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Vol. 2,  No. 1, 2015

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2015, 2(1): .
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EDITORIAL
Guest Editorial for Special Issue on Autonomous Control of Unmanned Aerial Vehicles
Derong Liu, Changyin Sun, Bin Xian
2015, 2(1): 1-1.
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PAPERS
Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances
Yuanqing Xia, Ning Zhou, Kunfeng Lu, Yong Li
2015, 2(1): 2-10.
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Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopt...
A Predator-prey Particle Swarm Optimization Approach to Multiple UCAV Air Combat Modeled by Dynamic Game Theory
Haibin Duan, Pei Li, Yaxiang Yu
2015, 2(1): 11-18.
Abstract(1465) HTML (25) PDF(54)
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Dynamic game theory has received considerable attention as a promising technique for formulating control actions for agents in an extended complex enterprise that involves an adversary. At each decision making step, each side seeks the best scheme with the purpose of maximizing its own objective fun...
Adaptive Backstepping Tracking Control of a 6-DOF Unmanned Helicopter
Bin Xian, Jianchuan Guo, Yao Zhang
2015, 2(1): 19-24.
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This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dy...
Robust Tracking Control of Uncertain MIMO Nonlinear Systems with Application to UAVs
Yanlong Zhou, Mou Chen, Changsheng Jiang
2015, 2(1): 25-32.
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In this paper, we consider the robust adaptive tracking control of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance. The nonlinear disturbance observer (NDO) is employed to tackle the system uncertainty as well as the external dis...
Robust and Accurate Monocular Visual Navigation Combining IMU for a Quadrotor
Wei Zheng, Fan Zhou, Zengfu Wang
2015, 2(1): 33-44.
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In this paper, we present a multi-sensor fusion based monocular visual navigation system for a quadrotor with limited payload, power and computational resources. Our system is equipped with an inertial measurement unit (IMU), a sonar and a monocular down-looking camera. It is able to work well in GP...
Continuous Sliding Mode Controller with Disturbance Observer for Hypersonic Vehicles
Chaoxu Mu, Qun Zong, Bailing Tian, Wei Xu
2015, 2(1): 45-55.
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In this paper, a continuous sliding mode controller with disturbance observer is proposed for the tracking control of hypersonic vehicles to suppress the chattering. The finite time disturbance observer is involved to make that the continuous sliding mode controller has the property of disturbance r...
Modeling and Robust Backstepping Sliding Mode Control with Adaptive RBFNN for a Novel Coaxial Eight-rotor UAV
Cheng Peng, Yue Bai, Xun Gong, Qingjia Gao, Changjun Zhao, Yantao Tian
2015, 2(1): 56-64.
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This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles (UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, ...
Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control
Lu Wang, Jianbo Su
2015, 2(1): 65-73.
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We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering ...
Dynamic Multi-team Antagonistic Games Model with Incomplete Information and Its Application to Multi-UAV
Wenzhong Zha, Jie Chen, Zhihong Peng
2015, 2(1): 74-84.
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At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new fr...
Probabilistic Robust Linear Parameter-varying Control of a Small Helicopter Using Iterative Scenario Approach
Zhou Fang, Hua Tian, Ping Li
2015, 2(1): 85-93.
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In this paper, we present an iterative scenario approach (ISA) to design robust controllers for complex linear parameter-varying (LPV) systems with uncertainties. The robust controller synthesis problem is transformed to a scenario design problem, with the scenarios generated by identically extracti...
Adaptive Sliding Mode Control for Re-entry Attitude of Near Space Hypersonic Vehicle Based on Backstepping Design
Jingmei Zhang, Changyin Sun, Ruimin Zhang, Chengshan Qian
2015, 2(1): 94-101.
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Combining sliding mode control method with radial basis function neural network (RBFNN), this paper proposes a robust adaptive control scheme based on backstepping design for re-entry attitude tracking control of near space hypersonic vehicle (NSHV) in the presence of parameter variations and extern...
Finite-time Attitude Control: A Finite-time Passivity Approach
Shuochen Liu, Zhiyong Geng, Junyong Sun
2015, 2(1): 102-108.
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This paper studies the finite-time attitude control problem for a rigid body. It is known that linear asymptotically stabilizing control laws can be derived from passivity properties for the system which describes the kinematic and dynamic motion of the attitude. Our approach expands this framework ...
Autonomous Landing of Small Unmanned Aerial Rotorcraft Based on Monocular Vision in GPS-denied Area
Cunxiao Miao, Jingjing Li
2015, 2(1): 109-114.
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Focusing on the low-precision attitude of a current small unmanned aerial rotorcraft at the landing stage, the present paper proposes a new attitude control method for the GPS-denied scenario based on the monocular vision. Primarily, a robust landmark detection technique is developed which leverages...
BRIEF PAPER
Decoupling Trajectory Tracking for Gliding Reentry Vehicles
Zixuan Liang, Zhang Ren, Xingyue Shao
2015, 2(1): 115-120.
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A decoupling trajectory tracking method for gliding reentry vehicles is presented to improve the reliability of the guidance system. Function relations between state variables and control variables are analyzed. To reduce the coupling between control channels, the multiple-input multiple-output (MIM...