Ban Wang

• Ph.D of Mechanical Engineering
• Professor (Associate) at Northwestern Polytechnical University

This paper proposes a novel adaptive sliding-mode-based control allocation scheme for accommodating simultaneous actuator faults. The proposed control scheme includes two separate control modules with virtual control part and control allocation part, respectively. As a low-level control module, the control allocation/reallocation scheme is used to...

Sliding mode control (SMC) is known as a robust control method to maintain system performance and keep it insensitive to system uncertainties. To achieve this objective, the knowledge of the uncertainty bound is usually needed, but sometimes it could be a hard task. Hence, the adaptive technology is introduced to be synthesized with SMC. In this pa...

Fire detection using aerial platform is an important technology for forest surveillance. But the real-time detection capability is still a challenging problem. In this paper, an edge computing-based real-time forest fire detection strategy is designed using the unmanned aerial vehicle (UAV). The objective is to improve the timely response capabilit...

Multiagent reinforcement learning (MARL) algorithms have shown promise in the Internet of Things devices, such as unmanned aerial vehicle (UAV) swarms. However, the dynamic nature of large-scale swarm systems, with constantly changing numbers of agents and observed neighbors, poses challenges for MARL adaptation. Existing approaches struggle to ext...

A trajectory-based guidance strategy is proposed for the three-dimensional terminal return task of an uncrewed space vehicle (USV). The overall guidance scheme consists of reference trajectory planning and robust trajectory tracking modules. The trajectory planning algorithm involves determining the motion of the USV to achieve a prescribed target...

This paper presents a mission allocation and path planning solution for the pesticide spraying mission of dense trees in hilly terrains using cooperative multicopters. The problem is formulated as a single-depot single-end multiple traveling salesman problem (mTSP). Three different algorithms, namely classical mTSP algorithm, Grouping-TSP combined...

The unmanned aerial vehicles (UAV) cluster, compared to a single UAV, has better application potential in implementing complex and dangerous tasks. In recent research, cooperative formation control strategy and obstacle avoidance have always been focused to secure the safety of flight and task implementation. In this research, we propose the Local...

The purpose of this paper is to establish a transition strategy for tilt-rotor vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) based on an optimal design method. Firstly, The flyable transition corridor was calculated based on both the UAV’s dynamic equations and its aerodynamic and dynamic characteristics. The dynamic equations...

For a quadrotor unmanned aerial vehicle (UAV), this paper proposes an adaptive sliding mode control (SMC) strategy enhanced with a disturbance observer to attain precise trajectory and attitude tracking performance while compensating for the detrimental impacts of actuator faults and disturbances. First, an adaptive SMC strategy that utilizes an in...

This paper proposes an adaptive fault-tolerant control scheme for an over-actuated hybrid vertical take-off and landing (VTOL) canard rotor/wing unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults and model uncertainties without the requirement of fault information and uncertain bounds. The proposed control scheme is construc...

Model uncertainties and external disturbances present significant challenges for controlling fixed-wing unmanned aerial vehicles (UAVs). An adaptive smooth second-order time-varying nonsingular fast terminal sliding mode control method is proposed in this paper for attitude and airspeed control of fixed-wing UAVs with model uncertainties and extern...

Autonomous landing is one of the key technologies for unmanned aerial vehicles (UAVs) which can improve task flexibility in various fields. In this paper, a vision-based autonomous landing strategy is proposed for a quadrotor micro-UAV based on a novel camera view angle conversion method, fast landing marker detection, and an autonomous guidance ap...

Deep reinforcement learning is a popular topic in research right now. Because the agent is a black box with unexpected consequences, it is frequently utilized for simple activities, while complex and high-risk tasks are difficult to reassure. The canard rotor/wing (CRW) compound aircraft’s helicopter configuration now necessitates a faster control...

The hybrid vertical takeoff and landing (VTOL) aircraft draw great attention from industrial and academic communities recently. In this paper, a nonlinear modeling process of a hybrid quad-tiltrotor aircraft under full-mode flight is proposed. Then, the developed nonlinear model is linearized at the equilibrium point and its stability characteristi...

The vertical takeoff and landing (VTOL) aircraft has developed rapidly in recent years due to its excellent performance in terms of takeoff, landing and cruising. As a relatively complete concept of VTOL aircraft, the canard rotor/wing (CRW) aircraft has the advantages of high hovering efficiency and fast cruising speed. In this paper, the concept...

