In order to improve the control performance of the aircraft and achieve on-line control, it is necessary to obtain the stability margin of the system in real time and design online attitude controller. In this paper, the stability margin online identification method is studied. Based on the Chirp-Z transform and frequency response estimation method, excitation signals are added to obtain the system’s stability margin online. Simulation results show that the method proposed has high recognition accuracy and can be applied to real aircraft and used in online controller design.
{"title":"Online Identification of Stability Margin Based on Frequency Response Estimation","authors":"Yuhang Wang, Mengyu Liu, Kunfeng Lu, Huiping Zhang, Xingda Xia","doi":"10.1109/GNCC42960.2018.9019003","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019003","url":null,"abstract":"In order to improve the control performance of the aircraft and achieve on-line control, it is necessary to obtain the stability margin of the system in real time and design online attitude controller. In this paper, the stability margin online identification method is studied. Based on the Chirp-Z transform and frequency response estimation method, excitation signals are added to obtain the system’s stability margin online. Simulation results show that the method proposed has high recognition accuracy and can be applied to real aircraft and used in online controller design.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"32 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76428032","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018728
Huan Huang, Wei-wei Cai, Fudong Chu, Le-ping Yang
Spacecraft relative motion control with inter-craft electromagnetic force has distinct advantages, and its invariant shapes which are convenient for formation keeping ensure some significant potential applications. However, the electromagnetic actuators affect both the relative trajectory and attitude motion, complicating related studies on issues of invariant shape design and formation control. This paper mainly focuses on the formation keeping control for three-craft electromagnetic formation with triangular invariant shape on the basis of a 6-DOF full nonlinear dynamic model. Considering the high nonlinearity, strong coupling, model uncertainties and external disturbances, a combined control scheme involving feed-forward and feedback control components is proposed. The feed-forward component is obtained through desired invariant shape design which is complicated by the superposition and coupling effects of any two distinct magnetic dipoles. The feedback component is realized utilizing linear feedback controller based on the LQR method and active disturbance rejection control based on the extended state observer. Finally, the numerical simulation is presented to verify the feasibility and validity of the proposed 6-DOF control scheme.
{"title":"6-DOF Formation Keeping Control for Three-Craft Electromagnetic Formation with Triangular Invariant Shape*","authors":"Huan Huang, Wei-wei Cai, Fudong Chu, Le-ping Yang","doi":"10.1109/GNCC42960.2018.9018728","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018728","url":null,"abstract":"Spacecraft relative motion control with inter-craft electromagnetic force has distinct advantages, and its invariant shapes which are convenient for formation keeping ensure some significant potential applications. However, the electromagnetic actuators affect both the relative trajectory and attitude motion, complicating related studies on issues of invariant shape design and formation control. This paper mainly focuses on the formation keeping control for three-craft electromagnetic formation with triangular invariant shape on the basis of a 6-DOF full nonlinear dynamic model. Considering the high nonlinearity, strong coupling, model uncertainties and external disturbances, a combined control scheme involving feed-forward and feedback control components is proposed. The feed-forward component is obtained through desired invariant shape design which is complicated by the superposition and coupling effects of any two distinct magnetic dipoles. The feedback component is realized utilizing linear feedback controller based on the LQR method and active disturbance rejection control based on the extended state observer. Finally, the numerical simulation is presented to verify the feasibility and validity of the proposed 6-DOF control scheme.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"206 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76066507","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018856
Wu Yunyan, Wang Yueping, Yang Mingchao, Liu Wei
For the wheeled and single-side armed UAV with high aspect ratio, the single-side wingtip will contact the ground if the lateral control command exceeds the predetermined roll command limiter for flaring, which brings the UAV into a dangerous situation. This paper proposed a new lateral control method with surface estimator to land the UAV automatically and safely. Through analyzing the control structure and the influence of single-side armed bomb, a surface estimator is provided to estimate the steady surface deflects at the end of sliding and compensated to the actuator control loop when flaring. Finally, simulation results show that the estimator is valid and the results are correct.
{"title":"A method of surface estimator of automatic landing for high-aspect-ratio UAV with single side armed","authors":"Wu Yunyan, Wang Yueping, Yang Mingchao, Liu Wei","doi":"10.1109/GNCC42960.2018.9018856","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018856","url":null,"abstract":"For the wheeled and single-side armed UAV with high aspect ratio, the single-side wingtip will contact the ground if the lateral control command exceeds the predetermined roll command limiter for flaring, which brings the UAV into a dangerous situation. This paper proposed a new lateral control method with surface estimator to land the UAV automatically and safely. Through analyzing the control structure and the influence of single-side armed bomb, a surface estimator is provided to estimate the steady surface deflects at the end of sliding and compensated to the actuator control loop when flaring. Finally, simulation results show that the estimator is valid and the results are correct.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"54 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86470946","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018980
Jingfeng Xiong, Shiqiang Hu, Rentai Zhu
This paper presents the design and implementation of a real-time face tracking system based on a multirotor UAV platform. Since the research on implementation of UAV target tracking system lack the tracking control along depth direction in image coordinate, and the research on 3D visual servo tracking control based on state feedback controller is hard to implement, we propose to utilize the face detection module to provide with the position and size data of the target face and then track the face along 3D directions based on a modified mean shift tracking algorithm and PD controller. We implement the system using ROS, the experiment shows that the system can give an effective tracking performance while tracking a stationary target face in the designed experiment scenario.
