Weiran Yao

Harbin Institute of Technology | HIT · School of Astronautics

This article addressed the challenge of the task space trajectory planning problem for free-floating space robots with model uncertainties. To ensure the end-effector of the uncertain robot follows a desired trajectory in the task space, a composite planning framework combining pre-planning and post-processing is proposed. The adaptive pseudospectr...

The attitude, orbit, and shape control actuators of large space structures on orbits are functional overlapping and task coupled, resulting in actuator redundancy and high-energy consumption. This paper explores the integrated attitude–orbit–shape control problem of large space ring structures and proposes an online task switching and scheduling me...

This paper proposes an efficient heuristic sampling-based planner (EHSP) to improve the exploration intelligence and efficiency in unknown spaces with narrow openings. Different from existing sampling-based methods, EHSP uses the environment’s heuristic prior knowledge to guide the sampling process of the planner. In detail, a boundary mixture feat...

In low-altitude, GNSS-denied scenarios, Unmanned aerial vehicles (UAVs) rely on sensor fusion for self-localization. This article presents a resilient multi-sensor fusion localization system that integrates light detection and ranging (LiDAR), cameras, and inertial measurement units (IMUs) to achieve state estimation for UAVs. To address challengin...

In this article, an observer-based prescribed performance speed control method is proposed for permanent magnet synchronous motors. A transformed speed error is introduced and a suitable controller is designed to make it converge to zero, while guaranteeing the original speed error evolves strictly within a prescribed region. The controller is desi...

In this article, a novel adaptive fixed-time fuzzy control algorithm is designed for uncertain Euler-Lagrange systems with actuator control input saturation. In contrast to existing algorithms, this paper explores a faster fixed-time backstepping control algorithm. It enables the system to achieve fixed-time convergence with a faster convergence ra...

In uncertain marine environment, auxiliary sensors of the unmanned marine vehicle (UMV) integrated navigation system may be abnormal at any time, reducing the navigation accuracy. To address this problem, this paper presents a novel data-based anomaly location and recovery (ALR) algorithm for the strap-down inertial navigation system (SINS)/ Dopple...

Line features in artificial scenes encode geometric information, such as parallelism and orthogonality that can provide excellent observational landmarks for localization and navigation. However, line features extracted in challenging scenes face problems contain duplicate detection and incomplete structural line segment constraints. To address the...

In cable‐driven parallel robots (CDPRs) practical applications, external disturbances inevitably influence the actuator performance, leading to low positioning accuracy of end‐effector (EE), and even system crashes. This paper addresses a disturbance observer‐based control scheme using deep reinforcement learning (RL) to suppress the effect of exte...

The core component of the navigation system is the process of multi-sensor fusion localization in a challenging environment with limited GNSS constraints. This process is designed to robustly and precisely estimate the system state and map the traversed area. In this paper, we propose a low-drift, highly resilient multilevel navigation system with...

In inertial navigation system (INS)/ Doppler velocity log (DVL) integrated navigation systems, DVL signals are susceptible to interruptions, causing challenges to seamless navigation. In this article, a pseudo-DVL measurement construction method is proposed based on the Gaussian process regression technique. Time-varying characteristics, such as ma...

This paper is focused on the event-based secure control issue for cyber-physical systems (CPSs) under aperiodic denial-of-service (DoS) attacks. Malicious DoS attacks disrupt the communication between the controller and the actuator. The finite attack resources of malicious attackers are taken into consideration, and the DoS attacks are characteriz...

The problem of learning-based control for robots has been extensively studied, whereas the security issue under malicious adversaries has not been paid much attention to. Malicious adversaries can invade intelligent devices and communication networks used in robots, causing incidents, achieving illegal objectives, and even injuring people. This art...

