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Proximal policy optimization with an integral compensator for quadrotor control Research
Huan Hu, Qing-ling Wang,qlwang@seu.edu.cn
Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5, Pages 649-808 doi: 10.1631/FITEE.1900641
Keywords： 强化学习；近端策略优化；四旋翼控制；神经网络
Active fault-tolerant tracking control of a quadrotorwith model uncertainties and actuator faults None
Yu-jiang ZHONG, Zhi-xiang LIU, You-min ZHANG, Wei ZHANG, Jun-yi ZUO
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1, Pages 95-106 doi: 10.1631/FITEE.1800570
This paper presents a reliable active fault-tolerant tracking control system (AFTTCS) for actuator faults in a quadrotor unmanned aerial vehicle (QUAV). The proposed AFTTCS is designed based on a well-known model reference adaptive control (MRAC) framework that guarantees the global asymptotic stability of a QUAV system. To mitigate the negative impacts of model uncertainties and enhance system robustness, a radial basis function neural network is incorporated into the MRAC scheme for adaptively identifying the model uncertainties online and modifying the reference model. Meanwhile, actuator dynamics are considered to avoid undesirable performance degradation. Furthermore, a fault detection and diagnosis estimator is constructed to diagnose lossof-control-effectiveness faults in actuators. Based on the fault information, a fault compensation term is added to the control law to compensate for the adverse effects of actuator faults. Simulation results show that the proposed AFTTCS enables the QUAV to track the desired reference commands in the absence/presence of actuator faults with satisfactory performance.
Keywords： Model reference adaptive control Neural network Quadrotor Fault-tolerant control Fault detection and diagnosis
Safe navigation of quadrotorswith jerk limited trajectory None
Shu-peng LAI, Meng-lu LAN, Ya-xuan LI, Ben M. CHEN
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1, Pages 107-119 doi: 10.1631/FITEE.1800719
Many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications, for which computational efficiency is crucial. In this study, we present a safe flying corridor navigation method, which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 μs, which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily oriented. The jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.
Keywords： Quadrotor Unmanned aerial vehicle Motion planning
Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method Regular Papers
Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 4, Pages 525-537 doi: 10.1631/FITEE.1800571
Making rational decisions for sequential decision problems in complex environments has been challenging researchers in various fields for decades. Such problems consist of state transition dynamics, stochastic uncertainties, long-term utilities, and other factors that assemble high barriers including the curse of dimensionality. Recently, the state-of-the-art algorithms in reinforcement learning studies have been developed, providing a strong potential to efficiently break the barriers and make it possible to deal with complex and practical decision problems with decent performance. We propose a formulation of a velocity varying one-on-one quadrotor robot game problem in the threedimensional space and an approximate dynamic programming approach using a projected policy iteration method for learning the utilities of game states and improving motion policies. In addition, a simulation-based iterative scheme is employed to overcome the curse of dimensionality. Simulation results demonstrate that the proposed decision strategy can generate effective and efficient motion policies that can contend with the opponent quadrotor and gather advantaged status during the game. Flight experiments, which are conducted in the Networked Autonomous Vehicles (NAV) Lab at the Concordia University, have further validated the performance of the proposed decision strategy in the real-time environment.
Keywords： Reinforcement learning Approximate dynamic programming Decision making Motion planning Unmanned aerial vehicle
Handling Stability for Four-wheel Steering Vehicle Based on μ Synthesis Robust Control
Yin Guodong,Chen Nan,Li Pu
Strategic Study of CAE 2005, Volume 7, Issue 4, Pages 54-58
The vehicles always undertake different loadings including external disturbances and the design of vehicle control system has model errors. The primary design techniques for 4WS controller are their inability to degrade the performance of closed-loop systems. The design of yaw rate tracking control system architecture by using μ synthesis robust control is presented and the weighting functions are selected. The results show that the control system has fine dynamic characteristic, robust stability and robust performance, and the 4WS vehicle with the proposed control strategy can provide greater maneuverability and driving safety.
Keywords： four-wheel steering robust control handling stability μ synthesis
Affine formation tracking control of unmanned aerial vehicles Research Articles
Huiming LI, Hao CHEN, Xiangke WANG
Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 6, Pages 909-919 doi: 10.1631/FITEE.2100109
The tracking problem for (UAVs) is considered in this paper, where fixed-wing UAVs are modeled as unicycle-type agents with asymmetrical speed constraints. A group of UAVs are required to generate and track a time-varying target formation obtained by affinely transforming a nominal formation. To handle this problem, a distributed control law based on stress matrix is proposed under the leader-follower control scheme. It is proved, theoretically, that followers can converge to the desired positions and achieve affine transformations while tracking diverse trajectories. Furthermore, a saturated control strategy is proposed to meet the speed constraints of fixed-wing UAVs, and numerical simulations are executed to verify the effectiveness of our proposed tracking control strategy in improving maneuverability.
