In order to verify the feasibility of applying identification technology to engineering control of such air vehicles as missiles, by taking into consideration the flight authenticity, repeatability, safety and reliability, the unmanned aerial vehicle (UAV) similar to missile flight control is selected as the controlled object. Based on identification theory and control guidance theory, this paper firstly makes theoretical analysis on UAV's identification technology, and then conducts flight practice to verify the theory. Firstly, The feasibility of UAV's closed-loop identification and the generation of excitation signals are studied. Secondly, identification experiments platform, namely UAV system platform, is constructed, including hardware platform and such software platforms as control guidance, signal transmission and data collection. Thirdly, multiple flight identification experiments are conducted on UAV, thus obtaining identification data. Finally, the mathematical model of UAV is obtained through analyzing and processing data, and this model is verified in time domain and frequency domain. Through a series of simplification method, a mathematical model, which is available in engineering, simplified and close to reality, is achieved, and its correctness is verified at last. The results show that identification's theory and ideology can be entirely applied to the engineering practice controlled by actual air vehicles.
{"title":"Study on UAV flight based identification technology","authors":"Junkui Yao, Zaikang Qi, Fugui Li, Tao Guo","doi":"10.1049/CP.2012.1387","DOIUrl":"https://doi.org/10.1049/CP.2012.1387","url":null,"abstract":"In order to verify the feasibility of applying identification technology to engineering control of such air vehicles as missiles, by taking into consideration the flight authenticity, repeatability, safety and reliability, the unmanned aerial vehicle (UAV) similar to missile flight control is selected as the controlled object. Based on identification theory and control guidance theory, this paper firstly makes theoretical analysis on UAV's identification technology, and then conducts flight practice to verify the theory. Firstly, The feasibility of UAV's closed-loop identification and the generation of excitation signals are studied. Secondly, identification experiments platform, namely UAV system platform, is constructed, including hardware platform and such software platforms as control guidance, signal transmission and data collection. Thirdly, multiple flight identification experiments are conducted on UAV, thus obtaining identification data. Finally, the mathematical model of UAV is obtained through analyzing and processing data, and this model is verified in time domain and frequency domain. Through a series of simplification method, a mathematical model, which is available in engineering, simplified and close to reality, is achieved, and its correctness is verified at last. The results show that identification's theory and ideology can be entirely applied to the engineering practice controlled by actual air vehicles.","PeriodicalId":409966,"journal":{"name":"Proceedings of the 29th Chinese Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130299823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-29DOI: 10.1080/00207179.2014.896478
Chong Wang, Xiao Yu, Weiyao Lan
This paper addresses the semi-global output regulation problem of linear systems with actuator saturation by composite nonlinear feedback (CNF) control. The CNF control law is constructed in the base of the linear control law which is designed by low gain feedback technique. It is shown that the solvability of the semi-global output regulation problem by CNF control is the same as that of the semi-global output regulation problem by linear control. However, by introducing a nonlinear part in the CNF control, the CNF control law can be applied to improve the transient performance of the closed-loop system.
{"title":"Output regulation for linear systems with input saturation by composite nonlinear feedback control","authors":"Chong Wang, Xiao Yu, Weiyao Lan","doi":"10.1080/00207179.2014.896478","DOIUrl":"https://doi.org/10.1080/00207179.2014.896478","url":null,"abstract":"This paper addresses the semi-global output regulation problem of linear systems with actuator saturation by composite nonlinear feedback (CNF) control. The CNF control law is constructed in the base of the linear control law which is designed by low gain feedback technique. It is shown that the solvability of the semi-global output regulation problem by CNF control is the same as that of the semi-global output regulation problem by linear control. However, by introducing a nonlinear part in the CNF control, the CNF control law can be applied to improve the transient performance of the closed-loop system.","PeriodicalId":409966,"journal":{"name":"Proceedings of the 29th Chinese Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124136836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Haifeng Li, Jingtai Liu, Yan Li, Xiang Lu, Lei Sun
This paper presents a novel approach for image-based visual servo of a robot manipulator with an eye-in-hand configuration when the camera parameters are not calibrated and the trajectory of the moving object is not predicted. Firstly, the expression of the image Jacobian matrix for the eye-in-hand configuration, namely extended image Jacobian matrix, is proposed, then an update law is designed to estimate the extended image Jacobian online. Furthermore, a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of the image errors. No assumption for the moving objects is needed. Finally, Both simulation and experimental results are shown to support the approach in this paper.
{"title":"Visual servoing with an uncalibrated eye-in-hand camera","authors":"Haifeng Li, Jingtai Liu, Yan Li, Xiang Lu, Lei Sun","doi":"10.5772/6222","DOIUrl":"https://doi.org/10.5772/6222","url":null,"abstract":"This paper presents a novel approach for image-based visual servo of a robot manipulator with an eye-in-hand configuration when the camera parameters are not calibrated and the trajectory of the moving object is not predicted. Firstly, the expression of the image Jacobian matrix for the eye-in-hand configuration, namely extended image Jacobian matrix, is proposed, then an update law is designed to estimate the extended image Jacobian online. Furthermore, a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of the image errors. No assumption for the moving objects is needed. Finally, Both simulation and experimental results are shown to support the approach in this paper.","PeriodicalId":409966,"journal":{"name":"Proceedings of the 29th Chinese Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129915709","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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