Trajectory stabilization control for aerial recovery of cable-drogue-UAV assembly

Unmanned aerial vehicles (UAVs) aerial recovery denotes the technology that UAVs are recovered in the air by the transport aircraft for reuse. During the recovery process, the multiple wind perturbations and fast-changing UAV’s engine shutdown will induce oscillations in the cable-drogue-UAV assembly (CDUA) with strong nonlinearities and tight coupling, which affects the safety and speed of the UAV aerial recovery. Aiming at this problem, this paper proposes a non-constraining force direction (NCFD)-based CDUA anti-disturbance trajectory control method for the first time. First, by transforming the CDUA trajectory control to the NCFD control, the coupling and nonlinear effects in the CDUA can be reduced, and the fast-changing disturbances caused by the engine shutdown can be compensated. Then, feed forward control is designed based on the relationship between the NCFD and cable shape, which is established based on the cable dynamics, to improve the response speed. Furthermore, a fixed-time anti-disturbance controller (FTADC) is designed for the flow angle of drogue-UAV assembly (DUA) given by the NCFD controller and compensates for the effects of wind and parameter perturbations. Finally, the stability of the proposed method is analyzed, and the effectiveness is demonstrated by abundant simulations.

     

Visual exploration of dependency graph in source code via embedding-based similarity

Journal of Visualization -  A large software system contains millions of lines of source code, and the development often involves many developers over a long period. How to understand and...     

Multivariate Calibration of Concentrations of C,Mn, Si,Cr, Ni,and Cu in Low-Alloy Steels from Raw Low-Resolution Spectra Obtained By Laser-Induced Breakdown Spectroscopy

Journal of Applied Spectroscopy - Multivariate models were developed on the basis of raw low-resolution LIBS spectra of reference samples of lowalloy steels for calibration of the concentrations of...     

Output feedback regulation of large-scale feedforward systems with discrete and distributed delays

Nonlinear Dynamics - This paper proposes an output feedback control strategy to achieve the global regulation of a class of large-scale feedforward nonlinear systems with discrete and distributed...     

The Preparation of Cu(II)- and Ag(I)-responsive Carbon Nanodots from the Right Amino-acid Carbon Source

Journal of Fluorescence - Carbon nanodots (CDs) have exhibited excellent sensing capability for various metal ions. However, it is difficult to determine the selectivity of CDs to metal ions. In...     

Effective suppression of beta oscillation in Parkinsonian state via a noisy direct delayed feedback control scheme

This work explores the function of the noisy direct delayed feedback(NDDF)control strategy in suppressing the pathological oscillations in the basal ganglia(BG)with Parkinson’s disease(PD).Deep brain stimulation(DBS)alleviates the PD state fantastically.However,due to its unclear mechanism and open-loop characteristic,it is challenging to further improve its effects with lower energy expenditure.The noise stimulus performs competitively in alleviating the PD state theoretically,but it cannot adapt to the neural condition timely and automatically due to its open-loop control scheme.The direct delayed feedback(DDF)control strategy is able to disturb excessive synchronous effectively.Therefore,the NDDF control strategy is proposed and researched based on a BG computational model,which can reflect the intrinsic properties of the BG neurons and their connections with thalamic neurons.Simulation results show that the NDDF control strategy with optimal parameters is effective in removing the pathological beta oscillations.By comparison,we find the NDDF control strategy performs more excellent than DDF in alleviating PD state.Additionally,we define the multiple-NDDF control strategy and find that the multiple-NDDF with appropriate parameters performs better than NDDF.The obtained results contribute to the cure for PD symptoms by optimizing the noise-induced improvement of the BG dysfunction.     

Solving nonnegative sparsity-constrained optimization via DC quadratic-piecewise-linear approximations

Journal of Global Optimization - In this paper, we propose a novel algorithm that is based on quadratic-piecewise-linear approximations of DC functions to solve nonnegative sparsity-constrained...     

The Integrative Approach to Study of the Structure and Functions of Cardiac Voltage-Dependent Ion Channels

Crystallography Reports - Membrane proteins, including ion channels, became the focus of structural proteomics midway through the 20th century. Methods for studying ion channels are diverse and...     

Study on the static properties of spiral springs under static loading

Applied Mathematics and Mechanics - Spiral springs have a wide range of applications in various fields. As a result of the complexity of friction, few theoretical analyses of spring belts under...     

Harmonic 2-forms and positively curved 4-manifolds

Science China Mathematics - We prove that if a compact Riemannian 4-manifold with positive sectional curvature satisfies a strengthened Kato type inequality, then it is definite. We also discuss...