Keywords： Affine formation Fixed-wing unmanned aerial vehicles Multi-agent system
A creative concept for designing and simulating quaternary logic gates in quantum-dot cellular automata Research Articles
Alireza Navidi, Reza Sabbaghi-Nadooshan, Massoud Dousti,alireza.navidi@srbiau.ac.ir,r_sabbaghi@iauctb.ac.ir,m_dousti@srbiau.ac.ir
Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 11, Pages 1441-1550 doi: 10.1631/FITEE.2000590
Keywords： 量子点细胞自动机（QCA）；四值逻辑；量子点细胞自动模拟器（QCASim）；四值QCA（QQCA）；四值译码器；四值门
Fluid-Aerodynamics Performance Investigation of Dynamic Air Cushion Wing-in-ground Effect Craft
Yun Liang,Wu Chengjie,Xie Younong
Strategic Study of CAE 2000, Volume 2, Issue 4, Pages 48-52
The features and difficulties of the craft design as well as the experimental investigation of DACWIG (Dynamic Air Cushion Wing-in-ground Effect Craft) are described in this paper. Both model and full scale craft tests demonstrated that the static hovering characteristics, powering performance, seakeeping quality and aerodynamics balance as well as transverse and longitudinal stability of the craft were satisfied, due to taking a series measures in the craft design. So DACWIG has prospective future in both civilian and military use.
Keywords： dynamic air cushion wing in ground effect craft performance
Design Feature and Evolution of Dynamic Air Cushion Wing-in-ground Effect Craft
Hui Liang,wu Chengjie,xie Younong,Peng Guihua
Strategic Study of CAE 2000, Volume 2, Issue 3, Pages 67-72
The design features and the evolution of the Amphibious wing in Ground Effect Craft (AWIG) (also so called Dynamic Air Cushion Wing-in-Ground Effect Craft, DACWIG) in China are described in this paper. The prospect of developing a novel type of WIG, with high speed, fine seaworthiness, marvelous amphibious, and being able to fly in/beyond ground effect zone and softly land on ground, as well as maneuver in air (just like the Russian novel type of WIG,Экранолë“тИВОЛГА-2”)，for both dvil and military application is full of hope.
Keywords： dynamic air cushion amphibious wing-in-ground effect craft feature evolution
Study on the technology of rotary drilling rig used for bored piles
Li Lin,Min Feng
Strategic Study of CAE 2010, Volume 12, Issue 4, Pages 33-36
The left branch bridge of Yangtze River's branching channel in Taizhou Bridge project is a 5-span continuous beam bridge with the layout of 87.5m+3×125 m+87.5 m. The diameter of bored piles is 2.0 m, and the length is 94 m. All the piles are constructed by rotary drilling rig. Based on the construction of the bridge, the paper analyses the construction techniques of rotary drilling rig, details the drilling mud, drilling rig's installation, drilling, and summarizes the features and experience, proposing reference for similar project in the future.
Keywords： rotary drilling rig construction bored pile technology feature
Sampling formulas for 2D quaternionic signals associated with various quaternion Fourier and linear canonical transforms Research Articles
Xiaoxiao HU, Dong CHENG, Kit Ian KOU,huxiaoxiao3650@163.com
Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 3, Pages 463-478 doi: 10.1631/FITEE.2000499
Keywords： Quaternion Fourier transforms Quaternion linear canonical transforms Sampling theorem Quaternion partial and total Hilbert transforms Generalized quaternion partial and total Hilbert transforms Truncation errors
North anchorage project construction key technology in the Fourth Nanjing Yangtze River Bridge
Wang Chengjiang,Niu Yazhou,Tian Xin,Jing Gangyi
Strategic Study of CAE 2013, Volume 15, Issue 8, Pages 31-36
North anchorage of the Fourth Nanjing Yangtze River Bridge is a kind of gravity anchor. Distributed mortise-tenon anchor system of Reinforced Concrete is designed for its anchor system structure first time in China. Thermal stress and temperature control is the key technique in large mass concrete construction of this anchorage. This article will introduce large mass concrete temperature control method,anchor system fixing technology and high-accuracy survey technology of North anchorage of the Fourth Nanjing Yangtze River Bridge.
Keywords： anchorage large-mass-concrete temperature control anchor system
Li Siguang and China's Big Discovery of Petroleum
Zhao Wenjing
Strategic Study of CAE 2005, Volume 7, Issue 2, Pages 26-34
The article reviewed the objective experience of petroleum prospecting and exploitation and the development of oil industry in China. It pointed out, with full historical materials, that Li Siguang made irreplaceable contribution to China's big discovery of petroleum.
