Article
Computer Science, Artificial Intelligence
Ziquan Yu, Jiaxu Li, Yiwei Xu, Youmin Zhang, Bin Jiang, Chun-Yi Su
Summary: This article investigates the fault-tolerant formation control problem for networked fixed-wing unmanned aerial vehicles against faults. Prescribed performance functions are developed to transform the distributed tracking errors and critic neural networks are used to evaluate the tracking performance. Actor neural networks are designed to learn the unknown nonlinear terms, and nonlinear disturbance observers are developed to compensate for the learning errors. The effectiveness of the proposed control scheme is demonstrated through comparative simulation results.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Automation & Control Systems
Shuyi Shao, Mou Chen
Summary: This paper proposes an adaptive neural discrete-time fractional-order tracking control scheme for an unmanned aerial vehicle system, which can handle system uncertainties and unknown disturbances while ensuring convergent tracking errors under prescribed performance. The effectiveness of the proposed control scheme is demonstrated through numerical simulation results.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Computer Science, Information Systems
Xiaojing Wu, Xinrui Han, Ran Zhen, Shikai Shao
Summary: This paper studies the appointed-time prescribed performance fault-tolerant control (ATPPFTC) method for the quadrotor unmanned aerial vehicle (QUAV) system in the presence of uncertainties, faults, and disturbances. The proposed method overcomes model parameter uncertainties and investigates actuator faults and external disturbances using the adaptive method. It introduces a new performance function and coordinate transformation to impose performance characteristics on the tracking errors. The simulation verifies the effectiveness and superiority of the control scheme.
Article
Engineering, Aerospace
Wenquan Gong, Bo Li, Choon Ki Ahn, Yongsheng Yang
Summary: This paper proposes a prescribed-time fault-tolerant tracking control scheme for accommodating actuator failures in quadrotor unmanned aerial vehicles. A prescribed-time nominal controller is developed to precisely track the desired position, and an extended state observer is developed to estimate the uncertainties derived from actuator failures. Numerical simulations validate the effectiveness and robustness of the proposed control method.
AEROSPACE SCIENCE AND TECHNOLOGY
(2023)
Article
Automation & Control Systems
Ziquan Yu, Youmin Zhang, Bin Jiang, Jun Fu, Ying Jin, Tianyou Chai
Summary: This article investigates the decentralized fractional-order fault-tolerant control problem for unmanned aerial vehicles (UAVs) in a directed communication network in the presence of wind disturbances and actuator faults. A new composite adaptive disturbance observer-based decentralized fractional-order fault-tolerant control (CADOB-DFO-FTC) scheme is proposed, which incorporates fractional-order sliding-mode surfaces, nonlinear disturbance observers, fuzzy wavelet neural networks, and robust controllers to achieve decentralized attitude tracking control for networked UAVs.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Automation & Control Systems
Yaohong Qu, Wenbi Zhao, Ziquan Yu, Bing Xiao
Summary: This paper introduces a distributed containment control strategy for multiple unmanned surface vehicles (USVs) under unknown external disturbances. By converting tracking errors into new error functions and utilizing disturbance observer, an effective controller is designed. The system's performance is proved using graph theory and Lyapunov approach.
