This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain ma...This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.展开更多
As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.T...As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.The main goal of the current work is to propose an intelligent control of the wind turbine system without the need for model identification.For this purpose,a novel model-independent nonsingular terminal slidingmode control(MINTSMC)using the basic principles of the ultralocal model(ULM)and combined with the single input interval type-2 fuzzy logic control(SIT2-FLC)is developed for non-linear wind turbine pitch angle control.In the suggested control framework,the MINTSMC scheme is designed to regulate the wind turbine speed rotor,and a sliding-mode(SM)observer is adopted to estimate the unknown phenomena of the ULM.The auxiliary SIT2-FLC is added in the model-independent control structure to improve the rotor speed regulation and compensate for the SM observation estimation error.Extensive examinations and comparative analyses were made using a real-time softwarein-the-loop(RT-SiL)based on the dSPACE 1202 board to appraise the efficiency and applicability of the suggested modelindependent scheme in a real-time testbed.展开更多
An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop（HITL） platform for aircraf...An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop（HITL） platform for aircraft flight simulation based on MATLAB/Simulink ＋ dSPACE. The platform combines the abundant software and hardware resources of dSPACE simulation platform to simulate the flight attitude of an aircraft in six-DOF （ degree of freedom） motion. Based on the platform, the study was then focused on the flight numerical simulation by taking a loitering aerial vehicle as an example. An aircraft mathematical model was created for a modular design and off-line numerical simulation based on MATLAB/Simulink. Finally, the study was focused on the control system design of the loitering aerial vehicle and conduct of an HITL simulation experiment for the vehicle pitch control. The experiment verifies the system design and control effectiveness. Research results show that the dSPACE simulation system provides a real time good experimental platform to improve the efficiency of study and development of a flight control system.展开更多
To evaluate the software behavior of the electronic control unit （ECU） of automotive electrical parking brake （EPB）, a software- in-the-loop （SiL） simulation system is built. The EPB is simulated by ARX （auto-r...To evaluate the software behavior of the electronic control unit （ECU） of automotive electrical parking brake （EPB）, a software- in-the-loop （SiL） simulation system is built. The EPB is simulated by ARX （auto-regressive with auxiliary input） model, ARMAX （auto-regressive moving average with auxiliary input） model, and NNARMAX （neural network ARMAX） model. By system identification, the ARX（3,4,2）, ARX（4,4,2）, ARMAX（3,3,1,1）, and ARMAX（4,4,3,2） models are derived. Validation results show that the four-order ARMAX model and the NNARMAX model better simulate the actuator of the EPB.展开更多
CubeSats have become versatile platforms for various space missions(e.g.,on-orbit servicing and debris removal)owing to their low cost and flexibility.Many space tasks involve proximity operations that require precise...CubeSats have become versatile platforms for various space missions(e.g.,on-orbit servicing and debris removal)owing to their low cost and flexibility.Many space tasks involve proximity operations that require precise guidance,navigation,and control(GNC)algorithms.Vision-based navigation is attracting interest for such operations.However,extreme lighting conditions in space challenge optical techniques.The on-ground validation of such navigation systems for orbital GNC becomes crucial to ensure their reliability during space operations.These systems undergo rigorous testing within their anticipated operational parameters,including the exploration of potential edge cases.The ability of GNC algorithms to function effectively under extreme space conditions that exceed anticipated scenarios is crucial,particularly in space missions where the scope of errors is negligible.This paper presents the ground validation of a GNC algorithm designed for autonomous satellite rendezvous by leveraging hardware-in-the-loop experiments.This study focuses on two key areas.First,the rationale underlying the augmentation of the robot workspace(six-degree-of-freedom UR10e robot+linear rail)is investigated to emulate relatively longer trajectories with complete position and orientation states.Second,the control algorithm is assessed in response to uncertain pose observations from a vision-based navigation system.The results indicate increased control costs with uncertain navigation and exemplify the importance of on-ground testing for system validation before launch,particularly in extreme cases that are typically difficult to assess using software-based testing.展开更多
基金supported by the Fundamental Research Funds for the Central Universities(4007019109)(RECON-STRUCT)the Special Guiding Funds for Double First-class(4007019201)the Joint TU Delft-CSSC Project ‘Multi-agent Coordination with Networked Constraints’(MULTI-COORD)
文摘This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.
