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1.
D. Rotondo A. Cristofaro T. A. Johansen F. Nejjari V. Puig 《International journal of control》2018,91(8):1944-1961
This paper proposes a linear parameter varying (LPV) interval observer for state estimation and unknown inputs decoupling in uncertain continuous-time LPV systems. Two different problems are considered and solved: (1) the evaluation of the set of admissible values for the state at each instant of time; and (2) the unknown input observation, i.e. the design of the observer in such a way that some information about the nature of the unknown inputs affecting the system can be obtained. In both cases, analysis and design conditions, which rely on solving linear matrix inequalities (LMIs), are provided. The effectiveness and appeal of the proposed method is demonstrated using an illustrative application to a two-joint planar robotic manipulator. 相似文献
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基于未知输入观测器设计和故障诊断的概念,讨论含未知输入的Lipschitz条件下非线性广义系统传感器故障诊断问题。在非线性广义系统中,通过引入传感器的故障信号,重新构造非线性广义系统,设计基于未知输入观测器,在满足Lipschitz条件下,实现了传感器故障的检测与分离。给出数值仿真算例验证该算法的有效性。 相似文献
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In order to counteract actuator faults in formation flight of multiple unmanned aerial vehicles (UAVs), this paper presents a fault‐tolerant formation control (FTFC) design methodology, in which the reference generator and the finite‐time convergence of FTFC gains are explicitly considered. Feasible references in response to actuator faults can be generated by considering the health and mission conditions of an overall team of UAVs. Moreover, by applying an auxiliary integrated regressor matrix and vector method, FTFC gains can converge within a finite amount of time to facilitate the fault accommodation process. Thus, the negative effects resulting from failed actuators can be compensated by the healthy/redundant actuators in UAVs. Simulation studies of UAV formation flight are carried out to exemplify the effectiveness of this design approach. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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针对无人机实时路径规划问题,提出了一种基于双层决策的平滑路径规划方法,以弥补现有方法在复杂飞行环境中对路径平滑性优化的不足,增强路径的易跟踪性.本文首先给出路径平滑性度量,然后建模上、下层决策目标、威胁规避与无人机性能约束并引入变长规划时间,进而设计基于双层决策的路径规划模型.规划过程中通过嵌入启发式优化策略来进一步改善路径的全局与局部平滑度,并提高路径搜索效率.大量复杂场景中的仿真及与现有经典方法的对比结果表明:该方法能够实时避开复杂危险区域,规划适合飞行的、较短的平滑路径. 相似文献
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S. Bohacek E. A. Jonckheere 《Mathematics of Control, Signals, and Systems (MCSS)》2003,16(2-3):207-224
The connection between linear dynamically varying (LDV) systems and jump linear (JL) systems is explored. LDV systems have been used to model the error in nonlinear tracking problems. Some nonlinear systems, for example Axiom A systems, admit Markov partitions and their dynamics can be quantized as Markov chains. In this case the tracking error can be approximated by a JL system. It is shown that (i) JL controllers for arbitrarily fine partitions exist if and only if the LDV controller exists; (ii) the JL controller stabilizes the nonlinear dynamical system; (iii) JL controllers provide approximations of the LDV controller. Finally, it is shown that this process is robust against such errors in the probability structure as the inaccurate assumption that an easily constructed partition is Markov.