Keywords： Li Siguang China's oil resource China's big discovery and development of petroleum
The development of aerodynamics & configurationtechnology for large aircraft
Zhang Yanzhong
Strategic Study of CAE 2009, Volume 11, Issue 5, Pages 4-17
The paper introduced the development of aerodynamics & configuration technology for large aircraft.The technique of fuselage and the advanced aerodynamics configuration — blended wing body (BWB) were described. The impact of aerodynamics & configuration technology on safety, economical, comfortable and environmental characters for large aircraft was analyzed.The proposal for enhancing the research of aerodynamics in China was presented.
Keywords： large aircraft aerodynamics super critical foil winglet laminar flow technique BWB CFD wind tunnel technique aero dynamical noise
Olusayo Obajemu, Mahdi Mahfouf, Lohithaksha M. Maiyar, Abrar Al-Hindi, Michal Weiszer, Jun Chen
Engineering 2021, Volume 7, Issue 4, Pages 495-506 doi: 10.1016/j.eng.2021.01.009
Aircraft ground movement plays a key role in improving airport efficiency, as it acts as a link to all other ground operations. Finding novel approaches to coordinate the movements of a fleet of aircraft at an airport in order to improve system resilience to disruptions with increasing autonomy is at the center of many key studies for airport airside operations. Moreover, autonomous taxiing is envisioned as a key component in future digitalized airports. However, state-of-the-art routing and scheduling algorithms for airport ground movements do not consider high-fidelity aircraft models at both the proactive and reactive planning phases. The majority of such algorithms do not actively seek to optimize fuel efficiency and reduce harmful greenhouse gas emissions. This paper proposes a new approach for generating efficient four-dimensional trajectories (4DTs) on the basis of a high-fidelity aircraft model and gainscheduling control strategy. Working in conjunction with a routing and scheduling algorithm that determines the taxi route, waypoints, and time deadlines, the proposed approach generates fuel-efficient 4DTs in real time, while respecting operational constraints. The proposed approach can be used in two contexts: ① as a reactive decision support tool to generate new trajectories that can resolve unprecedented events; and ② as an autopilot system for both partial and fully autonomous taxiing. The proposed methodology is realistic and simple to implement. Moreover, simulation studies show that the proposed approach is capable of providing an up to 11% reduction in the fuel consumed during the taxiing of a large Boeing 747 jumbo jet.
Keywords： Aircraft model Intelligent taxiing Optimization Four-dimensional trajectory
Title Author Date Type Operation
Proximal policy optimization with an integral compensator for quadrotor control
Huan Hu, Qing-ling Wang,qlwang@seu.edu.cn
Journal Article
Active fault-tolerant tracking control of a quadrotorwith model uncertainties and actuator faults
Yu-jiang ZHONG, Zhi-xiang LIU, You-min ZHANG, Wei ZHANG, Jun-yi ZUO
Journal Article
Safe navigation of quadrotorswith jerk limited trajectory
Shu-peng LAI, Meng-lu LAN, Ya-xuan LI, Ben M. CHEN
Journal Article
Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method
Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI
Journal Article
Handling Stability for Four-wheel Steering Vehicle Based on μ Synthesis Robust Control
Yin Guodong,Chen Nan,Li Pu
Journal Article
Affine formation tracking control of unmanned aerial vehicles
Huiming LI, Hao CHEN, Xiangke WANG
Journal Article
A creative concept for designing and simulating quaternary logic gates in quantum-dot cellular automata
Alireza Navidi, Reza Sabbaghi-Nadooshan, Massoud Dousti,alireza.navidi@srbiau.ac.ir,r_sabbaghi@iauctb.ac.ir,m_dousti@srbiau.ac.ir
Journal Article
Fluid-Aerodynamics Performance Investigation of Dynamic Air Cushion Wing-in-ground Effect Craft
Yun Liang,Wu Chengjie,Xie Younong
Journal Article
Design Feature and Evolution of Dynamic Air Cushion Wing-in-ground Effect Craft
Hui Liang,wu Chengjie,xie Younong,Peng Guihua
Journal Article
Sampling formulas for 2D quaternionic signals associated with various quaternion Fourier and linear canonical transforms
Xiaoxiao HU, Dong CHENG, Kit Ian KOU,huxiaoxiao3650@163.com
Journal Article
North anchorage project construction key technology in the Fourth Nanjing Yangtze River Bridge
Wang Chengjiang,Niu Yazhou,Tian Xin,Jing Gangyi
Journal Article
The development of aerodynamics & configurationtechnology for large aircraft
Zhang Yanzhong
Journal Article
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