UAV shipboard landing poses significant challenges in terms of safety and efficiency,due to the oscillatory ship motion caused by wave interactions and wind gusts,especially in rough sea states.To solve this issue,a f...UAV shipboard landing poses significant challenges in terms of safety and efficiency,due to the oscillatory ship motion caused by wave interactions and wind gusts,especially in rough sea states.To solve this issue,a flight envelope constrained fixed-time control strategy is proposed to achieve a reliable UAV landing on a maneuvering ship.Firstly,a sliding data window autoregressive model is designed to predict the ship's roll and pitch motions,which are accordingly utilized to identify an appropriate quiescent period for safe landing.Subsequently,a barrier-function-based nonsingular terminal sliding mode controller is developed to eliminate the tracking errors within the identified quiescent period,while ensuring the errors remain bounded to satisfy flight envelope constraints.In particular,lumped disturbance components are estimated by integrating a fixed-time disturbance observer and compensated in the controller.The key advantage of the proposed approach is that it well balances the control requirements between precise landing position and safe landing attitude,guaranteeing both steady-state performance and transient behavior of the tracking error.Finally,comparative Gazebo simulations in different sea state scenarios are conducted to verify the satisfactory control performance.展开更多
In this paper,as for the unmanned air vehicle(UAV)under external disturbance,an attainable-equilibrium-set-based safety fight envelope(SFE)calculation method is proposed,based on which a prescribed performance protect...In this paper,as for the unmanned air vehicle(UAV)under external disturbance,an attainable-equilibrium-set-based safety fight envelope(SFE)calculation method is proposed,based on which a prescribed performance protection control scheme is presented.Firstly,the existing definition of the SFE based on attainable equilibrium set(AES)is extended to make it consistent and suitable for the UAV system under disturbance.Secondly,a higher-order disturbance observer(HODO)is developed to estimate the disturbances and the disturbance estimation is applied in the computation of the SFE.Thirdly,by using the calculated SFE,a desired safety trajectory based on the time-varying safety margin function and first-order filter is developed to prevent the states of the UAV system from exceeding the SFE.Moreover,an SFE protection controller is proposed by combining the desired safety trajectory,backstepping method,HODO design,and prescribed performance(PP)control technique.In particular,the closed-loop system is established on the basis of disturbance estimation error,filter error,and tracking error.Finally,the stability of the closed-loop system is verified by the Lyapunov stability theory,and the simulations are presented to illustrate the effectiveness of the proposed control scheme.展开更多
Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. Th...Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.展开更多
This paper presents the flight dynamical behavior of the thrust vectoring aircraft with extended bifurcation and continuation methods. In contrast to the standard bifurcation and continuation methods, the extended met...This paper presents the flight dynamical behavior of the thrust vectoring aircraft with extended bifurcation and continuation methods. In contrast to the standard bifurcation and continuation methods, the extended methods are capable of calculating the continuation curves of the equilibrium points for the particular type of trimming flight. Therefore, these methods can not only give the performance measures of aircraft, but also determine the stability of trimming points. In this paper, the methods are used to verify the effectiveness of the thrust vectoring control law, to define the flight envelope boundary, to analyze the stability and controllability of trimming flight, and to predict the departures of the instable flight. The result shows that the extended methods provide more flight dynamic information and are useful in preliminary design of the thrust vectoring aircraft.展开更多
Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） ...Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality（LMI）, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded（UUB） predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.展开更多
Artificial neural network (ANN) has a great capability of self learning. The application of neural network to flight controller design can get good result. This paper studies the method of choosing controller paramet...Artificial neural network (ANN) has a great capability of self learning. The application of neural network to flight controller design can get good result. This paper studies the method of choosing controller parameters using neural network with Back Propagation (B P) algorithm. Design and simulation results show that this method can be used in flight control system design.展开更多
Upset condition encountered by an aircraft in flight could pose great threat to flight safety, which is of chief importance in civil aviation. The causal factors have the nonlinear and multiple characteristics, and as...Upset condition encountered by an aircraft in flight could pose great threat to flight safety, which is of chief importance in civil aviation. The causal factors have the nonlinear and multiple characteristics, and as a result the conventional envelope protection system cannot successfully do with the condition. So dynamic envelope based on differential manifold theory, which can take more coupling factors into account, is proposed as a basis to design a novel envelope protection system. Then the relationship between the dynamic envelope and the control coefficient or pilot command is obtained, and the result shows that the dynamic envelope can be enlarged with the change of control coefficient. Furthermore, quantification of flight security is realized via defining relative distance between flight state and dynamic envelope, which can detect whether there is a risk for an aircraft in flight. Finally, an envelope protection system based on dynamic envelope enlargement is proposed on the basis. NASA＇s Generic Transport Model encountering hazard gust wind in climbing phase is taken as an example to verify the system＇s feasibility. The result shows that the system can give a better operation encountering upset condition and to a certain extent reduce the number of accidents or incidents.展开更多
针对一个并联式涡轮基组合循环(Turbine Based Combined Cycle,TBCC)发动机排气系统的气动方案,对其在整个飞行包线范围内典型工作点上的流场进行了数值模拟研究,获得了飞行包线范围内排气系统相应的推力系数、升力、俯仰力矩随飞行马...针对一个并联式涡轮基组合循环(Turbine Based Combined Cycle,TBCC)发动机排气系统的气动方案,对其在整个飞行包线范围内典型工作点上的流场进行了数值模拟研究,获得了飞行包线范围内排气系统相应的推力系数、升力、俯仰力矩随飞行马赫数的变化关系。计算结果显示,在整个飞行包线范围内,排气系统的轴向推力系数随着飞行马赫数先减小后增大,在跨声速飞行时降到最低Ma=0.9,涡喷不加力时为0.562,加力时0.662),在设计点附近达到最大;升力和俯仰力矩性能在亚声速及跨声速飞行时较差,在超声速飞行时随着飞行马赫数增加逐渐好转。表明排气系统在跨声速飞行范围内工作时应采取措施以改善其性能。展开更多
文摘UAV shipboard landing poses significant challenges in terms of safety and efficiency,due to the oscillatory ship motion caused by wave interactions and wind gusts,especially in rough sea states.To solve this issue,a flight envelope constrained fixed-time control strategy is proposed to achieve a reliable UAV landing on a maneuvering ship.Firstly,a sliding data window autoregressive model is designed to predict the ship's roll and pitch motions,which are accordingly utilized to identify an appropriate quiescent period for safe landing.Subsequently,a barrier-function-based nonsingular terminal sliding mode controller is developed to eliminate the tracking errors within the identified quiescent period,while ensuring the errors remain bounded to satisfy flight envelope constraints.In particular,lumped disturbance components are estimated by integrating a fixed-time disturbance observer and compensated in the controller.The key advantage of the proposed approach is that it well balances the control requirements between precise landing position and safe landing attitude,guaranteeing both steady-state performance and transient behavior of the tracking error.Finally,comparative Gazebo simulations in different sea state scenarios are conducted to verify the satisfactory control performance.
