To address the issue of instability or even imbalance in the orientation and attitude control of quadrotor unmanned aerial vehicles(QUAVs)under random disturbances,this paper proposes a distributed antidisturbance dat...To address the issue of instability or even imbalance in the orientation and attitude control of quadrotor unmanned aerial vehicles(QUAVs)under random disturbances,this paper proposes a distributed antidisturbance data-driven event-triggered fusion control method,which achieves efficient fault diagnosis while suppressing random disturbances and mitigating communication conflicts within the QUAV swarm.First,the impact of random disturbances on the UAV swarm is analyzed,and a model for orientation and attitude control of QUAVs under stochastic perturbations is established,with the disturbance gain threshold determined.Second,a fault diagnosis system based on a high-gain observer is designed,constructing a fault gain criterion by integrating orientation and attitude information from QUAVs.Subsequently,a model-free dynamic linearization-based data modeling(MFDLDM)framework is developed using model-free adaptive control,which efficiently fits the nonlinear control model of the QUAV swarm while reducing temporal constraints on control data.On this basis,this paper constructs a distributed data-driven event-triggered controller based on the staggered communication mechanism,which consists of an equivalent QUAV controller and an event-triggered controller,and is able to reduce the communication conflicts while suppressing the influence of random interference.Finally,by incorporating random disturbances into the controller,comparative experiments and physical validations are conducted on the QUAV platforms,fully demonstrating the strong adaptability and robustness of the proposed distributed event-triggered fault-tolerant control system.展开更多
Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at...Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.展开更多
The advent of sixth-generation(6G)networks introduces unprecedented challenges in achieving seamless connectivity,ultra-low latency,and efficient resource management in highly dynamic environments.Although fifth-gener...The advent of sixth-generation(6G)networks introduces unprecedented challenges in achieving seamless connectivity,ultra-low latency,and efficient resource management in highly dynamic environments.Although fifth-generation(5G)networks transformed mobile broadband and machine-type communications at massive scales,their properties of scaling,interference management,and latency remain a limitation in dense high mobility settings.To overcome these limitations,artificial intelligence(AI)and unmanned aerial vehicles(UAVs)have emerged as potential solutions to develop versatile,dynamic,and energy-efficient communication systems.The study proposes an AI-based UAV architecture that utilizes cooperative reinforcement learning(CoRL)to manage an autonomous network.The UAVs collaborate by sharing local observations and real-time state exchanges to optimize user connectivity,movement directions,allocate power,and resource distribution.Unlike conventional centralized or autonomous methods,CoRL involves joint state sharing and conflict-sensitive reward shaping,which ensures fair coverage,less interference,and enhanced adaptability in a dynamic urban environment.Simulations conducted in smart city scenarios with 10 UAVs and 50 ground users demonstrate that the proposed CoRL-based UAV system increases user coverage by up to 10%,achieves convergence 40%faster,and reduces latency and energy consumption by 30%compared with centralized and decentralized baselines.Furthermore,the distributed nature of the algorithm ensures scalability and flexibility,making it well-suited for future large-scale 6G deployments.The results highlighted that AI-enabled UAV systems enhance connectivity,support ultra-reliable low-latency communications(URLLC),and improve 6G network efficiency.Future work will extend the framework with adaptive modulation,beamforming-aware positioning,and real-world testbed deployment.展开更多
This paper presents the principle and critical factors of adaptive cancellation of structural vibration in time domain(ACSV-TD).Digital-analog simulations and model tests are conducted on cancelling forced vibration o...This paper presents the principle and critical factors of adaptive cancellation of structural vibration in time domain(ACSV-TD).Digital-analog simulations and model tests are conducted on cancelling forced vibration of a cantilever beam.Filtered-X RLS algorithm is used to get faster convergence speed and stronger adaptability (in comparison with LMS algorithm). The results demonstrate the efficiency and adaptability of the ACSV-TD.展开更多
