 30%and 44%respectively compared to those of the extended Kalman filter,and the method proposed is also better than other several adaptive filtering methods in the presence of significant model uncertainty.

关键词： Constellation autonomous navigation Unscented Kalman filter Adaptive forgetting factor Model uncertainty Stability analysis

An aircraft brake control algorithm with torque compensation based on RBF neural network

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Chinese Journal of Aeronautics 2024年第1期37卷 438-450页

作者： Ning BAI Xiaochao LIU Juefei LI Zhuangzhuang WANG Pengyuan QI Yaoxing SHANG Zongxia JIAO School of automation science and electrical engineering Beihang UniversityBeijing 100191China science and technology on aircraft control laboratory Beihang UniversityBeijing 100191China Key laboratory of Advanced aircraft Systems(beihang university) Ministry of Industry and Information TechnologyBeijing 100091China Research Institute for Frontier science Beihang UniversityBeijing 100191China Ningbo Institute of technology of beihang university Ningbo 315800China Tianmushan laboratory Xixi Octagon CityYuhang DistrictHangzhou 310023China

The wheel brake system of an aircraft is the key to ensure its safe landing and rejected takeoff.A wheel’s slip state is determined by the brake torque and ground adhesion torque,both of which have a large degree of *** is this nature that brings upon the challenge of obtaining high deceleration rate for aircraft brake *** overcome the disturbances caused by the above uncertainties,a braking control law is designed,which consists of two parts:runway surface recognition and wheel’s slip state *** runway surface recognition,the identification rules balancing safety and braking efficiency are defined,and the actual identification process is realized through recursive least square method with forgetting *** slip state tracking,the LuGre model with parameter adaptation and a brake torque compensation method based on RBF neural network are proposed,and their convergence are *** effectiveness of our control law is verified through simulation and ground *** in the experiments on the ground inertial test bench,compared to the improved pressure-biased-modulation(PBM)anti-skid algorithm,fewer wheel slips occur,and the average deceleration rate is increased by 5.78%,which makes it a control strategy with potential for engineering applications.

关键词： aircraft landing Brakes Disturbance observer Neural networks Runway identification

Prescribed Performance Evolution control for Quadrotor Autonomous Shipboard Landing

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1151-1162页

作者： Yang Yuan Haibin Duan Zhigang Zeng State Key laboratory of Virtual Reality technology and Systems the School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083China State Key laboratory of Virtual Reality technology and Systems the School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083 Virtual Reality Fundamental Research laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China School of Artificial Intelligence and automation Huazhong University of Science and TechnologyWuhan 430074China

The shipboard landing problem for a quadrotor is addressed in this paper,where the ship trajectory tracking control issue is transformed into a stabilization control issue by building a relative position *** guarantee both transient performance and steady-state landing error,a prescribed performance evolution control(PPEC)method is developed for the relative position *** addition,a novel compensation system is proposed to expand the performance boundaries when the input saturation occurs and the error exceeds the predefined *** the wind and wave on the relative position model,an adaptive sliding mode observer(ASMO)is designed for the disturbance with unknown upper *** on the dynamic surface control framework,a shipboard landing controller integrating PPEC and ASMO is established for the quadrotor,and the relative position control error is guaranteed to be uniformly ultimately *** results have verified the feasibility and effectiveness of the proposed shipboard landing control scheme.

关键词： error integrating stabilization

Segment-wise learning control for trajectory tracking of robot manipulators under iteration-dependent periods

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science China(Information sciences) 2024年第3期67卷 155-166页

作者： Fan ZHANG Deyuan MENG Kaiquan CAI The Seventh Research Division Beihang University School of automation science and electrical engineering Beihang University School of Electronics and Information engineering Beihang University

This paper is concerned with the amplitude boundedness problem of adaptive iterative learning control(AILC) for robot manipulators operating with iteration-dependent periods. By introducing virtual memory slots for storing historical data, a practical AILC method is proposed to achieve the segmentwise learning. This method requires less memory storage for historical information of previous iterations,especially in comparison with that of the conventional AILC methods using point-wise learning *** is shown that not only the energy boundedness but also the amplitude boundedness of estimates and inputs of practical AILC can be guaranteed. Moreover, the practical AILC method can achieve the perfect tracking objective regardless of iteration-dependent periods when the robot manipulators have a persistent full learning property. In addition, a solution to the visual manipulator platform is provided and deployed based on Coppeliasim and Matlab, which helps to show the amplitude boundedness of learning results and the perfect tracking performances of the proposed practical AILC method for robot manipulators.