Article
Engineering, Mechanical
Bin Xian, Tian Xie, Xin Jin
Summary: This paper presents a novel nonlinear tracking control strategy for an underactuated tilt trirotor UAV subject to unknown external disturbances. The control scheme utilizes inner-loop-outer-loop methodology to compensate for the effects of unknown disturbances on both inner and outer loops. The stability of the closed-loop system and convergence of tracking errors are proven through Lyapunov based stability analysis, and hardware-in-loop flight experiments validate the control performance of the proposed strategy.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Engineering, Electrical & Electronic
Zhengguo Huang, Mou Chen, Peng Shi
Summary: This paper investigates the disturbance utilization-based attitude control for fixed-wing unmanned aerial vehicles (UAVs). The method utilizes disturbance estimation error analysis auxiliary system and disturbance observer to ensure bounded attitude tracking errors. The proposed control method improves the robustness of the system.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2023)
Article
Automation & Control Systems
Ying Wu, Mou Chen, Hongyi Li, Mohammed Chadli
Summary: This paper studies the disturbance-observer-based adaptive neural network cooperative event-triggered control problem for six-rotor unmanned aerial vehicles with finite-time prescribed performance. The paper designs a switching threshold event-triggered mechanism to save transmission resources and excludes the Zeno behavior. Neural networks are introduced for estimating uncertainties and solving the algebraic loop problem. A finite-time control scheme is proposed for the position subsystem to guarantee convergence to a specified neighborhood of the origin.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Shikai Shao, Yuanjie Zhao, Xiaojing Wu
Summary: This paper investigates robust fixed-time formation controller design for quadrotor UAVs, utilizing a multi-variable super-twisting like integral sliding mode surface and a disturbance observer for position and attitude loops to ensure robustness. Bi-limit homogeneity technique is used to design the whole closed-loop fixed-time controllers, addressing the comprehensive stability of position and attitude loops.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2021)
Article
Engineering, Mechanical
Tayyab Manzoor, Hailong Pei, Zihuan Cheng
Summary: This paper proposes a composite control strategy for ducted fan aircraft, which tackles disturbances and model uncertainties by using disturbance observer and state estimation methods. An online model predictive control framework is adopted to optimize the control actions, thereby reducing computational cost.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Zepeng Zhou, Fanglai Zhu
Summary: This paper discusses the lanes merging control for vehicle platoons considering constraints on distance and bearing angle among adjacent vehicles. The controller design takes into account practical concerns and proposes an ultra-local model-based system description to reduce dependence on accurate system models. An adaptive sliding mode disturbance observer is constructed to offset disturbances in the system. The multi-lane fusion target is divided into distance keeping and bearing angle tracking, with prescribed performance control and time-varying integral barrier Lyapunov function ensuring distance keeping rules, and integral barrier Lyapunov function guaranteeing constraints on bearing angle and vehicle's angular velocity. Event-triggered control scheme is considered to reduce communication burden. Simulation results demonstrate the effectiveness of the control strategy.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Yongfeng Rong, Wusheng Chou, Ran Jiao
Summary: This article proposes a fault-tolerant control strategy based on disturbance-observer and adaptive sliding mode impedance controller, which is used for contact-based aerial manipulation tasks of fully-actuated unmanned aerial vehicles in the presence of unknown disturbances. The advantages and effectiveness of the control strategy are demonstrated through numerical simulations, and guidelines for parameter selection are provided.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Chemistry, Multidisciplinary
Fei Liao, Dezhang Ye
Summary: This paper presents a new layout of hybrid unmanned aerial underwater vehicles (HAUVs) using four rotors, named hybrid aerial underwater quadrotor (HAUQ), which can realize the medium crossing motion of a transverse slender body similar to the fuselage of a missile or a submarine. A robust control strategy is proposed for the take-off HAUQ on the water in the presence of unknown disturbances and complex model dynamic uncertainties. Numerical simulation shows the feasibility and robustness of the proposed algorithm.
APPLIED SCIENCES-BASEL
(2023)
Article
Robotics
Fang Nan, Sihao Sun, Philipp Foehn, Davide Scaramuzza
Summary: This study proposes a fault-tolerant controller using nonlinear model predictive control (NMPC) to stabilize and control a quadrotor in the event of complete failure of a single rotor. Unlike existing methods, this approach considers the full nonlinear dynamics of the damaged quadrotor and the thrust constraint of each rotor.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Computer Science, Artificial Intelligence
Zihan Yan, Li Liu, Xin Li, William K. Cheung, Youmin Zhang, Qun Liu, Guoyin Wang
Summary: Social network alignment aims to align person identities across social networks. Embedding based models have been shown effective, but overly-close user embeddings can cause alignment inaccuracy. We propose a learning framework with pseudo anchors to enforce widely-apart embeddings, and a meta-learning algorithm to update the pseudo anchor embeddings. The inclusion of pseudo anchors and meta-learning improves the efficacy of network alignment methods, especially with few labeled anchors.
