Research Progress of Occurrence and Comprehensive Control of Oriental Fruit Fly [Bactrocera dorsalis (Hendel)]

The paper summarizes the research progress of occurrence and comprehensive control of oriental fruit fly in the following aspects ： biological and ecological characteristics, assessment of the risk and suitability, dynamic monitoring and control index, and comprehensive control methods.

Study on Integrated Control against Oriental Fruit Fly[Bactrocera dorsalis(Hendel)] in Guava Orchard

[ Objective ] The paper was to explore the damage, occurrence pattern and integrated control methods of oriental fruit fly [ Bactrocera dorsalis （ Hen- del） ] in Nanning region of Guangxi Province. [ Method ] Using fixed system survey method, with fruit fly attractants as the materials, the occurrence dynamic of oriental fruit fly adult in guava orchard was investigated. The control effects of the methods such as fruit fly attractants, fruit bagging, cleaning park to pick up fallen fruit and timely spraying pesticide against the pest were also studied. [ Result] Oriental fruit fly had two damage peak periods in Nanning region of Guangxi Prov- ince （May to June, August to September）. Through the integrated control measures of trapping agent for male flies, timely spraying, fruit bagging and cleaning park to pick up fallen fruit, the population density in guava orchard dropped significantly. The fruit damage rates of guava in research base were only 6.67% -7.33% during the peak period of oriental fruit fly in June 2008, while they were 90.53% -98.00% in control area, obtaining good control effect against the pest. [ Con- dttalon ] The method used in the study preliminarily restored the yield losses of guava, which also provided basis for the preparation of overall strategy against orien- tal fruit fly in the region.

A new robust fuzzy method for unmanned flying vehicle control

A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.

Robust Adaptive Gain Higher Order Sliding Mode Observer Based Control-constrained Nonlinear Model Predictive Control for Spacecraft Formation Flying

This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.

An improved nonlinear control strategy for deep space formation flying spacecraft

This paper aims to provide further study on the nonlinear modeling and controller design of formation flying spacecraft in deep space missions. First, in the Sun-Earth system, the nonlinear formation dynamics for the circular restricted three-body problem （CRTBP） and elliptic restricted three-body problem （ERTBP） are presented. Then, with the Floquet mode method, an impulsive controller is developed to keep the Chief on the desired Halo orbit. Finally, a nonlinear adaptive control scheme based on Nonzero set- point LQR and neural network is proposed to achieve high precision formation maneuver and keeping. The simulation results indicate that the proposed nonlinear control strategy is reasonable as it considers not only the orbit keeping of the Chief, but also the formation modeling inaccuracy. Moreover, the nonlinear adaptive control scheme is effective to improve the control accuracy of the formation keeping.

Finite-time coordination control for formation flying spacecraft

This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the singularity of the traditional fast terminal sliding manifold, a novel fast terminal sliding manifold is given. And then, based on the adaptive control method, a continuous robust coordinated controller is designed to compensate external disturbances and to alleviate the chattering phenomenon. The theoretical analysis shows that the coordinated controller can guarantee the finite-time stability of the overall closed-loop system through local information exchange, and numerical simulations also demonstrate its effectiveness.

Analysis of flow separation control using nanosecond-pulse discharge plasma actuators on a flying wing

Dielectric barrier discharge （DBD） plasma is one of most promising flow control method for its several advantages. The present work investigates the control authority of nanosecond pulse DBD plasma actuators on a flying wing model＇s aerodynamic characteristics. The aerodynamic forces and moments are studied by means of experiment and numerical simulation. The numerical simulation results are in good agreement with experiment results. Both results indicate that the NS-DBD plasma actuators have negligible effect on aerodynamic forces and moment at the angles of attack smaller than 16-. However, significant changes can be achieved with actuation when the model＇s angle of attack is larger than 16° where the flow separation occurs. The spatial flow field structure results from numerical simulation suggest that the volumetric heat produced by NS-DBD plasma actuator changes the local temperature and density and induces several vortex structures, which strengthen the mixing of the shear layer with the main flow and delay separation or even reattach the separated flow.

Orbit and attitude control of spacecraft formation flying

Formation flying is a novel concept of distributing the functionality of large spacecraft among several smaller, less expensive, cooperative satellites. Some applications require that a controllable satellite keeps relative position and attitude to observe a specific surface of another satellite among the cluster. Specially, the target space vehicle is malfunctioning. The present paper focuses on the problem that how to control a chaser satellite to fly around an out-of-work target satellite closely in earth orbit and to track a specific surface. Relative attitude and first approximate relative orbital dynamics equations are presented. Control strategy is derived based on feedback linearization and Lyapunov theory of stability. Further, considering the uncertainty of inertia, an adaptive control method is developed to obtain the correct inertial ratio. The numerical simulation is given to verify the validity of proposed control scheme.