This article aims to solve a hierarchical multi-UAV Dubins traveling salesman problem (HMDTSP). Optimal hierarchical coverage and multi-UAV collaboration are achieved by the proposed approaches in a 3-D complex obstacle environment. A multi-UAV multilayer projection clustering (MMPC) algorithm is presented to reduce the cumulative distance from mul...

This article investigates a fixed-time simultaneous arrival (FTSA) problem in terms of the equilibrium of path lengths of unmanned vehicles. A novel trajectory elliptical homotopy method (TEHM) is designed to solve the FTSA problem of unmanned vehicles in a multi-objective constrained environment. Considering the constraints of obstacle avoidance a...

In this paper, the secure control problem of the cyber-physical systems (CPS) is investigated when the communication network connecting a controller and an actuator is interfered by malicious adversaries. Both multiplicative and additive false data attacks are considered, and a general attack model is given to describe such attacks. Sufficient cond...

This article aims to solve the problem of full coverage path planning (FCPP) for unmanned vehicles with multi-objective constraints in an obstacle environment. A novel multi-objective coverage path planning recombination (MCPPR) framework is proposed to enhance the overall performance of the planned trajectory. The coordinate system transformation...

In multi-vehicle systems, the coupling problem between the task allocation and path planning and the variability of task execution solutions creates challenges for utility estimation and affects the effectiveness of distributed mission planning. To characterize the effect of task sequences on the task utilities and implement a task-extended distrib...

This article examines the problems of task allocation and path optimization for multiobjective coverage in a congestion risk environment with obstacle constraints. An improved probabilistic roadmap (PRM*) algorithm is proposed, which eliminates the zig-zag paths around the path endpoints. The $K$ -distance PRM* $(K$ -DPRM*) provides a novel clu...

In this paper, a fixed-time observer-based sliding mode control strategy is proposed for a permanent magnet synchronous motor. Both the current regulation loop (inner loop) and the speed tracking loop (outer loop) are controlled by the designed fixed-time convergence sliding mode controller, improving the control performance and guaranteeing the co...

Cable-driven parallel robots (CDPRs) have complex cable dynamics and working environment uncertainties, which bring challenges to the precise control of CDPRs. This paper introduces the reinforcement learning to offset the negative effect on control performance of CDPRs resulting from the uncertainties. The problem of controller design for CDPRs in...

This paper examines a trajectory homotopy optimization framework for multiple unmanned aerial vehicles (multi-UAV) to solve the problem of dynamic penetration mission planning (PMP) with hostile obstacles and perception constraints. Constrained problems are usually more challenging and difficult to solve with some practical constraints and requirem...

This article presents a semiparametric model-based adaptive control method for the regulation of aortic pressure (AoP) in an ex situ heart perfusion (ESHP) system. The semiparameter dynamic model of the perfusion system includes a three-element model with a capacitor and two resistors to describe the reference relationship between the AoP and per...

An unmanned aerial vehicle (UAV) swarm that self-organizes to provide superior intelligence and overwhelming effects is a promising technology in urban scenarios. Complex terrain constraints of urban environment increase mission planning difficulties, and bring a strong input-output coupling between subproblems of mission planning, which affect the...

This article addresses the trajectory consensus problem of coordinating the trajectories of vehicles at multiple future time points. The objective is the consensus of the geometry of the vehicles' planned trajectories. The geometric feature of trajectories is parameterized by a set of trajectory states defined as required lengths along the trajecto...

Synchronous approaching is an important capability for autonomous cooperation of multiple unmanned aerial vehicles (UAVs). In this paper, a homotopy-based trajectory planning method is presented for the multi-UAV synchronous approaching problem. A homotopic trajectory description is employed to construct the trajectory solution space of the UAVs. A...

This paper investigates the secure control problem for cyber-physical systems when the malicious data is injected into the cyber realm which is directly connecting to the actuators. Based on moving target defense and reinforcement learning, we propose a novel proactive and reactive defense control scheme. First, the system $(A,B)$ is modeled as a...