文摘As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.The main goal of the current work is to propose an intelligent control of the wind turbine system without the need for model identification.For this purpose,a novel model-independent nonsingular terminal slidingmode control(MINTSMC)using the basic principles of the ultralocal model(ULM)and combined with the single input interval type-2 fuzzy logic control(SIT2-FLC)is developed for non-linear wind turbine pitch angle control.In the suggested control framework,the MINTSMC scheme is designed to regulate the wind turbine speed rotor,and a sliding-mode(SM)observer is adopted to estimate the unknown phenomena of the ULM.The auxiliary SIT2-FLC is added in the model-independent control structure to improve the rotor speed regulation and compensate for the SM observation estimation error.Extensive examinations and comparative analyses were made using a real-time softwarein-the-loop(RT-SiL)based on the dSPACE 1202 board to appraise the efficiency and applicability of the suggested modelindependent scheme in a real-time testbed.
基金Sponsored by the Ministerial Level Advanced Research Foundation(A26020060253)
文摘An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop（HITL） platform for aircraft flight simulation based on MATLAB/Simulink ＋ dSPACE. The platform combines the abundant software and hardware resources of dSPACE simulation platform to simulate the flight attitude of an aircraft in six-DOF （ degree of freedom） motion. Based on the platform, the study was then focused on the flight numerical simulation by taking a loitering aerial vehicle as an example. An aircraft mathematical model was created for a modular design and off-line numerical simulation based on MATLAB/Simulink. Finally, the study was focused on the control system design of the loitering aerial vehicle and conduct of an HITL simulation experiment for the vehicle pitch control. The experiment verifies the system design and control effectiveness. Research results show that the dSPACE simulation system provides a real time good experimental platform to improve the efficiency of study and development of a flight control system.
基金Sichuan Province Key Discipline Con-struction for Automotive Engineering ( No.SZD0410 )Research Foundation of Xihua University (No.R0620301)
文摘To evaluate the software behavior of the electronic control unit （ECU） of automotive electrical parking brake （EPB）, a software- in-the-loop （SiL） simulation system is built. The EPB is simulated by ARX （auto-regressive with auxiliary input） model, ARMAX （auto-regressive moving average with auxiliary input） model, and NNARMAX （neural network ARMAX） model. By system identification, the ARX（3,4,2）, ARX（4,4,2）, ARMAX（3,3,1,1）, and ARMAX（4,4,3,2） models are derived. Validation results show that the four-order ARMAX model and the NNARMAX model better simulate the actuator of the EPB.
基金supported by the Luxembourg National Research Fund:INTER20/EUROSTARS/15254521/VBN/Olivares Mendez.The project,E115088-VBN,has received funding from the Eurostars-2 Joint Programme with cofunding from the European Union’s Horizon 2020 Research and Innovation Programme.
文摘CubeSats have become versatile platforms for various space missions(e.g.,on-orbit servicing and debris removal)owing to their low cost and flexibility.Many space tasks involve proximity operations that require precise guidance,navigation,and control(GNC)algorithms.Vision-based navigation is attracting interest for such operations.However,extreme lighting conditions in space challenge optical techniques.The on-ground validation of such navigation systems for orbital GNC becomes crucial to ensure their reliability during space operations.These systems undergo rigorous testing within their anticipated operational parameters,including the exploration of potential edge cases.The ability of GNC algorithms to function effectively under extreme space conditions that exceed anticipated scenarios is crucial,particularly in space missions where the scope of errors is negligible.This paper presents the ground validation of a GNC algorithm designed for autonomous satellite rendezvous by leveraging hardware-in-the-loop experiments.This study focuses on two key areas.First,the rationale underlying the augmentation of the robot workspace(six-degree-of-freedom UR10e robot+linear rail)is investigated to emulate relatively longer trajectories with complete position and orientation states.Second,the control algorithm is assessed in response to uncertain pose observations from a vision-based navigation system.The results indicate increased control costs with uncertain navigation and exemplify the importance of on-ground testing for system validation before launch,particularly in extreme cases that are typically difficult to assess using software-based testing.