IEEE TRANSACTIONS ON KNOWLEDGE AND DATA ENGINEERING
(2023)
Article
Automation & Control Systems
Ziquan Yu, Yiwei Xu, Youmin Zhang, Bin Jiang, Chun-Yi Su
Summary: This article investigates the fault-tolerant containment control (FTCC) problem for a group of fixed-wing unmanned aerial vehicles with simultaneous considerations of faults and collision avoidance. A fractional-order (FO) FTCC scheme is established to steer all follower UAVs into the convex hull formed by the leader UAVs using FO calculus, disturbance observers (DOs), and interval type-2 fuzzy neural networks (IT2FNNs). Lyapunov stability analysis proves that all follower UAVs can successfully converge into the convex hull spanned by the leader UAVs without collisions even when a portion of UAVs is encountered by faults.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Computer Science, Artificial Intelligence
Yunsong Hu, Huaicheng Yan, Youmin Zhang, Hao Zhang, Yufang Chang
Summary: This article investigates the tracking problem of event-triggered prescribed performance fuzzy fault-tolerant control (FTC) for unknown Euler-Lagrange systems with actuator faults and external disturbances. The proposed control algorithm utilizes barrier Lyapunov functions (BLFs) and prescribed performance functions to ensure preset transient performance of tracking errors. Additionally, an error transformation method is introduced to allow tracking errors with any bounded initial values to enter the preset boundaries within a preset time. The effectiveness of the proposed algorithm is validated through simulation results.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Automation & Control Systems
Runyuan Guo, Han Liu, Guo Xie, Youmin Zhang, Ding Liu
Summary: This article proposes a deep multiple attention soft sensor (DMASS) scheme based on attention mechanisms to address the lack of interpretability and unreliability in deep learning-based soft sensors. DMASS ensures the self-interpretability of data selection and sensor modeling and integrates these phases into a single scheme. Attention mechanisms are used to achieve self-interpretability, and variable attention and time lag attention mechanisms are introduced. The obtained attention weights provide self-interpretable data selection results, and a self-attention activation structure (SAAS) is proposed to extract nonlinear spatio-temporal features. The self-interpretability of sensor modeling is demonstrated through mathematical expressions, the SAAS attention matrix, the information path diagram, and uncertainty-aware interval prediction. The validity of DMASS' self-interpretability is verified through known mechanism analysis and comparison with other soft sensors.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Automation & Control Systems
Shangkun Liu, Bin Jiang, Zehui Mao, Youmin Zhang
Summary: This paper studies the distributed adaptive event-triggered fault-tolerant cooperative control for multiple UAVs and UGVs under actuator faults and denial-of-service attacks. A scheme is proposed that does not require continuous information from neighboring nodes to save communication network resources. The Lyapunov function approach is utilized to prove that the tracking errors are uniformly ultimately bounded, and the proposed scheme excludes Zeno behavior. Simulation studies are conducted to demonstrate the efficiency of the scheme.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Automation & Control Systems
Ban Wang, Yanyan Shen, Ni Li, Youmin Zhang, Zhenghong Gao
Summary: An adaptive sliding mode fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle to address actuator faults and model uncertainties. The strategy includes a new reaching law to construct a sliding mode control (SMC) law, which effectively suppresses control chattering while maintaining system tracking performance. An adaptive SMC scheme is also proposed to further compensate for faults and uncertainties, preventing overestimation of control parameters and avoiding chattering. Comparative simulation tests confirm the effectiveness and superiority of the proposed strategy.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Engineering, Marine
Linling Wang, Daqi Zhu, Wen Pang, Youmin Zhang
Summary: Compared with a single AUV, using a formation of multiple autonomous underwater vehicles (AUVs) offers greater efficiency and stability in underwater search. The key to implementing underwater search tasks lies in the theoretical and technical level of autonomous navigation and cooperative control of the multi-AUV formation. Key factors worth discussing in the application of multi-AUV in underwater search include task allocation, path planning, and formation control.
Article
Engineering, Electrical & Electronic
Wei Yuan, Han Liu, Lili Liang, Guo Xie, Youmin Zhang, Ding Liu
Summary: In this paper, a novel rank minimization method, namely adaptive hybrid norm minimization (AHNM) model, is proposed to tackle two challenging problems in image processing. The AHNM model, by employing l2-norm and a significance factor, is able to better preserve image details. Experimental results demonstrate that the proposed AHNM model consistently outperforms many state-of-the-art restoration methods.
Proceedings Paper
Automation & Control Systems
Haichuan Yang, Minrui Fu, Ziquan Yu, Youmin Zhang
Summary: This paper focuses on the consensus control problem of multi-agent system (MAS) against periodic Denial-of-Service (DoS) attacks. The characteristic of periodic DoS attacks is that the attack duration is fixed, and the attack start time of each attack is periodic. A resilient controller with a switching mechanism is proposed to handle arbitrary periodic DoS attacks under a communication topology, by using present and delayed neighbor information. An event-triggered mechanism (ETM) is designed to adjust the controller triggering frequency according to the periodic DoS attacks. The consensus and convergency of MAS against periodic DoS attacks are theoretically analyzed, and numerical simulations are conducted to validate the proposed method.