With the rapid expansion of drone applications,accurate detection of objects in aerial imagery has become crucial for intelligent transportation,urban management,and emergency rescue missions.However,existing methods ...With the rapid expansion of drone applications,accurate detection of objects in aerial imagery has become crucial for intelligent transportation,urban management,and emergency rescue missions.However,existing methods face numerous challenges in practical deployment,including scale variation handling,feature degradation,and complex backgrounds.To address these issues,we propose Edge-enhanced and Detail-Capturing You Only Look Once(EHDC-YOLO),a novel framework for object detection in Unmanned Aerial Vehicle(UAV)imagery.Based on the You Only Look Once version 11 nano(YOLOv11n)baseline,EHDC-YOLO systematically introduces several architectural enhancements:(1)a Multi-Scale Edge Enhancement(MSEE)module that leverages multi-scale pooling and edge information to enhance boundary feature extraction;(2)an Enhanced Feature Pyramid Network(EFPN)that integrates P2-level features with Cross Stage Partial(CSP)structures and OmniKernel convolutions for better fine-grained representation;and(3)Dynamic Head(DyHead)with multi-dimensional attention mechanisms for enhanced cross-scale modeling and perspective adaptability.Comprehensive experiments on the Vision meets Drones for Detection(VisDrone-DET)2019 dataset demonstrate that EHDC-YOLO achieves significant improvements,increasing mean Average Precision(mAP)@0.5 from 33.2%to 46.1%(an absolute improvement of 12.9 percentage points)and mAP@0.5:0.95 from 19.5%to 28.0%(an absolute improvement of 8.5 percentage points)compared with the YOLOv11n baseline,while maintaining a reasonable parameter count(2.81 M vs the baseline’s 2.58 M).Further ablation studies confirm the effectiveness of each proposed component,while visualization results highlight EHDC-YOLO’s superior performance in detecting objects and handling occlusions in complex drone scenarios.展开更多
Conventional locking/release mechanisms often face challenges in aircraft wing separation processes,such as excessive impact loads and insufficient synchronization.These may cause structural damage to the airframe or ...Conventional locking/release mechanisms often face challenges in aircraft wing separation processes,such as excessive impact loads and insufficient synchronization.These may cause structural damage to the airframe or attitude instability,seriously compromising mission reliability.To address this engineering challenge,this paper proposes a multi-point low-impact locking/release mechanism based on the mobility model and energy conversion strategy.Through establishing a DOF constraint framework system,this paper systematically analyzes the energy transfer and conversion characteristics during the wing separation process,reveals the generation mechanism of impact loads,and conducts research on low-impact design based on energy conversion strategy.Building on this foundation,a single-point locking/release mechanism employing parallel trapezoidal key shaft structure was designed,which increases frictional contact time and reduces the energy release rate,thereby achieving low-impact characteristics.The mechanism's performance was validated through physical prototype development and systematic functional testing(including unlocking force,synchronization,and impact tests).Experimental results demonstrate:(1)Under 14 kN preload condition,the maximum unlocking force was only 92.54 N,showing a linear relationship with preload that satisfies the"strong-connection/weak-unlock"design requirement;(2)Wing separation was completed within 46 ms,with synchronization time difference among three separation mechanisms stably controlled within 12-14 ms,proving rapid and reliable operation;(3)The unlocking impact acceleration ranged between 26 and 73 g,below the 100 g design limit,confirming the effectiveness of the energy conversion strategy.The proposed low-impact locking/release mechanism design method based on energy conversion strategy resolves the traditional challenges of high impact and synchronization deficiencies.The synergistic optimization mechanism of"structural load reduction and performance improvement"provides a highly reliable technical solution for wing separable mechanisms while offering novel design insights for wing connection/separation systems engineering.展开更多
An unsteady numerical simulation is conducted to examine the dynamic runback characteristics of a water film flow driven by a boundary layer airflow over a solid surface pertinent to the dynamic glaze ice accretion pr...An unsteady numerical simulation is conducted to examine the dynamic runback characteristics of a water film flow driven by a boundary layer airflow over a solid surface pertinent to the dynamic glaze ice accretion process over aircraft wing surfaces.The multiphase flow simulation results of the wind-driven water runback(WDWR)flow are compared quantitatively with the experimental results in terms of the time-dependent variations of the water film thickness profiles and evolution of the front contact point of the runback water film flow.The underlying mechanism of the intermittent water runback behavior is elucidated by analyzing the time evolution of the airflow velocity and vorticity fields above the runback water film flow over the solid surface.To the best knowledge of the authors,the work presented here is the first successful attempt to numerically examine the transient runback characteristics of WDWR flows.It serves as an excellent benchmark case for the development of best practices to model the important micro-physical processes responsible for the transient water transport over aircraft wing surfaces.展开更多
In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of un...In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.展开更多