Date received: August 20, 2001. Date revised: June 5, 2003. This research was supported by National Science Foundation Grant ECS-98-02594. 相似文献
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随着无人机软硬件技术的发展,多无人机集群自组织形成的无人机自组网（Flying Ad-Hoc networks, FANETs）受到了越来越多的来自学术界和工业界的关注,其灵活的部署和快速的反应能力使其能高效地完成多种多样的任务。而无人机自组网路由协议是提高服务质量（Quality of service, QoS）最重要的方法之一,但无人机自组网的移动性和动态性给路由协议的设计带来了严峻的挑战。传统的移动路由协议不能很好地满足无人机自组网的路由需求,因此研究者们从基于拓扑、地理和分层的角度提出了各式各样的无人机自组网路由协议,旨在克服移动性和提高网络的服务质量,并指出未来无人机自组网的路由协议可以考虑机会路由、软件定义网络（Software defined network,SDN）决策和预测驱动决策等综合提高QoS。本文主要针对无人机自组网网络特征,从不同的路由方法出发,SDN对路由协议进行总结和归纳,并对未来的研究方向进行了展望。 相似文献
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Pei-Ming Liu;Xiang-Gui Guo;Jian-Liang Wang;Daniel Coutinho;Lihua Xie 《IEEE/CAA Journal of Automatica Sinica》2025,12(1):183-197
In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw channel.The control strategy begins with the design of a pre-specified performance event-triggered observer for each individual UAV.These observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer output.It is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur. 相似文献
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Nguyen Hung Francisco Rego Joao Quintas Joao Cruz Marcelo Jacinto David Souto Andre Potes Luis Sebastiao Antonio Pascoal 《野外机器人技术杂志》2023,40(3):747-779
This article presents an in-depth review of path following control strategies that are applicable to a wide range class of marine, ground, and aerial autonomous robotic vehicles. From a control system standpoint, path following can be formulated as the problem of stabilizing a path following error system that describes the dynamics of position and possibly orientation errors of a vehicle with respect to a path, with the errors defined in an appropriate reference frame. In spite of the large variety of path following methods described in the literature we show that, in principle, most of them can be categorized in two groups: stabilization of the path following error system expressed either in the vehicle's body frame or in a frame attached to a “reference point” moving along the path, such as a Frenet-Serret (F-S) frame or a Parallel Transport (P-T) frame. With this observation, we provide a unified formulation that is simple but general enough to cover many methods available in the literature. We then discuss the advantages and disadvantages of each method, comparing them from the design and implementation standpoint. We further show experimental results of the path following methods obtained from field trials testing with under-actuated and over-actuated autonomous marine vehicles. In addition, we introduce open-source Matlab and Gazebo/ROS simulation toolboxes that are helpful in testing path following methods before their integration in the combined guidance, navigation, and control systems of autonomous vehicles. 相似文献
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The design of reduced order observer for linear parameter varying (LPV) time-delay systems is addressed. Necessary conditions guaranteeing critical structural properties for the observation error dynamics are first provided through nonlinear algebraic matrix equalities. An explicit parametrisation of the family of observers fulfilling these necessary conditions is then derived. Finally, an approach based on linear matrix inequalities is provided and used to select a suitable observer within this family, according to some criterion; e.g. maximisation of the delay margin or guaranteed suboptimal ?2-gain. Examples from the literature illustrate the efficiency of the approach. 相似文献
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This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target sphere.Different from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper bound.Distinguishing from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as input.Then the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)theory.For the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching function.Meanwhile,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation keeping.The validity of the proposed control law is proved both in the rigorous theory and through numerical simulations. 相似文献
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In this paper, the unknown input observer (UIO) design for singular delayed linear parameter varying (LPV) systems is considered regarding its application to actuator fault detection and isolation. The design procedure assumes that the LPV system is represented in the polytopic framework. Existence and convergence conditions for the UIO are established. The design procedure is formulated by means of linear matrix inequalities (LMIs). Actuator fault detection and isolation is based on using the UIO approach for designing a residual generator that is completely decoupled from unknown inputs and exclusively sensitive to faults. Fault isolation is addressed considering two different strategies: dedicated and generalised bank of observers’ schemes. The applicability of these two schemes for the fault isolation is discussed. An open flow canal system is considered as a case study to illustrate the performance and usefulness of the proposed fault detection and isolation method in different fault scenarios. 相似文献
