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The purpose of this paper is to introduce a complex nonlinear model to a novel tandem ducted fan vehicle which adopted a structure of coaxial rotor and cyclic pitch system, considering aerodynamic coupling, disturbing between the upper and the lower rotor, and special aerodynamic characteristics of duct. On this basis, a robust hover control system has been designed to attitude control using H-infinite...
We propose the structured two-loop flight control system of a novel tandem ducted fan vehicle for near hover flight in consideration of actuator saturations on its dynamics. The prescribed controller architecture consists of static output feedback inner loop and four PI outer loop, which is a desirable and intuitive structure for practical implementation. The effect of a limited control activity on...
Comprehensive study on control stability analysis before controller design is an indispensable important step for any flight system. In this paper, frequency modal responses and relative input-output controllability are analyzed quantitatively to provide valid instruction for structure improvement. In this project, tilting electric ducted fan (EDF) system is devised for an unmanned tandem ducted fan...
This paper focuses on modeling and robust hover control system design for a novel multi-tandem ducted fan vehicle. A comprehensive nonlinear model for this unmanned aircraft, considering main aerodynamic coupling and actuator dynamics, is first presented. For the sake of low order controllers, the two-layer controller structure with only three-order controllers, is adopted to construct a flight control...
In this paper, we describe our system for object tracking over a multiple-camera network task in BigMM Challenge in conjunction with the first IEEE International Conference on Multimedia Big Data (BigMM 2015). We focus on the detection and tracking of pedestrians and vehicles. Based on background modeling, we use HOG and SVM to detect pedestrian and morphological processing to detect vehicle in single...
Force and torque generation mechanisms for an unconventional tandem ducted fan aircraft are investigated. Numerical techniques are implemented to obtain quasi-steady thrust, numerical integration of nonlinear equations of motion and trim iteration process, respectively. The comprehensive nonlinear model is derived and simplified to linear approximations at different flight conditions for stability...
Recently numerous controller designs have been developed for the longitudinal dynamics of hypersonic flight vehicle in cruising phase. Among these methods, back-stepping is widely studied since it provide the systematic design dealing with mismatched uncertainty. This paper first presents the nonlinear formulation for the dynamics and then the recent back-stepping related design is reviewed such as...
This paper presents dynamic surface control for longitudinal dynamics of a generic hypersonic flight vehicle in presence of unknown dynamics. For the attitude subsystem, the minimal-learning-parameter technique is combined with dynamic surface design. The uniform ultimate boundedness stability is guaranteed via Small-gain Theorem. The singularity problem is removed and the simpler adaptive algorithm...
Taking Special Vehicle as an example, the research is made on dynamic virtual prototyping modeling and simulation of complex mechanical-electrical-hydraulic coupling system. Based on mechanical dynamic model and control and hydraulic schematic diagram, a mechanical-electrical-hydraulic coupling dynamic virtual prototyping model of Special Vehicle is built capitalizing on ADAMS, MATLAB/Simulink and...
This paper describes the design of adaptive neural controller for the longitudinal dynamics of a generic hypersonic flight vehicle (HFV). For the altitude subsystem, the dynamics are transformed into the normal feedback form and the high gain observer (HGO) is taken to estimate the unknown newly defined states. Only one Neural Network (NN) is employed to approximate the lumped uncertain system nonlinearity...
In this paper we study the distributional consensus problem arising from a Markov chain that is generated by a decentralized control strategy. In contrast to other treatments that study the strong, mean square or weak notions of consensus, this paper studies the convergence of the algorithm in terms of the convergence of the Markov chain to its stationary distribution. The choice to study convergence...
We address the minimal risk motion planning problem in a two dimensional environment in the presence of both moving and static obstacles. Our approach is inspired by recent results due to Vladimirsky in which path planning on time-varying maps is addressed using a new level-set approach, and for which computational costs are remarkably low. Toward practical implementation of these results for path...
The demand for logistics becomes larger and larger with the rapid economic development of Beijing, and city distribution has become a necessary method of supporting the regular running and economic development and an important function of logistics system. Deeply research for the correlation of city distribution capability and socio-economic development will be of great importance for encouraging...
For an autonomous vehicle navigating in a static environment for which an a priori map is inaccurate, we propose a hybrid receding horizon control method to determine optimal routes when new obstacles are detected. The hybrid method uses the level sets of the solution to either a global or local Eikonal equation in the formulation of the receding horizon control problem. Whenever an obstacle is detected...
We propose an efficient method for updating a path that was computed using level-set methods. Our approach is suitable for autonomous vehicles navigating in a static environment for which an a priori map of the environment is inaccurate. When the autonomous vehicle detects a new obstacle, our algorithm replans an optimal route without recomputing the entire path. Computational costs when planning...
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