Yibo Zhang

About Yibo Zhang

Yibo Zhang, With an exceptional h-index of 5 and a recent h-index of 5 (since 2020), a distinguished researcher at Beijing Institute of Technology, specializes in the field of autonomous aerial vehicle, robotics, control theory.

His recent articles reflect a diverse array of research interests and contributions to the field:

Configuration Optimization and Adaptive Controller Design of a Land-Air Amphibious Vehicle for Improved Yaw Capability

Adaptive fault-tolerant control of a novel ducted-fan aerial robot against partial actuator failure

A novel approach to the attitude stabilization structure for ducted-fan operative aerial robots: Finding improvements for modeling error and strong external transient disturbance

MODELLING AND CONTROLLER DESIGN OF A NOVEL DUCTED FAN UNMANNED AIRCRAFT

An innovative aerial manipulator with tandem ducted fans: modeling, control, and simulation

Modeling and multimode analysis of electrically driven flying car

Aerodynamic analysis and control for a novel coaxial ducted fan aerial robot in ground effect

Flight and interaction control of an innovative ducted fan aerial manipulator

Yibo Zhang Information

University

Beijing Institute of Technology

Position

___

Citations(all)

69

Citations(since 2020)

61

Cited By

16

hIndex(all)

5

hIndex(since 2020)

5

i10Index(all)

2

i10Index(since 2020)

1

Email

University Profile Page

Beijing Institute of Technology

Yibo Zhang Skills & Research Interests

autonomous aerial vehicle

robotics

control theory

Top articles of Yibo Zhang

Configuration Optimization and Adaptive Controller Design of a Land-Air Amphibious Vehicle for Improved Yaw Capability

Authors

Wei Fan,Hua Zhu,Yibo Zhang,Bin Xu,Tao Xu,Xuanping Zhou,Xiangyang Zhang,Han Sun,Xingjian Wen

Journal

IEEE Transactions on Transportation Electrification

Published Date

2024/3/26

Land-air amphibious vehicles (LAVs) have been increasingly used in complex scenes and tasks in recent years due to their multi-domain mobility. In this context, the attitude stability control of flight system in disturbance environment has become a common problem to be solved and improved, especially the relatively weak yaw channel. This paper focuses on the improvement of yaw capability under external wind disturbance from two aspects of configuration optimization and adaptive stability augmentation control. Firstly, the mechanism of yaw torque increasement is revealed for the four-rotor LAV and the general optimization method for such configuration is proposed. The yaw channel control bandwidth is greatly increased with minimal structural optimization cost. Secondly, on this basis, an adaptive stability augmentation controller with real-time predictor-compensator is designed for yaw channel, which provides …

Adaptive fault-tolerant control of a novel ducted-fan aerial robot against partial actuator failure

Authors

Wei Fan,Bin Xu,Yibo Zhang,Shouxing Tang,Changle Xiang

Journal

Aerospace science and technology

Published Date

2022/3/1

This research is aimed at an adaptive fault-tolerant control scheme for a special ducted-fan aerial robot against partial actuator failure. Although the ducted-fans are widely used in aircraft propulsion systems, their aerodynamic complexity is an enormous challenge for fault-tolerant control. This paper proposes an adaptive control mechanism based on an identified state-space model in the frequency domain. The fault-tolerant controller includes a robust baseline loop and an adaptive loop. The adaptive loop is coupled with an estimator and a reconfigurable adjust law to estimate the actuator failure and compensate for different degrees of failure. The performance of the algorithm is verified by theoretical simulations and real-time flight experiments.

