导读 智能化、集群化是未来无人机技术的发展趋势,而 无人机编队技术是实现无人机高级智能行为的必要基础和关键技术 。最近开展的一项关于 无人机编队控制算法的研究,能够实现对无人机编队间气动干扰进行实时估计与抑制,有效提高无人机集群密集编队的控制精度 。 相关研究发表于 SCIENCE CHINA Information Sciences (《中国科学:信息科学》英文版) 2017年第7期专题:“ Special Focus on Formation Control of Unmanned Systems ” ,题目为 “ Tight formation control of multiple unmanned aerial vehicles through an adaptive control method ”, 由南京航空航天大学王寅副教授担任通讯作者撰写 。 随着无人机自主化和网络化通信技术的发展,无人机的应用模式也在不断地发展。单架无人机受限于探测能力、载荷等因素,难以完成日益复杂的任务。多架无人机间通过通讯进行信息共享,扩大对环境态势的感知,实现协同任务分配与协调,能够有效提高无人机完成复杂任务的能力。所谓多无人机的协同编队飞行, 就是使多架无人机飞行过程中形成所要求的空间拓扑关系,并能根据任务的环境与需求进行动态调整,以体现整个机群的协同一致性,是实现无人机集群协同等高级智能行为的必要基础。 无人机编队控制结构图 该项研究对编队中无人机间的涡流效应进行了分析,并在考虑涡流效应和无人机未知模型参数的前提下为编队设计了自适应控制律,使之能够在扰动模型不确定的情况下达到较好的控制效果。 这一研究成果能够提高无人机紧密编队的飞行性能,具有重要的科学意义和应用价值。 研究得到了国家自然科学基金和北京航天航空大学虚拟现实技术与系统国家重点实验室开放基金的支持。 ↙ 点击下方“阅读原文”下载论 Special Focus on Formation Control of Unmanned Systems 专题篇目 A survey on recent progress in control of swarm systems Bing ZHU, Lihua XIE, Duo HAN, Xiangyu MENG Rodney TEO Sci China Inf Sci , 2017, 60(7): 070201 Formation control with disturbance rejection for a class of Lipschitz nonlinear systems Chunyan WANG, Zongyu ZUO, Qinghai GONG Zhengtao DING Sci China Inf Sci , 2017, 60(7): 070202 Saturated coordinated control of multiple underactuated unmanned surface vehicles over a closed curve Lu LIU, Dan WANG, Zhouhua PENG Hugh H.T. LIU Sci China Inf Sci , 2017, 60(7): 070203 Fault-tolerant cooperative control for multiple UAVs based on sliding mode techniques Peng LI, Xiang YU, Xiaoyan PENG, Zhiqiang ZHENG Youmin ZHANG Sci China Inf Sci , 2017, 60(7): 070204 Simultaneous attack of a stationary target using multiple missiles: a consensus-based approach Jialing ZHOU, Jianying YANG Zhongkui LI Sci China Inf Sci , 2017, 60(7): 070205 Leader-follower formation of vehicles with velocity constraints and local coordinate frames Xiao YU Lu LIU Sci China Inf Sci , 2017, 60(7): 070206 Tight formation control of multiple unmanned aerial vehicles through an adaptive control method Yin WANG Daobo WANG Sci China Inf Sci , 2017, 60(7): 070207 专题网址如下,欢迎免费下载阅读: http://engine.scichina.com/publisher/scp/journal/SCIS/60/7?slug=Browse
Nonlinear Longitudinal Attitude Control of an Unmanned Seaplane with Wave Filtering Huan Du, Guo-Liang Fan, Jian-Qiang Yi 中国科学院自动化研究所 , 中国,北京, 100190 收录于 IJAC Vol.13No.6, 2016 文章简介 水上无人机在水面运动时姿态参数耦合了海浪运动响应,如果海浪频率扰动直接进入反馈环,用舵机等执行机构来对抗扰动引起的振荡,将会引发频繁的无效操舵而造成舵机的过度磨损和额外的能量消耗。针对此问题,文章提出了一种带海浪滤波器的纵向姿态控制方案。该方案首先基于无源理论设计自适应海浪滤波器,根据海况的变化进行实时滤波;然后设计反步滑模控制器,进行姿态角的稳定跟踪;最后综合海浪滤波器和控制器,形成整个姿态控制系统并证明其稳定性。此控制方案通过三级海况和五级海况下的仿真验证了其有效性。 图 1、三级海况下纵向姿态控制系统的性能 图2 、五级海况下纵向姿态控制系统的性能 图 3、三级海况下的对比实验 图 4、五级海况下的对比实验 作者简介 Huan Du received the B. Eng. degree from Beijing University of Aeronautics and Astronautics, China in 2011. He is currently a Ph. D. degree candidate in Institute of Automation, Chinese Academy of Sciences, China. His research interests include nonlinear robust control, adaptive control and flight control. E-mail: huan.du@ia.ac.cn Guo - Liang Fan received the M. Eng. degree from Harbin Institute of Technology, China in 