This paper proposes a distributed nonsingular cooperative guidance law for multiple flight vehicles with Field-of-View(FOV)constraints.First,a novel time-to-go estimation is developed based on a FOV-constrained Propor...This paper proposes a distributed nonsingular cooperative guidance law for multiple flight vehicles with Field-of-View(FOV)constraints.First,a novel time-to-go estimation is developed based on a FOV-constrained Proportional Navigation Guidance(FPNG)law.Then,the FPNG law is augmented with a cooperative guidance term to achieve consensus of time-to-go with predefined-time convergence prior to the impact time.A continuous auxiliary function is introduced in the bias term to avoid the singularity of guidance command.Moreover,the proposed guidance law is extended to the three-dimensional guidance scenarios and the moving target with the help of a predicted interception point.Finally,several numerical simulations are conducted,and the results verify the effectiveness,robustness,and advantages of the proposed cooperative guidance law.展开更多
基金supported in part by the National Natural Science Foundation of China,Grant/Award Number:62003267the Key Research and Development Program of Shaanxi Province,Grant/Award Number:2023-GHZD-33Open Project of the State Key Laboratory of Intelligent Game,Grant/Award Number:ZBKF-23-05。
文摘To address the issue of instability or even imbalance in the orientation and attitude control of quadrotor unmanned aerial vehicles(QUAVs)under random disturbances,this paper proposes a distributed antidisturbance data-driven event-triggered fusion control method,which achieves efficient fault diagnosis while suppressing random disturbances and mitigating communication conflicts within the QUAV swarm.First,the impact of random disturbances on the UAV swarm is analyzed,and a model for orientation and attitude control of QUAVs under stochastic perturbations is established,with the disturbance gain threshold determined.Second,a fault diagnosis system based on a high-gain observer is designed,constructing a fault gain criterion by integrating orientation and attitude information from QUAVs.Subsequently,a model-free dynamic linearization-based data modeling(MFDLDM)framework is developed using model-free adaptive control,which efficiently fits the nonlinear control model of the QUAV swarm while reducing temporal constraints on control data.On this basis,this paper constructs a distributed data-driven event-triggered controller based on the staggered communication mechanism,which consists of an equivalent QUAV controller and an event-triggered controller,and is able to reduce the communication conflicts while suppressing the influence of random interference.Finally,by incorporating random disturbances into the controller,comparative experiments and physical validations are conducted on the QUAV platforms,fully demonstrating the strong adaptability and robustness of the proposed distributed event-triggered fault-tolerant control system.
基金co-supported by the National Natural Science Foundation of China(No.61903350)the Ministry of Education industry-university-research innovation project,China(No.2021ZYA02002)the Beijing Institute of Technology Research Fund Program for Young Scholars,China(No.3010011182130)。
文摘Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(RS-2025-00559546)supported by the IITP(Institute of Information&Coummunications Technology Planning&Evaluation)-ITRC(Information Technology Research Center)grant funded by the Korea government(Ministry of Science and ICT)(IITP-2025-RS-2023-00259004).
文摘The advent of sixth-generation(6G)networks introduces unprecedented challenges in achieving seamless connectivity,ultra-low latency,and efficient resource management in highly dynamic environments.Although fifth-generation(5G)networks transformed mobile broadband and machine-type communications at massive scales,their properties of scaling,interference management,and latency remain a limitation in dense high mobility settings.To overcome these limitations,artificial intelligence(AI)and unmanned aerial vehicles(UAVs)have emerged as potential solutions to develop versatile,dynamic,and energy-efficient communication systems.The study proposes an AI-based UAV architecture that utilizes cooperative reinforcement learning(CoRL)to manage an autonomous network.The UAVs collaborate by sharing local observations and real-time state exchanges to optimize user connectivity,movement directions,allocate power,and resource distribution.Unlike conventional centralized or autonomous methods,CoRL involves joint state sharing and conflict-sensitive reward shaping,which ensures fair coverage,less interference,and enhanced adaptability in a dynamic urban environment.Simulations conducted in smart city scenarios with 10 UAVs and 50 ground users demonstrate that the proposed CoRL-based UAV system increases user coverage by up to 10%,achieves convergence 40%faster,and reduces latency and energy consumption by 30%compared with centralized and decentralized baselines.Furthermore,the distributed nature of the algorithm ensures scalability and flexibility,making it well-suited for future large-scale 6G deployments.The results highlighted that AI-enabled UAV systems enhance connectivity,support ultra-reliable low-latency communications(URLLC),and improve 6G network efficiency.Future work will extend the framework with adaptive modulation,beamforming-aware positioning,and real-world testbed deployment.
文摘This paper presents the principle and critical factors of adaptive cancellation of structural vibration in time domain(ACSV-TD).Digital-analog simulations and model tests are conducted on cancelling forced vibration of a cantilever beam.Filtered-X RLS algorithm is used to get faster convergence speed and stronger adaptability (in comparison with LMS algorithm). The results demonstrate the efficiency and adaptability of the ACSV-TD.