A novel approach to the attitude stabilization structure for ducted-fan operative aerial robots: Finding improvements for modeling error and strong external transient disturbance

Authors

FAN Wei,XU Bin,Changle Xiang,Yibo Zhang,YANG Haiyang

Journal

Chinese Journal of Aeronautics

Published Date

2022/2/1

This research concerns a novel attitude stabilization structure for a ducted-fan aerial robot to work against modeling error and strong external transient disturbance, and it focuses on two main control targets: modeling error compensation, and the improvement of disturbance resistance along the rolling channel. For the first research objective, we proposed an adaptive nominal controller with the reconfigurable control law design based on the estimation of the modeling error found in the closed-loop. Results of simulations and corresponding flight tests verified that the proposed adaptive control structure is robust against both constant and time-varying modeling error. For the other research objective, a SAC (Stability Augmentation Control) structure was devised based on the CMG (Control Moment Gyroscope) theory in order to provide extra moment which effectively withstands the transient disturbance beyond the …

MODELLING AND CONTROLLER DESIGN OF A NOVEL DUCTED FAN UNMANNED AIRCRAFT

Authors

Yibo Zhang,Bin Xu,Changle Xiang,Lei Liu,Tianfu Ai

Journal

International Journal of Robotics and Automation

Published Date

2021

MODELLING AND CONTROLLER DESIGN OF A NOVEL DUCTED FAN UNMANNED AIRCRAFT Yibo Zhang,∗,∗∗ Bin Xu,∗,∗∗ Changle Xiang,∗ Lei Liu,∗ and Tianfu Ai∗,∗∗ Abstract In this study, a novel ducted fan unmanned aircraft exhibiting great trafficability is proposed. The unconventional layout causes complex dynamical characteristics and imposes great challenge to controller design. First, a nonlinear mechanism model of the innovative unmanned aircraft is built. On this basis, a two-layer controller is proposed, combining the advantages of both robust control and predictive control. The robust static output feedback method is used for inner loop with an extra preposed structure, and the model predictive control method is employed for outer loop. According to the simulation and flight experiment results, the feasibility of this innovative aircraft layout is demonstrated, and the designed controller exhibits high …

An innovative aerial manipulator with tandem ducted fans: modeling, control, and simulation

Authors

Yibo Zhang,Wei Fan,Changle Xiang,Bin Xu,Tianfu Ai,Lei Yuan,Yang Liu

Journal

Complexity

Published Date

2020/9/8

This paper proposes an innovative ducted fan aerial manipulator, which is particularly suitable for the tasks in confined environment, where traditional multirotors and helicopters would be inaccessible. The dynamic model of the aerial manipulator is established by comprehensive mechanism and parametric frequency-domain identification. On this basis, a composite controller of the aerial platform is proposed. A basic static robust controller is designed via H-infinity synthesis to achieve basic performance, and an adaptive auxiliary loop is designed to estimate and compensate for the effect acting on the vehicle from the manipulator. The computer simulation analyses show good stability of the aerial vehicle under the manipulator motion and good tracking performance of the manipulator end effector, which verify the feasibility of the proposed aerial manipulator design and the effectiveness of the proposed controller, indicating that the system can meet the requirements of high precision operation tasks well.

Modeling and multimode analysis of electrically driven flying car

Authors

Tianfu Ai,Bin Xu,Changle Xiang,Wei Fan,Yibo Zhang

Published Date

2020/9/1

Aiming at a flying car which can be used for land-air amphibious, the dynamic models of its land drive module and air flight module are built respectively to obtain the simulation model under different working conditions. In order to ensure that the simulation model can stably track the driving speed and other indicators, different controllers are designed for the land and air modules as the nominal control structures, respectively. A series of simulations of different working conditions for flying car are presented, such as straight-line driving on the ground to fly in the air. The results show that the vehicle can track the speed well under the straight-line driving condition, and it can track the height well under the hovering condition. The vehicle wheel vertical load and lateral load will decrease to zero during switching driving on ground to fly in the air. When it takes off completely, it will experience an oscillation process and …

Aerodynamic analysis and control for a novel coaxial ducted fan aerial robot in ground effect

