基于事件触发的异构多智能体最优包含控制

针对异构多智能体系统的输出包含控制问题,提出一种基于边的事件触发最优控制协议,保证所有跟随者的输出能进入到由领航者的输出所形成的凸包中。同时,使系统达到最优性能,最小化控制代价。考虑到不是所有的跟随者都可获得领航者的信息,提出一种基于边的分布式事件触发观测器,估计领航者输出形成的凸包内点的轨迹。设计加权代价函数评价包含控制的性能,并将输出包含问题转化为最优状态反馈控制设计问题。利用贝尔曼方程和黎卡提方程,给出异构多智能体系统最优输出包含控制的参数设计。选择不同类型的机器人构成多智能体系统,验证算法的有效性。     

基于鲁棒故障观测器的非线性离散系统容错控制设计

针对存在执行器故障以及未知干扰的非线性离散系统,提出了一种鲁棒故障估计与容错控制方法。首先在未知系统干扰作用下,设计鲁棒故障观测器实现系统状态和执行器故障的同步估计;然后根据鲁棒故障观测器得到的系统状态估计和故障估计信息设计容错控制器,进行状态反馈容错控制,同时基于D稳定与H_∞控制理论对鲁棒故障观测器和容错控制器进行设计,实现了多约束条件下的故障估计与容错控制;最后用飞行控制系统模型验证了所提方法的有效性。     

Distributed coordinated control scheme of UAV swarm based on heterogeneous roles

This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV) swarm to achieve formation control. First, the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC). Then, the effect of heterogeneous roles including leader, coordinator and follower is discussed, and the role-based cost functions are developed to improve the performance of coordinated control for...     

Event-triggered control for containment maneuvering of second-order MIMO multi-agent systems with unmatched uncertainties and disturbances

This paper is concerned with distributed containment maneuvering of second-order Multi-Input Multi-Output(MIMO) multi-agent systems with non-periodic communication and actuation. The agent is subject to unmatched nonlinear dynamics and external disturbances.Event-triggered containment maneuvering control methods is developed based on a modular design. Specifically, an estimator module is constructed based on neural networks and the nonperiodic obtained follower information through event-triggere...     

无人机-无人车异构时变编队控制与扰动抑制

研究了无人机-无人车异构系统时变输出编队控制与扰动抑制问题,要求多无人机与无人车在受到未知外部扰动的情况下,保持设计的输出时变编队构型。首先,对无人机与无人车进行单体运动学与动力学建模,同时建立扰动模型,并引入代数图论概念,建立异构集群系统的协同控制模型。然后,对各无人机-无人车设计了具有分层架构的分布式时变输出编队控制器,包含基于一致性理论的编队中心估计项和基于内模原理的扰动抑制补偿项。进一步分析异构系统实现输出时变编队的可行性条件,给出了分布式编队控制器的参数选取算法,并证明了时变编队控制器构成的闭环系统的稳定性。最后,通过仿真算例来验证所设计的编队控制器的有效性。     

Adaptive event-triggered distributed optimal guidance design via adaptive dynamic programming

In this paper, the multi-missile cooperative guidance system is formulated as a general nonlinear multi-agent system. To save the limited communication resources, an adaptive eventtriggered optimal guidance law is proposed by designing a synchronization-error-driven triggering condition, which brings together the consensus control with Adaptive Dynamic Programming(ADP) technique. Then, the developed event-triggered distributed control law can be employed by finding an approximate solution of eve...     

Adaptive dynamic surface control of NSVs with input saturation using a disturbance observer

An adaptive dynamic surface control(DSC)scheme is proposed for the multi-input and multi-output(MIMO)attitude motion of near-space vehicles(NSVs)in the presence of external disturbance,system uncertainty and input saturation.The external disturbance and the system uncertainty are efficiently tackled using a Nussbaum disturbance observer(NDO),and the adaptive controller is constructed by combining the dynamic surface control technique to handle the problem of‘‘explosion of complexity’’inherent in the conventional backstepping method.For handling the input saturation,an auxiliary system is designed with the same order as that of the studied MIMO attitude system.Using the error between the saturation input and the desired control input as the input of the designed auxiliary system,a series of signals are generated to compensate for the effect of the saturation in the dynamic surface control design.It is proved that the developed control scheme can guarantee that all signals of the closed-loop control system are semi-globally uniformly bounded.Finally,simulation results illustrate that the proposed control scheme can achieve satisfactory tracking performance under the composite effects of the input saturation and the external disturbance.     