Unified Modeling Approach of Kinematics, Dynamics and Control of a Free-Flying Space Robot Interacting with a Target Satellite

In this paper a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target satellite. This developed approach combines the dynamics of both systems in one structure along with holonomic and nonholonomic constraints in a single framework. Furthermore, this modeling allows consid-ering the generalized contact forces between the space robot end-effecter and the target satellite as internal forces rather than external forces. As a result of this approach, linear and angular momentum will form holonomic and nonholonomic constraints, respectively. Meanwhile, restricting the motion of the space robot end-effector on the surface of the target satellite will impose geometric constraints. The proposed momentum of the combined system under consideration is a generalization of the momentum model of a free-flying space robot. Based on this unified model, three reduced models are developed. The first reduced dynamics can be considered as a generalization of a free-flying robot without contact with a target satellite. In this re-duced model it is found that the Jacobian and inertia matrices can be considered as an extension of those of a free-flying space robot. Since control of the base attitude rather than its translation is preferred in certain cases, a second reduced model is obtained by eliminating the base linear motion dynamics. For the purpose of the controller development, a third reduced-order dynamical model is then obtained by finding a common solution of all constraints using the concept of orthogonal projection matrices. The objective of this approach is to design a controller to track motion trajectory while regulating the force interaction between the space robot and the target satellite. Many space missions can benefit from such a modeling system, for example, autonomous docking of satellites, rescuing satellites, and satellite servicing, where it is vital to limit the con-tact force during the robotic operation. Moreover, Inverse dynamics and adaptive inverse dynamics control-lers are designed to achieve the control objectives. Both controllers are found to be effective to meet the specifications and to overcome the un-actuation of the target satellite. Finally, simulation is demonstrated by to verify the analytical results.

Current Knowledge of Mango and Fruit Fly (Diptera: Tephritidae) Control in Myanmar: A Review

Mango is one of the largest commercial fruits in Myanmar and the fruit fly, B. dorsalis and B. correcta are the major pests. Mango is a kind of native fruit which can grow well as natural vegetation throughout the entire country under the various climatic conditions. We aimed to point out overuse of insecticide application in agricultural sector of Myanmar and further criteria of effective fruit fly control techniques were also proposed for worldwide ecosystem. Traditional fruit fly control is primarily focused on the uncoordinated use of insecticide applications which is orchard-by-orchard strategy. However, in view of flying distance, this localized strategy is not successful and harms the ecosystem. Occasionally, fruit bagging technique was applied by some farmers. In Myanmar’s agricultural sector, numerous varieties of cheap insecticides which mostly imported from China were plentiful. While conventional insecticide application controls were implemented annually, the population of fruit flies increased year after year, particularly in tropical region. The requirement of technical-scientific research reduced the worldwide fruit fly records. Furthermore, traditional insecticide application approach inhibits the yield and quality of mangoes that have adversely affected international trade. Importantly, in long term period of the entire previous decade, the conventional insecticide application controls make more fruit fly infestation.

Nonlinear control of spacecraft formation flying with disturbance rejection and collision avoidance

A nonlinear controller for disturbances rejection and collision avoidance is proposed for spacecraft formation flying.The formation flying is described by a nonlinear model with the J2 perturbation and atmospheric drag. Based on the theory of the state-dependent Riccati equation（SDRE）, a finite time nonlinear control law is developed for the nonlinear dynamics involved in formation flying. Then, a compensative internal mode（IM） control law is added to eliminate disturbances.These two control laws compose a finite time nonlinear tracking controller with disturbances rejection. Moreover, taking safety requirements into account, the repulsive control law is incorporated in the composite controller to perform collision avoidance manoeuvres. A numerical simulation is presented to demonstrate the effectiveness of the proposed method.Compared to the conventional control method, the proposed method provides better performance in the presence of the obstacles and external disturbances.

Robust attitude control for rapid multi-target tracking in spacecraft formation flying

A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the antenna is tracking the follower spacecraft. By an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively. To simplify the control design problem, this paper first derives the desired inverse system （DIS）, which can convert the attitude tracking problem of 3D space into the regulator problem. Based on DIS and sliding mode control （SMC）, a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stability theory, the closed loop system stability can be achieved. The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.

Experimental investigation of lift enhancement for flying wing aircraft using nanosecond DBD plasma actuators

he effects of the arrangement position and control parameters of nanosecond dielectric barrier discharge （NS-DBD） plasma actuators on lift enhancement for flying wing aircraft were investigated through wind tunnel experiments at a flow speed of 25 m s-1.The aerodynamic forces and moments were obtained by a six-component balance at angles of attack ranging from -4° to 28°.The lift,drag and pitching moment coefficients were compared for the cases with and without plasma control.The results revealed that the maximum control effect was achieved by placing the actuator at the leading edge of the inner and middle wing,for which the maximum lift coefficient increased by 37.8% and the stall angle of attack was postponed by 8° compared with the plasma-off case.The effects of modulation frequency and discharge voltage were also investigated.The results revealed that the lift enhancement effect of the NS-DBD plasma actuators was strongly influenced by the modulation frequency.Significant control effects were obtained atf =70 Hz,corresponding to F＋ ≈ 1.The result for the pitching moment coefficient demonstrated that the plasma actuator can induce the reattachment of the separation flows when it is actuated.However,the results indicated that the discharge voltage had a negligible influence on the lift enhancement effect.