2023 31ST MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, MED
(2023)
Proceedings Paper
Engineering, Aerospace
Zihang Ao, Yulong Zhang, Jing Huang, Yichen Lin, Xiaoden Zhou, Youmin Zhang
Summary: This paper presents an online planning algorithm for multiple Unmanned Aerial Vehicles (UAVs) cooperative search tracks based on Distributed Model Predictive Control (DMPC) for dynamic targets. The proposed approach transforms the centralized multiUAV collaboration problem into a distributed subsystem MPC problem under the framework of DMPC. The simulation results demonstrate the efficacy of the proposed dynamic target SPM model in improving search efficiency, and the scrolling-optimized A-star algorithm improves the accuracy and speed of subsystem single-step search. In conclusion, the DMPC method significantly reduces the solving scale of cooperative search problems while ensuring high solving accuracy.
2023 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS
(2023)
Proceedings Paper
Engineering, Aerospace
Xinyue Hu, Yifang Fu, Yulu Huang, Ban Wang, Ni Li, Youmin Zhang
Summary: This paper proposes an adaptive sliding mode control strategy to achieve desired trajectory tracking and attitude control for a quadrotor unmanned aerial vehicle in the presence of actuator faults. The nominal controller is constructed using an integral sliding mode control method with a cascaded control structure. An adaptive sliding mode control strategy is presented to compensate for the adverse effects of actuator faults and maintain desired trajectory and attitude tracking performance. Simulation tests validate the capabilities and effectiveness of the proposed adaptive fault-tolerant control method.
2023 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS
(2023)
Proceedings Paper
Computer Science, Interdisciplinary Applications
Lingxia Mu, Wenzhe Sun, Youmin Zhang, Nan Feng
Summary: This paper proposes a novel method called recursive transformed component dissimilarity analysis (RTCDA) for detecting gradually occurring faults by combining dissimilarity analysis algorithm and traditional sliding window technique. It obtains orthogonal transformed components (TCs) corresponding to a new set of data in the sliding window using a recursive algorithm based on rank-one modification. The dissimilarity index between TCs of the new dataset and that of referenced dataset is calculated to quantitatively estimate the distribution difference of TCs. The performance of RTCDA method for incipient gradual fault detection is evaluated through case studies on a numerical example and a practical industrial fed-batch penicillin fermentation process.
2023 IEEE 6TH INTERNATIONAL CONFERENCE ON INDUSTRIAL CYBER-PHYSICAL SYSTEMS, ICPS
(2023)
Article
Computer Science, Artificial Intelligence
Shangkun Liu, Bin Jiang, Zehui Mao, Youmin Zhang
Summary: This article addresses the issue of adaptive fault-tolerant cooperative control for heterogeneous multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) under denial-of-service (DoS) attacks, considering both actuator and sensor faults. The article develops a unified control model and establishes a neural-network-based switching-type observer to handle the nonlinear term introduced by DoS attacks. An adaptive backstepping control algorithm is presented for fault-tolerant cooperative control, with stability and synchronized tracking error analysis. Simulation studies demonstrate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Ziquan Yu, Jiaxu Li, Yiwei Xu, Youmin Zhang, Bin Jiang, Chun-Yi Su
Summary: This article investigates the fault-tolerant formation control problem for networked fixed-wing unmanned aerial vehicles against faults. Prescribed performance functions are developed to transform the distributed tracking errors and critic neural networks are used to evaluate the tracking performance. Actor neural networks are designed to learn the unknown nonlinear terms, and nonlinear disturbance observers are developed to compensate for the learning errors. The effectiveness of the proposed control scheme is demonstrated through comparative simulation results.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Engineering, Aerospace
Yujiang Zhong, Youmin Zhang, Shuzhi Sam Ge, Xiao He
Summary: This article investigates the fault detection and diagnosis problem in multiagent systems with sensor faults and disturbances. A distributed proportional integral derivative formation control protocol is constructed for practical formation. A distributed FDD scheme, consisting of a fault detection module, a fault isolation module, and a fault estimation module, is designed within the formation control. The effectiveness of the proposed FDD scheme is demonstrated through simulation results.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2023)