This paper investigates the direct trajectory optimization of the free-floating space manipulator (FFSM). The main purpose is to plan the joint space trajectories to reduce the spacecraft motion due to the joint rotation during the FFSM performing tasks. To improve the calculation efficiency, the adaptive Radau pseudospectral method (A-RPM) is appl...

Large-scale annular space structure has a wide application prospect in the field of aerospace, this kind of large space structure often produces low frequency continuous vibration under the influence of space environment, which has great hidden danger to the attitude stability of spacecraft. Aiming at the vibration problem of large spatial ring str...

An optimal control strategy is proposed to find the state feedback, optimal control solution of three-wheeled omnidirectional mobile robot systems online in this paper. An algebraic Riccati equation (ARE) is solved based on the algorithm without requiring the knowledge of the system’s internal dynamics. The policy iteration (PI) algorithm repeatedl...

Three-wheeled omnidirectional mobile robot (TWODMR) is a new type of holonomic mobile robot, which performs better moving flexibility than nonholonomic mobile robot. In this paper, we focus on the multi-robot formation control problem of three-wheeled omnidirectional mobile robots. The deep deterministic policy gradient (DDPG) algorithm is applied...

This paper proposes an improved fractional proportional-integral-differential (PID) impedance control method with dynamic parameters for the end effector manipulator of autonomous unmanned system. It can conduct versatile manipulating tasks which have great potential application. Force and position sensors are used for compliance control in collisi...

This chapter investigates the problem of how to design an optimal DoS attack sequence to deteriorate the performance of the remote estimator from the attacker’s perspective. For the system setup, the system designer utilizes multiple communication channels to transmit data to the remote estimator. In this way, the reliability of the cyber layer can...

Even the reliable distributed filtering problem has been investigated in [139] using type-1 T-S fuzzy model, there exist some space to improve the results, which lies in both how to describe the uncertainties and reduce modeling errors and how to enhance the flexibility of fuzzy distributed filter. Recalling the advanced properties in describing un...

This chapter is focused on the optimal secure control scheme for CPSs based on the game-theoretical approach. The physical plant is described as a linear time-invariant discrete-time model with Gaussian noises. Assume the controller and the actuator are distributed and connected over communication network. The attacker can hijack the network and mo...

In this chapter, the deep reinforcement learning based secure control problem of CPSs under actuator attacks is first investigated. A reinforcement learning algorithm is proposed to learn the secure policy for CPSs, based on which deep neural networks are constructed and offline trained. In the inference, trained deep neural networks are deployed t...

Some main preliminaries are provided in this section. First, we describe the considered nonlinear NCSs, which are transformed from traditional systems due to the use of communication networks. Pade approximation method is followed to demonstrate how to separate network-induced delay from controller. At the end of this section, a clear description f...

The diagram of the system frame is described in Fig. 4.1, which shows that the controller and the actuator interact with each other using the cyber layer. The adversary can implement DoS attacks to prevent the cyber realm from transmitting the control signal to the actuator. In this section, we give a model to describe the physical dynamics. A comm...

This chapter investigates the problem of secure state reconstruction for CPSs subject to both malicious attacks and unknown input. Firstly, CPSs are described as a discrete linear time invariant state space model. A parse vector is adopted to model malicious attacks, which can reflect its natural property well. Secondly, a sliding mode observer-bas...

This chapter draws conclusions on the book, and points out some possible research directions related to the work done in this book. By using some traditional and art-of-the-state techniques, for example, optimal theory, sliding mode control, game theory, moving target defense, deep neural networks and reinforcement learning, the problems of securin...

This chapter addresses the problem of resilient control for CPSs under DoS attacks, which are modeled by using DoS frequency and DoS duration inequalities. Under such a DoS attack model, a switched physical system is derived, based on which a resilient sliding mode control scheme is proposed to guarantee that the physical process is exponentially s...