关键词： amplitude boundedness iteration-dependent period iterative learning control robot manipulator segment-wise virtual memory slot

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Digital twin system framework and information model for industry chain based on industrial Internet

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Frontiers of Information technology & Electronic engineering 2024年第7期25卷 951-967页

作者： Wenxuan WANG Yongqin LIU Xudong CHAI Lin ZHANG School of automation science and electrical engineering Beihang UniversityBeijing 100191China department of control science and engineering Jilin UniversityChangchun 130012China CASICloud China Aerospace Science and Industry Corporation LimitedBeijing 100080China

The integration of industrial Internet,cloud computing,and big data technology is changing the business and management mode of the industry ***,the industry chain is characterized by a wide range of fields,complex environment,and many factors,which creates a challenge for efficient integration and leveraging of industrial big *** at the integration of physical space and virtual space of the current industry chain,we propose an industry chain digital twin(DT)system framework for the industrial *** addition,an industry chain information model based on a knowledge graph(KG)is proposed to integrate complex and heterogeneous industry chain data and extract industrial ***,the ontology of the industry chain is established,and an entity alignment method based on scientific and technological achievements is ***,the bidirectional encoder representations from Transformers(BERT)based multi-head selection model is proposed for joint entity–relation extraction of industry chain ***,a relation completion model based on a relational graph convolutional network(R-GCN)and a graph sample and aggregate network(GraphSAGE)is proposed which considers both semantic information and graph structure information of *** results show that the performances of the proposed joint entity–relation extraction model and relation completion model are significantly better than those of the ***,an industry chain information model is established based on the data of 18 industry chains in the field of basic machinery,which proves the feasibility of the proposed method.

关键词： Industry chain Digital twin Industrial Internet Knowledge graph Graph neural network

Design of an aircraft autonomous traction taxiing system based on hydraulic secondary control

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Chinese Journal of Aeronautics 2024年第6期37卷 348-359页

作者： Xiaochao LIU Zhongyi QIU Hao ZHANG Pengyuan QI Zhenyu WANG Yaoxing SHANG Zongxia JIAO Research Institute for Frontier science Beihang UniversityBeijing 100083China School of automation science and electrical engineering Beihang UniversityBeijing 100083China Ningbo Institute of technology Beihang UniversityNingbo 315800China Tianmushan laboratory Xixi Octagon CityYuhang DistrictHangzhou 310023China science and technology on aircraft control laboratory Beihang UniversityBeijing 100083China Beijing Tianma Intelligent control technology Co. Ltd.Beijing 101399China China Coal Research Institute Beijing 100013China

At present,aircraft taxiing at ground airports needs to be provided with a thrust by the main *** taxiing process is inefficient,has high fuel consumption and serious pollution,and is prone to safety *** this paper,a new configuration of aircraft autonomous traction taxiing system is proposed based on the principle of hydraulic secondary control,in which a hydraulic motor drive device is installed at the front wheels of the aircraft to drive the wheels to rotate forward or *** on this,autonomous taxiing can be realized without relying on the main engines,thus greatly improving airport operation ***,this paper analyzes the influencing factors of the autonomous traction taxiing process,and investigates the parameter matching design of the new configuration ***,this paper develops the ground principle prototype,designs the aircraft longitudinal bonding force observer and the aircraft wheel disturbance moment observer,and proposes the speed control method of the aircraft front wheel autonomous traction taxiing by considering the ground bonding force saturation ***,the ground taxiing test is conducted,and the results show that the new configuration proposed in this paper presents a new solution for aircraft autonomous traction taxiing.