{"title":"Implementation of Face Tracking System with a Multirotor UAV","authors":"Jingfeng Xiong, Shiqiang Hu, Rentai Zhu","doi":"10.1109/GNCC42960.2018.9018980","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018980","url":null,"abstract":"This paper presents the design and implementation of a real-time face tracking system based on a multirotor UAV platform. Since the research on implementation of UAV target tracking system lack the tracking control along depth direction in image coordinate, and the research on 3D visual servo tracking control based on state feedback controller is hard to implement, we propose to utilize the face detection module to provide with the position and size data of the target face and then track the face along 3D directions based on a modified mean shift tracking algorithm and PD controller. We implement the system using ROS, the experiment shows that the system can give an effective tracking performance while tracking a stationary target face in the designed experiment scenario.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"35 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86327696","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019173
Wentao Liu, Jieyu Liu, Xiaogang Zhou, Qiang Shen
In order to further understand its composition, we use Hilbert-Huang transform to analyze the output signal of the fiber optic gyroscope. First, we use empirical mode decom-position (EMD) to process the original signal, and then we can obtain a series of intrinsic mode functions (IMF). After the Hilbert-Huang transform, the three-dimensional time-frequency spectrum of the IMF is finally received according to the instantaneous parameters of the IMF. In addition, compared with the traditional Allan variance’s object of analysis, in this paper, the method is carried out in the frequency domain for every IMF. On the whole, in contrast with the conventional time-frequency analysis method, such as wavelet time-frequency analysis method, in terms of adaptability and accuracy, the means used in this paper is worth mentioning.
{"title":"Time-Frequency Analysis of Fiber Optic Gyro Based on HilbertHuang Transform","authors":"Wentao Liu, Jieyu Liu, Xiaogang Zhou, Qiang Shen","doi":"10.1109/GNCC42960.2018.9019173","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019173","url":null,"abstract":"In order to further understand its composition, we use Hilbert-Huang transform to analyze the output signal of the fiber optic gyroscope. First, we use empirical mode decom-position (EMD) to process the original signal, and then we can obtain a series of intrinsic mode functions (IMF). After the Hilbert-Huang transform, the three-dimensional time-frequency spectrum of the IMF is finally received according to the instantaneous parameters of the IMF. In addition, compared with the traditional Allan variance’s object of analysis, in this paper, the method is carried out in the frequency domain for every IMF. On the whole, in contrast with the conventional time-frequency analysis method, such as wavelet time-frequency analysis method, in terms of adaptability and accuracy, the means used in this paper is worth mentioning.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"95 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86599428","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018668
Mengyao Wu, Yong-Ting Wang
For improving the platform tracking performance, the ground target tracking fusion based on platform-level multi-source heterogeneous sensors was studied. The association of the target’s state information was built using gray algorithms, and then the results were further tested by the recognition confidence of target type using evidence theory. Additionally, with assistance of road information, the ground target tracking model sets and filter are designed for the tracking. The effectiveness of the algorithm was verified by simulation.
{"title":"A Single-Platform Multi-Sensor Ground Target Tracking Algorithm","authors":"Mengyao Wu, Yong-Ting Wang","doi":"10.1109/GNCC42960.2018.9018668","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018668","url":null,"abstract":"For improving the platform tracking performance, the ground target tracking fusion based on platform-level multi-source heterogeneous sensors was studied. The association of the target’s state information was built using gray algorithms, and then the results were further tested by the recognition confidence of target type using evidence theory. Additionally, with assistance of road information, the ground target tracking model sets and filter are designed for the tracking. The effectiveness of the algorithm was verified by simulation.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"72 2","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91512698","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019198
Xiaofeng Xu, Qingxian Wu, Mou Chen
This paper considers the problem of the attitude control for flexible spacecraft with disturbances, actuator fault and time delay. The disturbances include the bounded environmental disturbances and the disturbance caused by the vibration of the flexible appendages. A composite control structure, which includes unknown input observer control (UIO) and delay dependent H∞ control, is proposed to achieve a stable control of the attitude angle and attitude angular velocity, and a decomposition coefficient of delay integral inequality is introduced to reduce the design algorithm conservatism. Finally, simulation results are given to show the effectiveness of the proposed method.