An adaptive sliding mode fault‐tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle in this article to accommodate actuator faults and model uncertainties. First, a new reaching law is proposed, with which a sliding mode control (SMC) law is constructed. The proposed reaching law is made up of a sliding variable and the dis...

The rapid development of civil vertical take-off and landing (VTOL) aircraft and its utilization in urban services bring new challenges to the design of flight control systems. The canard rotor/wing (CRW) aircraft, as a relatively complete concept of VTOL aircraft, has the advantages of high hovering efficiency and fast cruising speed. In order to...

The VTOL UAVs draw more and more attention from research institute recently. This paper proposes a nonlinear modeling process of fixed-wing mode for a novel tiltrotor unmanned aerial vehicle with double ducted fans by Digital DATCOM and Simulink. With the help of the above two simulation software, the flight vehicle design process is simplified and...

This article proposes a compact, lightweight, low-cost, and energy-efficient system to detect the air-relative flight parameters, which are essential for flight environment awareness of small soaring unmanned air vehicles (UAVs). Inspired by that some large birds with similar flight characteristics use distributed mechanoreceptors on or around foll...

In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desi...

This paper proposes an adaptive fault-tolerant control strategy for a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults and model uncertainties. With the proposed adaptive control schemes, both actuator faults and model uncertainties can be accommodated without the knowledge of fa...

View Video Presentation: https://doi.org/10.2514/6.2022-2079.vid This paper proposes an adaptive fault-tolerant control allocation strategy to accommodate concurrent actuator faults for an over-actuated hybrid fixed-wing UAV. The proposed control strategy is divided into two modules by introducing an intermediate virtual control and control allocat...

This paper proposes an innovative integrated path planning and trajectory tracking control framework for a quadrotor unmanned aerial vehicle (UAV) in the presence of environmental and systematic uncertainties to achieve integrated guidance and control. Firstly, in order to perform real-time path planning, a computationally cost-effective planning a...

This paper focuses on the three-dimensional guidance strategy for a reusable launching vehicle (RLV) during terminal area energy management (TAEM) phase. Based on sliding mode and shrinking horizon techniques, the proposed scheme consists of trajectory generation and correction mechanisms, which can enhance the guidance precision and robustness aga...

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This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminati...

This paper presents a dual adaptive fault-tolerant control strategy for a quadrotor helicopter based on adaptive sliding mode control and adaptive boundary layer. Within the proposed adaptive control strategy, both model uncertainties and actuator faults can be compensated without the knowledge of the uncertainty bounds and fault information. By vi...

This paper proposes an active fault-tolerant control strategy for a quadrotor helicopter against actuator faults and model uncertainties while explicitly considering fault estimation errors based on adaptive sliding mode control and recurrent neural networks. Firstly, a novel adaptive sliding mode control is proposed. In virtue of the proposed adap...

Making rational decisions for sequential decision problems in complex environments has been challenging researchers in various fields for decades. Such problems consist of state transition dynamics, stochastic uncertainties, long-term utilities, and other factors that assemble high barriers including the curse of dimensionality. Recently, the state...

This paper presents an efficient multi-objective optimization method, focusing on aerodynamic optimization of a diverterless supersonic inlet (DSI) in transonic and supersonic flight conditions. The DSI inlet, through scrutinizing the Bump shape has potential to attain greater aerodynamic performance on exit plane of inlet. However, the high cost o...

This paper proposes a novel adaptive sliding mode based control allocation scheme for accommodating simultaneous actuator faults. The proposed control scheme includes two separate control modules with virtual control part and control allocation part, respectively. As a low-level control module, the control allocation/re-allocation scheme is used to...

Sliding mode control is known as a robust control approach to maintain system performance and keep it insensitive to disturbances. This paper proposes an integral sliding mode based adaptive robust control for a quadrotor helicopter with parametric uncertainties and disturbances. With the help of the synthesized on-line adaptive scheme, the uncerta...

This paper proposes an adaptive sliding mode control allocation scheme for accommodating simultaneous actuator fault/failure. A control allocation and re-allocation scheme is synthesized to redistribute the control signals among the working actuators. In the case of the desired virtual control not being achieved, the proposed on-line adaptive schem...