基金supported in part by the National Science Fund for Distinguished Young Scholars 61825302in part by the National Natural Science Foundation of China under Grant U2013201in part by the Key R&D projects(Social Development)in Jiangsu Province of China under Grant BE2020704.
文摘In this paper,as for the unmanned air vehicle(UAV)under external disturbance,an attainable-equilibrium-set-based safety fight envelope(SFE)calculation method is proposed,based on which a prescribed performance protection control scheme is presented.Firstly,the existing definition of the SFE based on attainable equilibrium set(AES)is extended to make it consistent and suitable for the UAV system under disturbance.Secondly,a higher-order disturbance observer(HODO)is developed to estimate the disturbances and the disturbance estimation is applied in the computation of the SFE.Thirdly,by using the calculated SFE,a desired safety trajectory based on the time-varying safety margin function and first-order filter is developed to prevent the states of the UAV system from exceeding the SFE.Moreover,an SFE protection controller is proposed by combining the desired safety trajectory,backstepping method,HODO design,and prescribed performance(PP)control technique.In particular,the closed-loop system is established on the basis of disturbance estimation error,filter error,and tracking error.Finally,the stability of the closed-loop system is verified by the Lyapunov stability theory,and the simulations are presented to illustrate the effectiveness of the proposed control scheme.
基金supported by the National Natural Science Foundation of China(Nos.61074027,61273083)
文摘Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.
文摘This paper presents the flight dynamical behavior of the thrust vectoring aircraft with extended bifurcation and continuation methods. In contrast to the standard bifurcation and continuation methods, the extended methods are capable of calculating the continuation curves of the equilibrium points for the particular type of trimming flight. Therefore, these methods can not only give the performance measures of aircraft, but also determine the stability of trimming points. In this paper, the methods are used to verify the effectiveness of the thrust vectoring control law, to define the flight envelope boundary, to analyze the stability and controllability of trimming flight, and to predict the departures of the instable flight. The result shows that the extended methods provide more flight dynamic information and are useful in preliminary design of the thrust vectoring aircraft.
文摘Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality（LMI）, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded（UUB） predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.
文摘Artificial neural network (ANN) has a great capability of self learning. The application of neural network to flight controller design can get good result. This paper studies the method of choosing controller parameters using neural network with Back Propagation (B P) algorithm. Design and simulation results show that this method can be used in flight control system design.
基金supported by the National Key Basic Research Program of China (No.2015CB755805)
文摘Upset condition encountered by an aircraft in flight could pose great threat to flight safety, which is of chief importance in civil aviation. The causal factors have the nonlinear and multiple characteristics, and as a result the conventional envelope protection system cannot successfully do with the condition. So dynamic envelope based on differential manifold theory, which can take more coupling factors into account, is proposed as a basis to design a novel envelope protection system. Then the relationship between the dynamic envelope and the control coefficient or pilot command is obtained, and the result shows that the dynamic envelope can be enlarged with the change of control coefficient. Furthermore, quantification of flight security is realized via defining relative distance between flight state and dynamic envelope, which can detect whether there is a risk for an aircraft in flight. Finally, an envelope protection system based on dynamic envelope enlargement is proposed on the basis. NASA＇s Generic Transport Model encountering hazard gust wind in climbing phase is taken as an example to verify the system＇s feasibility. The result shows that the system can give a better operation encountering upset condition and to a certain extent reduce the number of accidents or incidents.
文摘针对一个并联式涡轮基组合循环(Turbine Based Combined Cycle,TBCC)发动机排气系统的气动方案,对其在整个飞行包线范围内典型工作点上的流场进行了数值模拟研究,获得了飞行包线范围内排气系统相应的推力系数、升力、俯仰力矩随飞行马赫数的变化关系。计算结果显示,在整个飞行包线范围内,排气系统的轴向推力系数随着飞行马赫数先减小后增大,在跨声速飞行时降到最低Ma=0.9,涡喷不加力时为0.562,加力时0.662),在设计点附近达到最大;升力和俯仰力矩性能在亚声速及跨声速飞行时较差,在超声速飞行时随着飞行马赫数增加逐渐好转。表明排气系统在跨声速飞行范围内工作时应采取措施以改善其性能。