Adaptive vector field based accurate homing control of aerial delivery systems

This paper investigates the homing control problem of a flexible aerial delivery system with external wind, at-mospheric turbulence, and aerodynamic uncertainties. An accurate homing control strategy is presented, consisting of a trajectory generation algorithm and a lateral tracking controller. A high-altitude trajectory generation is de-veloped with system characteristics explicitly considered to generate the desired trajectory for the aerial delivery control system design. It significantly compensates for the altitude deviation of the existing multiphase theory based trajectory generation methodologies. A novel adaptive vector field control law is then designed to accom-plish the lateral tracking maneuvers. The key feature of the proposed method is that the complete lateral closed-loop control, including position and heading angle loops, is achieved in the presence of disturbances and dynamic uncertainties. The homing control with high landing accuracy is therefore achieved. Simulation and hardware-in-loop testing results are finally presented to validate the proposed method’s effectiveness compared to a conventional homing control scheme.     

A homogenization-planning-tracking method to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems

Taxiing aircraft and towed aircraft with drawbar are two typical dispatch modes on the flight deck of aircraft carriers. In this paper, a novel hierarchical solution strategy, named as the Homogenization-Planning-Tracking (HPT) method, to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems is developed. In the homogenization layer, any towed aircraft system involved in the sortie task is abstracted into a virtual taxiing aircraft. This layer transforms the heterogeneous systems into a homogeneous configuration. Then in the planning layer, a centralized optimal control problem is formulated for the homogeneous system. Compared with conducting the path planning directly with the original heterogeneous system, the homogenization layer contributes to reduce the dimension and nonlinearity of the formulated optimal control problem in the planning layer and consequently improves the robustness and efficiency of the solution process. Finally, in the tracking layer, a receding horizon controller is developed to track the reference trajectory obtained in the planning layer. To improve the tracking performance, multi-objective optimization techniques are implemented offline in advance to determine optimal weight parameters used in the tracking layer. Simulations demonstrate that smooth and collision-free cooperative trajectory can be generated efficiently in the planning phase. And robust trajectory tracking can be realized in the presence of external disturbances in the tracking phase. The developed HPT method provides a promising solution to the autonomous deck dispatch for unmanned carrier aircraft in the future.     

基于LMI的不确定线性系统观测器设计

研究了不确定线性系统的观测器设计问题。利用凸优化理论将基于线性矩阵不等８式（ ＬＭＩ）的观测器设计转换为鲁棒控制器设计,给出了标准的ＬＭＩ形式。采用该方法的设计过程只需求解三个线性矩阵不等式就可得到鲁棒控制器。在航空发动机控制应用中表明,基于ＬＭＩ的观测器对于具有干扰的系统仍然能保持系统稳定,数值仿真表明控制效果优于文献「１」的结果。     

Roll-pitch-yaw autopilot design for nonlinear time-varying missile using partial state observer based global fast terminal sliding mode control

The acceleration autopilot design for skid-to-turn (STT) missile faces a great challenge owing to coupling effect among planes, variation of missile velocity and its parameters, inexistence of a complete state vector, and nonlinear aerodynamics. Moreover, the autopilot should be designed for the entire flight envelope where fast variations exist. In this paper, a design of inte-grated roll-pitch-yaw autopilot based on global fast terminal sliding mode control (GFTSMC) with a partial state nonlinear observer (PSNLO) for STT nonlinear time-varying missile model, is employed to address these issues. GFTSMC with a novel sliding surface is proposed to nullify the integral error and the singularity problem without application of the sign function. The pro-posed autopilot consisting of two-loop structure, controls STT maneuver and stabilizes the rolling with a PSNLO in order to estimate the immeasurable states as an output while its inputs are missile measurable states and control signals. The missile model considers the velocity variation, gravity effect and parameters’ variation. Furthermore, the environmental conditions’ dynamics are mod-eled. PSNLO stability and the closed loop system stability are studied. Finally, numerical simula-tion is established to evaluate the proposed autopilot performance and to compare it with existing approaches in the literature.     

Distributed event-triggered adaptive control for second-order nonlinear uncertain multi-agent systems

In this paper, the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered. The dynamics of subsystems are second-order with similar structures, and the nodes are connected by undirected graphs. The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators, and from the sensors to the controllers within each agent, but also in the communication between agents. Based on the adaptive backstepping method, extra estimators are introduced to handle the unknown parameters, and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals. The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided. Meanwhile, the update frequency of the controllers and the load of communication burden are vastly reduced. The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system, and the simulation results show the effectiveness and advantages of our proposed method.     

Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer(FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multiquadrotor system is separated into two ...     