Either the absence of an attack isolation algorithm or no available controllable pairs \((A,\mathcal {B}_{l})\) to alter can make the CPSs undergo attacks all the time. The system performance can be steadily deteriorated. To solve the problems, this chapter proposes attack detection, isolation and MTD control schemes for CPSs in a united framework....

This chapter investigates the problem of observer-based adaptive neural tracking control for nonlinear nonstrict-feedback systems in presence of the actuator fault. Neural networks are introduced to identify the unknown nonlinear characteristics. Compared with the existing results, for example.

This book analyzes the secure problems of cyber-physical systems from both the adversary and defender sides. Targeting the challenging security problems of cyber-physical systems under malicious attacks, this book presents some recent novel secure state estimation and control algorithms, in which moving target defense scheme, zero-sum game-theoreti...

This study uses a Bezier curve-based shaping (BCBS) approach based on the dynamic model to quickly generate 3D cooperative trajectories for unmanned aerial vehicles (UAVs). It can facilitate the solution of the flight trajectory problem that occurs after the reallocation of mission points. Trajectory coordinates are expanded based on the Bezier cur...

This paper investigates the task-space trajectory tracking control of free-floating space manipulator (FFSM) with system uncertainty considered. The dynamics of the FFSM, as well as the mapping between the task space and the joint space, are first established. To estimate and compensate for the uncertainty, a disturbance observer is designed which...

In this paper, a novel adaptive sliding mode control (ASMC) strategy is presented for attitude and altitude stabilization of a quadrotor unmanned aerial vehicle (UAV), where the input saturation is taken into consideration. The nonlinear dynamic model of quadrotor UAV subject to system uncertainty and external disturbance is firstly derived using t...

Space non-cooperative object visual tracking (SNCOVT) with monocular or binocular camera is one of the most significant tasks for on-orbit services. In recent years, most of vision-based trackers utilized in spacecraft are based on hand-crafted features (e.g. point, edge and color), which are vulnerable to the dynamic and harsh environment in space...

This brief proposes the first model reference adaptive control (MRAC) method for aortic pressure (AoP) regulation and maintaining the heart's physiological aerobic metabolism in ex vivo heart perfusion (EVHP). A mathematical model of the EVHP was established to describe the hemodynamic behavior of EVHP and quantify the changes in cardiac parameters...

Objective: For heart transplantation, donor heart status needs to be evaluated during normothermic ex situ perfusion (ESHP). Left ventricular end-systolic elastance (Ees) measures the left ventricular contractile function, but its estimation requires the occlusion of the left atrium line in the ESHP, which may cause unnecessary damage to the donor...

In this paper, problem of online fast attitude planning and obstacle avoidance for spacecraft is addressed. A new approach to generate three dimensional trajectory used finite Fourier series (FFS) shape-based method is proposed. By which, time-optimal trajectory under constraints of attitude dynamics and satisfies demand of collision avoidance with...

Aerial recovery technology for aircrafts plays a significant role in practical applications, which presents a challenging problem in cooperative trajectory planning. To solve the problem, a hierarchical trajectory planning architecture is proposed in this paper. Firstly, the waypoints of the mother aircraft trajectory are obtained based on the dist...

To maximize the advantages of being low-cost, highly mobile, and having a high flexibility, aerial recovery technology is important for unmanned aerial vehicle (UAV) swarms. In particular, the operation mode of “launch-recovery-relaunch” will greatly improve the efficiency of a UAV swarm. However, it is difficult to realize large-scale aerial recov...

The mechanisms, applications and characteristics of different micro/low gravity simulation approaches are introduced in this paper. Key technologies of a multi-DOF spacecraft simulator based on air suspension technology are described. The typical experiment applications of various complex spacecraft including large space manipulator in micro/low gr...

Purpose: Ex situ heart perfusion (ESHP) provides a means to assess heart viability prior to transplantation. Lactate concentration has been used to predict post-transplant viability. However, many studies show that lactate is insufficient for marginal hearts or heart donated after circulatory death (DCD) evaluation. We sought to determine if glucos...