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A technique for model reduction of exponentially stable spatially interconnected systems is presented, where the order of the reduced model is determined by the number of truncated small generalised singular values of the structured solutions to a pair of Lyapunov inequalities. For parameter-invariant spatially interconnected systems, the technique is based on solving a pair of Lyapunov inequalities in continuous-time and -space domain with a rank constraint. Using log-det and cone complementarity methods, an improved error bound can be obtained. The approach is extended to spatially parameter-varying systems, and a balanced truncation approach using parameter-dependent Gramians is proposed to reduce the conservatism caused by the use of constant Gramians. This is done by considering two important operators, which can be used to represent multidimensional systems (temporal- and spatial-linear parameter varying interconnected systems). The results are illustrated with their application to an experimentally identified spatially interconnected model of an actuated beam; the experimentally obtained response to an excitation signal is compared with the response predicted by a reduced model. 相似文献
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针对大展弦比飞翼布局无人机的刚体运动与弹性运动耦合动力学模型,研究了输入有约束时的无人机姿态控制问题,提出了一种采用扩张状态观测器的反步滑模控制方法.首先,采用扩张状态观测器实时估计气动弹性模态和外界未知干扰的影响,并引入跟踪微分器避免了控制律中项数膨胀问题.然后,针对飞翼布局无人机多操纵面的配置和输入约束,给出了基于LMI的在线舵面分配算法.最后,针对指令滤波和输入约束情况下控制指令的滞后问题,设计了辅助补偿器对控制指令进行补偿.根据Lyapunov稳定性理论证明了该控制方法能够保证姿态跟踪误差收敛至有界,仿真表明存在复合干扰和输入约束时该方法具有良好的姿态跟踪性能. 相似文献
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基于多任务的无人机编队控制研究 总被引：2，自引：1，他引：2
考虑到多架无人机编队飞行的特点,将松散编队及协同思想应用到紧密编队控制中,提出了一个三架无人机协同作战编队的飞行控制系统设计方法;在编队飞行动力学模型的基础上,设计了基于特征结构配置的无人机横侧向控制律,进行指定航路的飞行控制;然后,设计编队控制器,两架僚机可紧紧跟随长机并保持队形稳定;仿真结果表明,设计的控制器可以控制多架无人机进行紧密编队飞行,具有一定的实用性和推广价值。 相似文献
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针对传统的无人机温度检测系统对于无人机机箱温度异变信号的检测实时性和准确较低的问题,设计并实现了基于DS18B20温度传感器关联模型的无人机机箱温度异变信号检测系统,根据温度在不同位置的测量值不同,建立不同位置的关联模型,利用温度传感器之间的关联系数λ,判断不同位置的温度信号是否正常,并对温度异变信号发出警报;硬件设计主要包括温度传感器检测电路、数据处理模块、声光报警模块等;软件设计主要包括工作流程、DS18B20实时温度传感器关联性的程序实现等;最后对无人机100次的飞行提取机箱检测温度进行试验实验,通过温度传感器DS18B20对无人机机箱实际的温度数据进行检测,结果表明:机箱内部模块周围温度变化与散热风扇周围的温度平均温度变化相差在0.5℃以内,在误差允许范围内,相关性很大;另外,与传统系统对比可知,该系统的检测准确率高达95%以上,且稳定性强,能为无人机的安全飞行提供了可靠保障。 相似文献
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随着我国低空空域对民用的开放,无人机 (Unmanned aerial vehicles, UAVs)的应用将是一个巨大的潜在市场. 目前,如何对轻便的无人机获取的图像进行全自动处理,是一项急需解决的瓶颈技术. 本文将探索如何将近年来在视频、图像领域获得巨大成功的三维重建技术应用到无人机图像处理领域, 对无人机图像进行全自动的大场景三维重建.本文首先给出了经典增量式三维重建方法Bundler在无人机图像处理中存在的问题, 然后通过分析无人机图像的辅助信息的特点,提出了一种基于批处理重建(Batch reconstruction)框架下的鲁棒无人机图像三维重建方法.多组无人机图像三维重建实验表明: 本文提出的方法在算法鲁棒性、三维重建效率与精度等方面都具有很好的结果. 相似文献
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Nianyin Zeng Xinyu Li Peishu Wu Han Li Xin Luo 《IEEE/CAA Journal of Automatica Sinica》2024,11(2):487-501
Unmanned aerial vehicles (UAVs) have gained significant attention in practical applications, especially the low-altitude aerial (LAA) object detection imposes stringent requirements on recognition accuracy and computational resources. In this paper, the LAA images-oriented tensor decomposition and knowledge distillation-based network (TDKD-Net) is proposed, where the TT-format TD (tensor decomposition) and equal-weighted response-based KD (knowledge distillation) methods are designed to minimize redundant parameters while ensuring comparable performance. Moreover, some robust network structures are developed, including the small object detection head and the dual-domain attention mechanism, which enable the model to leverage the learned knowledge from small-scale targets and selectively focus on salient features. Considering the imbalance of bounding box regression samples and the inaccuracy of regression geometric factors, the focal and efficient IoU (intersection of union) loss with optimal transport assignment (F-EIoU-OTA) mechanism is proposed to improve the detection accuracy. The proposed TDKD-Net is comprehensively evaluated through extensive experiments, and the results have demonstrated the effectiveness and superiority of the developed methods in comparison to other advanced detection algorithms, which also present high generalization and strong robustness. As a resource-efficient precise network, the complex detection of small and occluded LAA objects is also well addressed by TDKD-Net, which provides useful insights on handling imbalanced issues and realizing domain adaptation.
相似文献20.
This paper investigates the problem of quantized filtering for a class of discrete‐time linear parameter‐varying systems with Markovian switching under data missing. The measured output of the plant is quantized by a logarithmic mode‐independent quantizer. The data missing phenomenon is modeled by a stochastic variable. The purpose of the problem addressed is to design a full‐order filter such that the filtering error dynamics is stochastically stable and the prescribed noise attenuation level in the sense can be achieved. Sufficient conditions are derived for the existence of such filters in terms of parameterized linear matrix inequalities. Then the corresponding filter synthesis problem is transformed into a convex optimization problem that can be efficiently solved by using standard software packages. A simulation example is utilized to demonstrate the usefulness of the developed theoretical results. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献