2003, and Ph. D. degree from Institute of Automation, Chinese Academy of Sciences, China in 2006. He is currently asenior engineer in the Integrated Information System Research Center, Institute of Automation, China. His research interests include unmanned autonomous system andflight control. E-mail: guoliang.fan@ia.ac.cn (Corresponding author) ORCID iD: 0000-0003-2724-2432 Jian-Qiang Yi received the B. Eng. degree from the Beijing Institute of Technology, China in 1985, the M. Eng. and the Ph. D. degrees from the Kyushu Institute of Technology, Japan in 1989 and 1992, respectively. He worked as a research fellow at the Computer Software Development Company, Japan from 1992 to 1994, and a chief engineer at MYCOM, Inc., Japan from 1994 to 2001. Since 2001, he has been with the Institute of Automation, Chinese Academy of Sciences, China,where he is currently a professor. He is an associate editor for the IEEE Computational Intelligence Magazine, Journal of Advanced Computational Intelligence and Intelligent Informatics, and Journal of Innovative Computing, Information and Control. His research interests include theories and applications of intelligent control, intelligent robotics, underactuated system control, sliding-mode control, and flight control. E-mail: jianqiang.yi@ia.ac.cn 原文出处 Huan Du, Guo-Liang Fan, Jian-Qiang Yi. Nonlinear Longitudinal Attitude Control of an Unmanned Seaplane with Wave Filtering. International Journal of Automation and Computing , vol. 13, no. 6, pp. 634-642, 2016. 关键词 Unmanned seaplane ; nonlinear passive observer ; wave filtering ; back stepping sliding mode control ; attitude control. 全文链接 1 ) IJAC 官方网站 : http://www.ijac.net/EN/abstract/abstract1847.shtml 2 ) Springer Link : http://link.springer.com/article/10.1007/s11633-016-0962-x 3 ) 微信公众平台 : http://mp.weixin.qq.com/s/F7gon1cVI1eU456Jyv9cKg
原文参见:http://www.lidarnews.com/content/view/9723/ Look – Up in the Air, It’s a Bird, It’s a Plane… No It’s Just Another Drone Print Written by Fran Rabuck Saturday, 11 May 2013 无人机UAVs:采用iPad或者安卓手机控制飞行。 Drones as they’re commonly called or UAVs (Unmanned Aerial Vehicles) have shown applications in other areas as well. They are being used as a tool for border control, fire/safety/rescue missions, aerial inspections of power lines, and yes even on large scale systems for aerial photography and LiDAR scanning. 价格:AR Drone 300美金。 两个软件公司:senseFly and Pix4D. 应用领域:建筑,景观,城市,矿场,农田等。 “…Mapping a construction site, landscape, cityscape or mine, monitoring industrial sites, managing agricultural land... The drone developed by senseFly, the result of 6 years of research in the Laboratory of Intelligent Systems at EPFL, facilitates the work of experts across various fields.” 纳米无人机: This is creating a new class of “nano-drone” products like the DragonFly that are as small as an insect. 小型lidar系统: Advanced Scientific Concepts has worked on developing small, light weight LiDAR scanners. These small LiDAR components are available now from Advanced Scientific Concepts with the TigerEye 3D flash LiDAR camera.