Authors

Tianfu Ai,Bin Xu,Changle Xiang,Wei Fan,Yibo Zhang

Journal

International Journal of Advanced Robotic Systems

Published Date

2020/8/28

Modeling and control for a novel coaxial ducted fan aerial robot in-ground-effect is presented in this article. Based on experiments using the ducted fan bench test, the fitting curve of the ground effect thrust of the ducted fan aerial robot at different heights is obtained. In addition, the flow field simulation results of the prototype with ground effect at different heights can be obtained using computational fluid dynamics software. A simplified model of the prototype for control can be designed based on several reasonable hypotheses that are established using blade element and momentum theory. To compensate for the disturbance associated with ground effect, a nonlinear disturbance observer is designed to estimate the disturbance, and control structure of the closed-loop system is composed of a nonlinear disturbance observer combined with a double-loop proportion–integration–differentiation controller. The results of …

Flight and interaction control of an innovative ducted fan aerial manipulator

Authors

Yibo Zhang,Bin Xu,Changle Xiang,Wei Fan,Tianfu Ai

Journal

Sensors

Published Date

2020/5/26

An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.

Influence of Wall Effect on Comprehensive Controllability for Ducted Fan Aircraft

Authors

Tianfu Ai,Changle Xiang,Bin Xu,Wei Fan,Yibo Zhang

Journal

Journal of Beijing Institute of Technology

Published Date

2020

A novel coaxial ducted fan structure aircraft is proposed to enable the aircraft near vertical walls at high altitudes. The state space equation of the system can be obtained by correlation deduction and identification of the whole prototype model. Based on the duct test bench experiment and computational fluid dynamics (CFD) simulation analysis, the expressions between the different distances d_\rmWE

Modeling of a novel coaxial ducted fan aerial robot combined with corner environment by using artificial neural network

Authors

Tianfu Ai,Bin Xu,Changle Xiang,Wei Fan,Yibo Zhang

Journal

Sensors

Published Date

2020/10/14

A novel coaxial ducted fan aerial robot with a manipulator is proposed which can achieve some hover operation tasks in a corner environment, such as switching on and off a wall-attached button on the corner. In order to study the aerodynamic interference between the prototype and the environment when the aerial robot is hovering in the corner environment, a method for the comprehensive modeling of the prototype and corner environment based on the artificial neural network is presented. By using the CFD simulation software, the flow field of the prototype at different positions with the corner effect is analyzed. After determining the input, output and structure of the neural network model, the Adam and gradient descent algorithms are selected as the neural network training algorithms, respectively. In addition, to optimize the initial weights and biases of the neural network model, the genetic algorithm is precisely used. The three-dimensional prediction surfaces generated by the three methods of the neural network, kriging surface and the polynomial fitting are compared. The results show that the neural network has high prediction accuracy, and can be applied to the comprehensive modeling of the prototype and the corner environment.

See List of Professors in Yibo Zhang University(Beijing Institute of Technology)

Yibo Zhang FAQs

What is Yibo Zhang's h-index at Beijing Institute of Technology?

The h-index of Yibo Zhang has been 5 since 2020 and 5 in total.

What are Yibo Zhang's top articles?

The articles with the titles of

Configuration Optimization and Adaptive Controller Design of a Land-Air Amphibious Vehicle for Improved Yaw Capability

Adaptive fault-tolerant control of a novel ducted-fan aerial robot against partial actuator failure

A novel approach to the attitude stabilization structure for ducted-fan operative aerial robots: Finding improvements for modeling error and strong external transient disturbance

MODELLING AND CONTROLLER DESIGN OF A NOVEL DUCTED FAN UNMANNED AIRCRAFT

An innovative aerial manipulator with tandem ducted fans: modeling, control, and simulation

Modeling and multimode analysis of electrically driven flying car

Aerodynamic analysis and control for a novel coaxial ducted fan aerial robot in ground effect

Flight and interaction control of an innovative ducted fan aerial manipulator

...

are the top articles of Yibo Zhang at Beijing Institute of Technology.

What are Yibo Zhang's research interests?

The research interests of Yibo Zhang are: autonomous aerial vehicle, robotics, control theory

What is Yibo Zhang's total number of citations?

Yibo Zhang has 69 citations in total.

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