不确定航空发动机分布式控制系统自适应滑模控制

针对存在参数摄动、外部干扰的航空发动机不确定性分布式控制系统,在系统具有时变输入时延和干扰上界未知的情况下,设计了具有鲁棒性能的自适应滑模控制器。基于预测控制和矩阵奇异值理论,对初始的发动机离散分布式模型进行等效线性变换,得到不显含时延项的规范形系统模型,便于进行滑模面参数的求解;在给定的H∞指标下,推导了滑模运动在非匹配不确定性作用下渐进稳定的充分条件,给出了线性矩阵不等式(LMI)形式的滑模面参数设计方法;最后,设计对干扰具有估计功能的自适应率,在此基础上提出自适应滑模控制器。仿真结果表明:所设计的控制器能够有效降低外部干扰对系统动态性能的影响,在所考虑的不确定性因素作用下,系统的滑模运动具有理想的H∞性能。当外部干扰强度变化时,控制器的鲁棒性较好,状态收敛时间小于0.8s,且不存在抖振。      

航天器姿控系统的PD型学习观测器故障重构

针对满足Lipschitz条件的航天器姿态控制系统这一非线性系统中存在的执行器加性故障、空间干扰与测量噪声问题,提出了基于PD型迭代学习观测器的故障重构方法。该方法具有期望的鲁棒性能指标,能够在系统存在空间干扰与测量噪声情况下实现对突变故障与时变故障等故障类型的精确重构。基于线性矩阵不等式技术给出系统化PD型迭代学习观测器的设计方法,并根据Lyapunov稳定性理论对上述设计方法的稳定性条件进行了理论证明,同时利用鲁棒技术抑制空间干扰与测量噪声对执行器故障重构的影响,通过线性矩阵不等式工具箱求解观测器参数矩阵。最后,将该方法应用到航天器姿态控制系统中,仿真结果证明了该方法的有效性。     

一类非线性系统的神经网络自适应控制

针对一类单输入单输出不确定非仿射型非线性系统,基于多层神经网络提出了一种直接自适应控制方法。该设计方法首先应用多层神经网络自适应模拟逼近逆解中的未知部分,然后应用逆设计和自适应反演设计出虚拟控制量,最后应用反馈线性化设计方法和神经网络设计了直接自适应控制律。并利用Lyapunov稳定性定理推导了神经网络的参数调节律,保证了闭环系统的所有信号均最终一致有界。     

双目标约束下的航空发动机分布式控制系统最优保成本容错控制

针对带参数摄动、Markov时延、数据丢包和外部干扰的航空发动机分布式控制系统,研究了当执行机构发生部分失效故障时的被动容错控制问题,在H∞性能指标和成本性能指标双重约束下设计了最优保成本容错控制器.首先对系统模型中的各不确定参数进行量化描述,并在此基础上建立整个闭环系统的增广模型;其次证明了双目标约束下闭环系统渐进稳定的充分条件,并给出保成本容错控制器的设计方法;基于双目标相容性理论,得到最优保成本容错控制律的求解方法.仿真结果表明最优保成本容错控制器能够在执行机构发生区间内的任一随机故障时保证闭环系统渐进稳定,并具备一定的H∞性能.且当发动机低压转子转速发生1%阶跃变化时,最优保成本容错控制器的主燃油流量和尾喷管临界截面积峰值仅为最优鲁棒H∞容错控制器的16.03%和16.93%.     

水面无人艇集群编队控制技术综述

随着海上作业任务的日渐复杂以及水面无人艇控制理论的发展，单水面无人艇航行控制能力的局限性逐渐显现，集群编队控制技术得到了广泛关注。针对水面无人艇集群编队控制技术，分析了当前国内外应用情况与技术研究现状，重点从典型编队队形适用性、编队控制系统结构形式、编队协同控制方法、编队控制通信技术及异构条件下协同控制技术等方面分析了水面无人艇集群编队控制技术的研究进展。最后，进行了总结和展望，以期为水面无人艇集群编队控制技术的研究提供有益的参考。     

未知控制方向的严反馈非线性系统神经网络自适应控制

针对一类未知控制方向的单输入单输出严反馈非线性系统,提出一种神经网络自适应控制方法。首先应用Nussbaum型函数解决控制系数符号未知问题,然后应用RBF神经网络和反演设计方法对系统进行系统化设计。该控制方法放宽了现有文献中许多苛刻的条件,如匹配条件、增长条件等,避免了控制器奇异问题,同时解决了反演设计中的“计算膨胀”问题,并应用Lyapunov稳定性理论证明了闭环系统的全局稳定性。最后给出了数字仿真实例,证明了该设计方法的有效性。     

Adaptive sliding mode control for limit protection of aircraft engines

In practice, some sensors of aircraft engines naturally fail to obtain an acceptable measurement for control propose, which will severely degrade the system performance and even deactivate the limit protection function. This paper proposes an adaptive strategy for the limit protection task under unreliable measurement. With the help of a nominal system, an online estimator with gradient adaption law and low-pass filter is devised to evaluate output uncertainty. Based on the estimation result, a sliding mode controller is designed by defining a sliding surface and deriving a control law. Using Lyapunov theorem, the stability of the online estimator and the closed-loop system is detailedly proven. Simulations based on a reliable turbofan model are presented, which verify the stability and effectiveness of the proposed method. Simulation results show that the online estimator can operate against the measurement noise, and the sliding controller can keep relevant outputs within their limits despite slow-response sensors.