关键词： Autonomous traction taxi-ing Hydraulic secondary control Hydraulic motors Saturation characteristics Disturbance observation Speed control

Extremum seeking control for UAV close formation flight via improved pigeon-inspired optimization

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science China(Technological sciences) 2024年第2期67卷 435-448页

作者： YUAN GuangSong DUAN HaiBin State Key laboratory of Virtual Reality technology and Systems School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100083China

This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation *** proposed design scheme combines a Newton-Raphson method with an extended Kalman filter(EKF)to dynamically estimate the optimal position of the following UAV relative to the leading *** reflect the wake vortex effects reliably,the drag coefficient induced by the wake vortex is considered as a performance ***,the performance function is parameterized by the first-order and second-order terms of its Taylor series *** the excellent performance of nonlinear estimation,the EKF is used to estimate the gradient and the Hessian matrix of the parameterized performance *** output feedback of the proposed scheme is determined by iterative calculation of the Newton-Raphson *** with the traditional ESC and the classic ESC,the proposed design scheme avoids the slow continuous time integration of the *** allows a faster convergence of relative position ***,the proposed method can provide a smoother command during the seeking process as the second-order term of the performance function is taken into *** convergence analysis of the proposed design scheme is accomplished by showing that the output feedback is a supermartingale *** improve estimation performance of the EKF,a improved pigeon-inspired optimization(IPIO)is proposed to automatically tune the noise covariance *** Carlo simulations for a three-UAV close formation show that the proposed design scheme is robust to the initial position of the following UAV.

关键词： unmanned aerial vehicle close formation extremum seeking control Newton-Raphson method improved pigeon-inspired optimization

A novel adaptive coordinated tracking control scheme for a morphing aircraft with telescopic wings

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Chinese Journal of Aeronautics 2024年第2期37卷 148-162页

作者： Enmei WANG Hao LU Jianchun ZHANG Chenliang WANG Jianzhong QIAO Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of automation science and electrical engineering Beihang UniversityBeijing 100191China

Inspired by flight biology,morphing flight technology has great potential to improve the adaptability and maneuverability of *** paper is devoted to the flight control problem of morphing aircraft,and aimed at safe and fuel-saving flight through morphing ***,the longitudinal dynamics of a morphing aircraft with telescopic wings is modelled as a strict-feedback nonlinear *** fitting the expression of aerodynamic parameters by the mor-phing ratio,the model uncertainties induced by morphing errors are embedded in the *** meet the safety and fuel-saving requirements,an Adaptive Coordinated Tracking control Scheme(ACTCS)is then proposed,which consists of a morphing control module and a tracking control *** the morphing control module,an on-line morphing decision model is given in an optimization process with respect to the morphing ratio,and a second-order tracking filter is introduced to smooth the decision output and ensure the physical *** the tracking control module,the novel adaptive controllers for the velocity and altitude subsystems are proposed based on the dynamic surface control method,in which adaptive mechanisms are designed to com-pensate for the model ***,the proposed ACTCS is simulated in nine different cases of the test flight mission,to verify its effectiveness,robustness and fuel-saving effect.

关键词： Morphing aircraft Adaptive tracking control Morphing decision Dynamic surface control Morphing error

Distributed Multicircular Circumnavigation control for UAVs with Desired Angular Spacing

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Defence technology（防务技术） 2024年第1期31卷 429-446页

作者： Shixiong Li Xingling Shao Wendong Zhang Qingzhen Zhang National Key laboratory for Electronic Measurement technology School of Instrument and ElectronicsNorth University of ChinaTaiyuan 030051China School of automation science and electrical engineering Beihang UniversityBeijing 100086China

This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary *** defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving ***,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication ***,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular *** is inferred from Lyapunov stability that all errors are demonstrated to be *** are offered to verify the utility of proposed protocol.

关键词： Angular spacing Distributed observer Multicircular circumnavigation Moving target UAVs