Bionic Visual Control for Probe-and-Drogue Autonomous Aerial Refueling

Duan，Haibin1; Sun，Yongbin2; Shi，Yuhui3

2020

10.1109/TAES.2020.3034026

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS   影响因子和分区

0018-9251

1557-9603

The probe-and-drogue autonomous aerial refueling (AAR) docking suffers the multi-wind disturbances leading to the low accuracy of receiver position control and drogue relative position estimation. This paper proposes a bionic visual navigation control system in a hardware-in-loop simulation environment and further develops an AAR outfield experiment platform for promoting the success of probe-anddrogue AAR docking. The drogue region and markers are detected by the biological method imitating the eagle-eye color vision mechanism. The different visual navigation methods based on the ellipse fitting, marker matching, and marker prediction are respectively applied to the three possible situations in AAR docking for precise pose estimation. Moreover, a relative position control scheme of the receiver, which is constructed by back-stepping (BS) design technique and gain-adaptive equivalent sliding mode control (SMC), is proposed to compensate the multi-wind disturbances and model uncertainties. Fuzzy logic position strategy is designed to compensate the swing of the drogue caused by the multi-wind disturbances. The AAR outfield experiment platform contains two unmanned aerial vehicles (UAVs) to verify a part of the proposed navigation control method. Extensive experimental results are presented to demonstrate the effectiveness of the bionic visual navigation control system for the high accuracy of the visual navigation and anti-disturbance position control.

Autonomous aerial refueling (AAR) Biological system modeling Bionic visual navigation Fuzzy logic Fuzzy logic position compensation strategy Gain-adaptive equivalent sliding mode control (SMC) Hardware-in-loop simulation environment Navigation Outfield experiment platform Position control Receivers Visualization

EI ; SCI

英语

其他

National Natural Science Foundation of China[91948204,91648205,"U1913602","U19B2033"]

Engineering ; Telecommunications

Engineering, Aerospace ; Engineering, Electrical & Electronic ; Telecommunications

WOS:000639747300007

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20204709506787

Air navigation ; Position control ; Antennas ; Computer circuits ; Flight control systems ; Uncertainty analysis ; Fuzzy logic

Air Navigation and Traffic Control:431.5 ; Aircraft Instruments and Equipment:652.3 ; Computer Theory, Includes Formal Logic, Automata Theory, Switching Theory, Programming Theory:721.1 ; Computer Circuits:721.3 ; Control Systems:731.1 ; Specific Variables Control:731.3 ; Probability Theory:922.1

ENGINEERING

2-s2.0-85096135216

Scopus

1.School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing 100083, China (e-mail: hbduan@buaa.edu.cn)
2.School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing 100083, China (e-mail: ybsuncookie@buaa.edu.cn)
3.Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen 518055, China (e-mail: shiyh@sustc.edu.cn)

Duan，Haibin,Sun，Yongbin,Shi，Yuhui. Bionic Visual Control for Probe-and-Drogue Autonomous Aerial Refueling[J]. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,2020,57(2):848-865.

Duan，Haibin,Sun，Yongbin,&Shi，Yuhui.(2020).Bionic Visual Control for Probe-and-Drogue Autonomous Aerial Refueling.IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,57(2),848-865.

Duan，Haibin,et al."Bionic Visual Control for Probe-and-Drogue Autonomous Aerial Refueling".IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 57.2(2020):848-865.