Experimental Investigation on Aerodynamic Control of a Wing with Distributed Plasma Actuators

Experimental investigation of active flow control on the aerodynamic performance of a flying wing is conducted. Subsonic wind tunnel tests are performed using a model of a 35° swept flying wing with an nanosecond dielectric barrier discharge （NS-DBD） plasma actuator, which is installed symmetrically on the wing leading edge. The lift and drag coefficient, lift-to- drag ratio and pitching moment coefficient are tested by a six-component force balance for a range of angles of attack. The results indicate that a 44.5% increase in the lift coefficient, a 34.2% decrease in the drag coefficient and a 22.4% increase in the maximum lift-to-drag ratio can be achieved as compared with the baseline case. The effects of several actuation parameters are also investigated, and the results show that control efficiency demonstrates a strong dependence on actuation location and frequency. Furthermore, we highlight the use of distributed plasma actuators at the leading edge to enhance the aerodynamic performance, giving insight into the different mechanism of separation control and vortex control, which shows tremendous potential in practical flow control for a broad range of angles of attack.

飞翼布局飞行器研究现状分析

对飞翼布局飞行器的发展脉络进行了梳理,涵盖了从其早期的进化史到现阶段的研究进展,并对未来的发展方向进行了思考和展望。同时,论述了飞翼布局飞行器的几个主要控制难点,具体包括:宽速域非线性状态下的姿态控制问题、多效应耦合下的高精度自主起降控制问题、气动模型近似及强扰动状态下的鲁棒控制难题,以及因多舵面冗余而引起的控制分配问题。此外,还深入讨论了当前重点研究的飞翼布局飞行器的流动控制问题,并对接下来主动流动控制技术的研究动向进行了阐述。

Stabilization control of a hovering model insect:lateral motion

Our previous study shows that the lateral disturbance motion of a model drone fly does not have inherent stability （passive stability）,because of the existence of an unstable divergence mode.But drone flies are observed to fly stably.Constantly active control must be applied to stabilize the flight.In this study,we investigate the lateral stabilization control of the model drone fly.The method of computational fluid dynamics is used to compute the lateral control derivatives and the techniques of eigenvalue and eigenvector analysis and modal decomposition are used for solving the equations of motion.Controllability analysis shows that although inherently unstable,the lateral disturbance motion is controllable.By feeding back the state variables （i.e.lateral translation velocity,yaw rate,roll rate and roll angle,which can be measured by the sensory system of the insect） to produce anti-symmetrical changes in stroke amplitude and/or in angle of attack between the left and right wings,the motion can be stabilized,explaining why the drone flies can fly stably even if the flight is passively unstable.

Oscillatory Failure Detection for Flight Control System Using Voting and Comparing Monitors

Oscillatory failure cases(OFC)detection in the fly-by-wire(FBW)flight control system for civil aircraft is addressed in this paper.First,OFC is ranked four levels:Handling quality,static load,global structure fatigue and local fatigue,according to their respect impact on aircraft.Second,we present voting and comparing monitors based on un-similarity redundancy commands to detect OFC.Third,the associated performances,the thresholds and the counters of the monitors are calculated by the high fidelity nonlinear aircraft models.Finally,the monitors of OFC are verified by the Iron Bird Platform with real parameters of the flight control system.The results show that our approach can detect OFC rapidly.

因天气影响的航空器绕飞管制安全评估及策略分析

为降低航空器在绕飞情况下管制指挥事故的风险,采用事故树分析法(fault tree analysis, FTA)和层次分析法(analytic hierarchy process, AHP)相结合的方式对管制员在进行绕飞管制时发生指挥事故建立综合风险评估模型并制定风险管控措施,以及验证所提管控措施的有效性。首先对各风险因素进行逐层分析,找出其关联性,建立绕飞管制指挥事故的事故树模型。以此为基础,结合层次分析法,确定各层风险指标权重。同时依据各指标总权重的排序结果,提出了在绕飞情况下管制指挥事故的管控措施,最后以长沙区域管制空域为实例对所提方案进行验证。结果表明:在本文方案下虽然雷雨、风切变、协调程序过于复杂和航空器偏离计划航路仍然是导致绕飞管制事故的重要因素,但其重要程度下降了6.2%,且成熟管制员人数不足、扇区流量大和预案频繁发生变化的状况得到有效解决。证明了该方案能够有效抑制导致绕飞管制指挥事故发生的事件的重要程度,减少因极端天气和扇区负荷过大而出现的安全风险事故,整体提高管制系统的稳定性和可靠性。

Parametric approach to track following control of FFSM

A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space representation is formulated by local linearization. A parametric approach is applied by using the eigenstructure assignment theory and the model reference method. A feedback stabilizing controller and a feedforward compensation controller are built based on the approach. Then an optimization procedure is followed after that to obtain the desired requirement and characteristics. Simulation results are presented to show the effectiveness of the proposed method.

Dynamic Model of Flying Machines with the Autopilot

The article considers negative effects of mechanical oscillations of a fuselage on the flying machine autopilot. The dynamic model of control system of flight is made which provides stability and compensates the mechanical oscillations arising in flight of flying machine with the autopilot.