This article presents a primed left ventricle heart perfusion method to generate physiologic aortic pressure (AoP) and perform functional assessment. Isolated hearts of male Yorkshire pigs were used to study the hemodynamic behaviors of AoPs generated in the primed left ventricle heart perfusion (n = 6) and conventional (zero-loaded left ventricle)...

In this paper, the traditional shortest path planning problem for vehicle is advanced to length-targeted path planning problem, i.e., to plan path with its length being as close to a specified value as possible. Lengthening and shortening of given initial paths are used to solve this problem. Based on an operation set consisting of three basic path...

This paper investigates a special task allocation problem with constraints of path planning. The path planning process involved is defined as the follow-up step of task allocation. The allocation problem is coupled with path constraints, which will affect the utility of allocation solution. A homotopic approach featuring two homotopy primitives is...

The ability to deploy multiple unmanned aerial vehicles expands their application range, but aerial recovery of unmanned aerial vehicles presents many unique challenges owing to the number of unmanned aerial vehicles and the limited recovery time. In this paper, scheduling the aerial recovery of multiple unmanned aerial vehicles by one mothership i...

Air suspension technology is currently widely used in testing, experimental study and other production process in aviation and aerospace industry. The application of air suspension technology to the assembly of product components can reduce the control force of assembly components, thus making the control of components more flexible and achieving h...

This paper presents the first system for automated ex vivo perfusion of an isolated heart and regulating the heart’s aortic pressure (AoP). An adaptive controller was developed for AoP regulation and maintained the heart’s physiological aerobic metabolism. A mathematical model of the perfusion system was established based on a nonlinear equivalent...

Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to retrieve, which consequently complicates the control tasks. In this paper, a linearized time-varying plant model with consideration of the external perturbations is developed to approximate the spacecraft rendezvou...

Purpose: Ex vivo heart perfusion (EVHP) provides a means to assess cardiac function before heart transplantation. End-systolic elastance (Ees) has been proposed as a relative load-insensitive index of cardiac function. However, due to the difficulties to obtain multiple stable pressure-volume (PV) loops at different preload conditions in EVHP, accu...

In this paper, we propose an iterative strategy to enhance the performance of task assignment and path planning in applications of distributed multiple unmanned aerial vehicles (Multi-UAV). As an improvement of the conventional management of airborne computation and communication resources of UAVs, our strategy overcomes difficulties caused by the...

Bounded curvature path planning with specified length is a significant technique for single-vehicle assignments and multi-vehicle coordination, especially in the real-time applications. Any existed path can be reached from the curvature-bounded deformation of some other paths. Based on that, this paper proposes a structured homotopy-based (SH-based...

External perturbations and actuator faults are two practical and significant issues that deserve designers' considerations when synthesizing the controllers for spacecraft rendezvous. A composite robust fault-tolerant control (FTC) scheme that does not require the fault information is proposed in this paper for limited-thrust rendezvous in nearcirc...

To improve the overall performance of mission planning for the unmanned aerial vehicles (UAVs), a multistage path prediction (MPP) for trajectory generation with rendezvous is addressed in this paper. The proposed real-time algorithm consists of four stages: path estimation, path planning, flyable trajectory generation, and trajectory modification...

In the dynamical environment with forbidden areas, the achievement of multiple unmanned aerial vehicles (UAVs) executing cooperative missions strongly depends on the validity of mission planning results, which may be affected by the error of flight time estimation. In this paper, a hierarchical path generation scheme for improving the adaptability...

In order to improve the autonomous ability of unmanned aerial vehicles (UAVs) and achieve the integral framework of task assignment and path planning, a mission planning system based on path prediction algorithm for multiple UAVs is presented. To model obstacles more accurately, the forbidden areas are defined as polygons. Then, the optimal path se...