文摘With the rapid expansion of drone applications,accurate detection of objects in aerial imagery has become crucial for intelligent transportation,urban management,and emergency rescue missions.However,existing methods face numerous challenges in practical deployment,including scale variation handling,feature degradation,and complex backgrounds.To address these issues,we propose Edge-enhanced and Detail-Capturing You Only Look Once(EHDC-YOLO),a novel framework for object detection in Unmanned Aerial Vehicle(UAV)imagery.Based on the You Only Look Once version 11 nano(YOLOv11n)baseline,EHDC-YOLO systematically introduces several architectural enhancements:(1)a Multi-Scale Edge Enhancement(MSEE)module that leverages multi-scale pooling and edge information to enhance boundary feature extraction;(2)an Enhanced Feature Pyramid Network(EFPN)that integrates P2-level features with Cross Stage Partial(CSP)structures and OmniKernel convolutions for better fine-grained representation;and(3)Dynamic Head(DyHead)with multi-dimensional attention mechanisms for enhanced cross-scale modeling and perspective adaptability.Comprehensive experiments on the Vision meets Drones for Detection(VisDrone-DET)2019 dataset demonstrate that EHDC-YOLO achieves significant improvements,increasing mean Average Precision(mAP)@0.5 from 33.2%to 46.1%(an absolute improvement of 12.9 percentage points)and mAP@0.5:0.95 from 19.5%to 28.0%(an absolute improvement of 8.5 percentage points)compared with the YOLOv11n baseline,while maintaining a reasonable parameter count(2.81 M vs the baseline’s 2.58 M).Further ablation studies confirm the effectiveness of each proposed component,while visualization results highlight EHDC-YOLO’s superior performance in detecting objects and handling occlusions in complex drone scenarios.
文摘Conventional locking/release mechanisms often face challenges in aircraft wing separation processes,such as excessive impact loads and insufficient synchronization.These may cause structural damage to the airframe or attitude instability,seriously compromising mission reliability.To address this engineering challenge,this paper proposes a multi-point low-impact locking/release mechanism based on the mobility model and energy conversion strategy.Through establishing a DOF constraint framework system,this paper systematically analyzes the energy transfer and conversion characteristics during the wing separation process,reveals the generation mechanism of impact loads,and conducts research on low-impact design based on energy conversion strategy.Building on this foundation,a single-point locking/release mechanism employing parallel trapezoidal key shaft structure was designed,which increases frictional contact time and reduces the energy release rate,thereby achieving low-impact characteristics.The mechanism's performance was validated through physical prototype development and systematic functional testing(including unlocking force,synchronization,and impact tests).Experimental results demonstrate:(1)Under 14 kN preload condition,the maximum unlocking force was only 92.54 N,showing a linear relationship with preload that satisfies the"strong-connection/weak-unlock"design requirement;(2)Wing separation was completed within 46 ms,with synchronization time difference among three separation mechanisms stably controlled within 12-14 ms,proving rapid and reliable operation;(3)The unlocking impact acceleration ranged between 26 and 73 g,below the 100 g design limit,confirming the effectiveness of the energy conversion strategy.The proposed low-impact locking/release mechanism design method based on energy conversion strategy resolves the traditional challenges of high impact and synchronization deficiencies.The synergistic optimization mechanism of"structural load reduction and performance improvement"provides a highly reliable technical solution for wing separable mechanisms while offering novel design insights for wing connection/separation systems engineering.
基金supported by the National Science Foundation(NSF)of the USA(Grant Nos.TIP-2140489,CBET-2313310,and CBET-2415347).
文摘An unsteady numerical simulation is conducted to examine the dynamic runback characteristics of a water film flow driven by a boundary layer airflow over a solid surface pertinent to the dynamic glaze ice accretion process over aircraft wing surfaces.The multiphase flow simulation results of the wind-driven water runback(WDWR)flow are compared quantitatively with the experimental results in terms of the time-dependent variations of the water film thickness profiles and evolution of the front contact point of the runback water film flow.The underlying mechanism of the intermittent water runback behavior is elucidated by analyzing the time evolution of the airflow velocity and vorticity fields above the runback water film flow over the solid surface.To the best knowledge of the authors,the work presented here is the first successful attempt to numerically examine the transient runback characteristics of WDWR flows.It serves as an excellent benchmark case for the development of best practices to model the important micro-physical processes responsible for the transient water transport over aircraft wing surfaces.
基金supported in part by the National Key R&D Program of China(No.2023YFB4704400)in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.
基金supported by the National Natural Science Foundation of China(No.91216304)。
文摘This paper proposes a distributed nonsingular cooperative guidance law for multiple flight vehicles with Field-of-View(FOV)constraints.First,a novel time-to-go estimation is developed based on a FOV-constrained Proportional Navigation Guidance(FPNG)law.Then,the FPNG law is augmented with a cooperative guidance term to achieve consensus of time-to-go with predefined-time convergence prior to the impact time.A continuous auxiliary function is introduced in the bias term to avoid the singularity of guidance command.Moreover,the proposed guidance law is extended to the three-dimensional guidance scenarios and the moving target with the help of a predicted interception point.Finally,several numerical simulations are conducted,and the results verify the effectiveness,robustness,and advantages of the proposed cooperative guidance law.