{"title":"A Composite Unknown Input Observer and H∞ Control Strategy for Flexible Spacecraft with Time Delay","authors":"Xiaofeng Xu, Qingxian Wu, Mou Chen","doi":"10.1109/GNCC42960.2018.9019198","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019198","url":null,"abstract":"This paper considers the problem of the attitude control for flexible spacecraft with disturbances, actuator fault and time delay. The disturbances include the bounded environmental disturbances and the disturbance caused by the vibration of the flexible appendages. A composite control structure, which includes unknown input observer control (UIO) and delay dependent H∞ control, is proposed to achieve a stable control of the attitude angle and attitude angular velocity, and a decomposition coefficient of delay integral inequality is introduced to reduce the design algorithm conservatism. Finally, simulation results are given to show the effectiveness of the proposed method.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"29 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90241176","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019151
Zhu Qian, Xu Nuo, Huang Bei, Li Qiang, Zhou Rui
Multiple UAVs cooperative reconnaissance path planning in complex polygonal obstacles environment is presented in this paper. Firstly, different reconnaissance mission models are formulated, such as sensor sensing, effective reconnaissance duration time and so on. Secondly, considering different mission constraints and requirements, a two-step multiple UAVs cooperative reconnaissance path planning framework based on Dubins curve is established. Besides, a heuristic obstacle-free path planning in the presence of polygonal obstacles is designed, which is satisfied with UAV kinematic constraint. The simulation result demonstrates the effectiveness of the proposed algorithm.
{"title":"Multi UAVs Cooperative Reconnaissance Path Planning in Obstacles Environment (IEEE/CSAA GNCC)*","authors":"Zhu Qian, Xu Nuo, Huang Bei, Li Qiang, Zhou Rui","doi":"10.1109/GNCC42960.2018.9019151","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019151","url":null,"abstract":"Multiple UAVs cooperative reconnaissance path planning in complex polygonal obstacles environment is presented in this paper. Firstly, different reconnaissance mission models are formulated, such as sensor sensing, effective reconnaissance duration time and so on. Secondly, considering different mission constraints and requirements, a two-step multiple UAVs cooperative reconnaissance path planning framework based on Dubins curve is established. Besides, a heuristic obstacle-free path planning in the presence of polygonal obstacles is designed, which is satisfied with UAV kinematic constraint. The simulation result demonstrates the effectiveness of the proposed algorithm.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"60 23","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91406637","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019068
Shi Guo-xing, Lv Xin-guang, Song Zheng-yu
Iterative guidance method(IGM) is a kind of optimal guidance law. It can automatically schedule the flight path according to the optimal conditions and correct the orbit deviation by changing the direction of the thrust vector to achieve the precise orbit. However, the problem is that the attitude of the rocket into orbit’s time must be determined by the thrust vector direction and cannot be predetermined. Otherwise, the deviation of the last moment of the thrust vector may make the accuracy of the iterative guidance difficult. Based on the traditional IGM, a terminal attitude constraint Iterative guidance method(TACIGM) based on parabolic feature is proposed for the problem that the traditional IGM can not carry on the attitude constraint. The results show that the TACIGM can meet the accuracy of the traditional IGM, but also can meet the high accuracy of the orbit attitude, and It can adapt to the variation of the attitude angle. The method will have a high engineering application value.
{"title":"Engineering Application Analysis of Terminal Attitude Constrained IGM Based on Parabolic Feature*","authors":"Shi Guo-xing, Lv Xin-guang, Song Zheng-yu","doi":"10.1109/GNCC42960.2018.9019068","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019068","url":null,"abstract":"Iterative guidance method(IGM) is a kind of optimal guidance law. It can automatically schedule the flight path according to the optimal conditions and correct the orbit deviation by changing the direction of the thrust vector to achieve the precise orbit. However, the problem is that the attitude of the rocket into orbit’s time must be determined by the thrust vector direction and cannot be predetermined. Otherwise, the deviation of the last moment of the thrust vector may make the accuracy of the iterative guidance difficult. Based on the traditional IGM, a terminal attitude constraint Iterative guidance method(TACIGM) based on parabolic feature is proposed for the problem that the traditional IGM can not carry on the attitude constraint. The results show that the TACIGM can meet the accuracy of the traditional IGM, but also can meet the high accuracy of the orbit attitude, and It can adapt to the variation of the attitude angle. The method will have a high engineering application value.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"45 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83068360","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018880
Shenghui Wang, Kun Li, Yu Wang, H. Ji
Considering the autopilot dynamics, on the basis of the backstepping method and input-to-state stability theory, a novel three-dimensional nonlinear guidance law is proposed for intercepting a maneuvering target. Without any information of target motion, the guidance law can exhibit good performance in suppressing the disturbance from target escape maneuvering. The stability analysis as well as the simulation results shows that our scheme has strong robustness with respect to target maneuvers and bounded disturbances in the control loop.
{"title":"A Three-Dimensional Robust Nonlinear Guidance Law Considering Dynamics of Missile Autopilot*","authors":"Shenghui Wang, Kun Li, Yu Wang, H. Ji","doi":"10.1109/GNCC42960.2018.9018880","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018880","url":null,"abstract":"Considering the autopilot dynamics, on the basis of the backstepping method and input-to-state stability theory, a novel three-dimensional nonlinear guidance law is proposed for intercepting a maneuvering target. Without any information of target motion, the guidance law can exhibit good performance in suppressing the disturbance from target escape maneuvering. The stability analysis as well as the simulation results shows that our scheme has strong robustness with respect to target maneuvers and bounded disturbances in the control loop.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"3 2 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83710987","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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