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Zimao Sheng

Publications and source records attributed to Zimao Sheng.

5 recordsLinked to original sources
arXiv2026

Robust Distributed Cooperative Path-Following and Local Replanning for Multi-UAVs Under Differentiated Low-Altitude Paths

Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles, and requirements of distributed temporal synchronization during differentiated path tracking. Existing methods lack efficient distributed coordination mechanisms for time-consistent tracking of 3D differentiated paths, fail to quantify robustness against disturbances, and lack effective online obstacle avoidance replanning capabilities. To address these gaps, a cooperative control strategy is proposed: first, the distributed cooperative path-following problem is quantified via time indices, and consistency is ensured through a distributed communication protocol; second, a longitudinal-lateral look-ahead angle adjustment method coupled with a robust guidance law is developed to achieve finite-time stabilization of path following error to zero under wind disturbances; third, an efficient local path replanning method with minimal time cost is designed for real-time online obstacle avoidance.Experimental validations demonstrate the effectiveness and superiority of the $\ $proposed strategy.

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arXiv2026

Robustness Quantification of MIMO-PI Controller From the Perspective of \(\gamma\)-Dissipativity

The proportional-integral-derivative (PID) controller and its variants are widely used in control engineering, but they often rely on linearization around equilibrium points and empirical parameter tuning, making them ineffective for multi-input-multi-output (MIMO) systems with strong coupling, intense external disturbances, and high nonlinearity. Moreover, existing methods rarely explore the intrinsic stabilization mechanism of PID controllers for disturbed nonlinear systems from the perspective of modern robust control theories such as dissipativity and $\mathcal{L}_2$-gain. To address this gap, this study focuses on $\gamma$-dissipativity (partially equivalent to $\mathcal{L}_2$-gain) and investigates the optimal parameter tuning of MIMO-PI controllers for general disturbed nonlinear MIMO systems. First, by integrating dissipativity theory with the Hamilton-Jacobi-Isaacs (HJI) inequality, sufficient conditions for the MIMO-PI-controlled system to achieve $\gamma$-dissipativity are established, and the degree of $\gamma$-dissipativity in a local region containing the origin is quantified. Second, an optimal parameter tuning strategy is proposed, which reformulates the $\gamma$-dissipativity optimization problem into a class of standard eigenvalue problems (EVPs) and further converts it into linear matrix inequality (LMI) formulations for efficient online computation. Comprehensive simulation experiments validate the effectiveness and optimality of the proposed approach. This work provides a theoretical basis for the robust stabilization of general disturbed nonlinear MIMO systems and enriches the parameter tuning methods of PID controllers from the perspective of dissipativity.

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arXiv2025

Robust Convergency Indicator using MIMO-PI Controller in the presence of disturbances

The PID controller remains the most widely adopted control architecture, with groundbreaking success across extensive implications. However, optimal parameter tuning for PID controller remains a critical challenge. Existing theories predominantly focus on linear time-invariant systems and Single-Input Single-Output (SISO) scenarios, leaving a research gap in addressing complex PID control problems for Multi-Input Multi-Output (MIMO) nonlinear systems with disturbances. This study enhances controller robustness by leveraging insights into the velocity form of nonlinear systems. It establishes a quantitative metric to evaluate the robustness of MIMO-PI controller, clarifies key theories on how robustness influences exponential error stabilization. Guided by these theories, an optimal robust MIMO-PI controller is developed without oversimplifying assumptions. Experimental results demonstrate that the controller achieves effective exponential stabilization and exhibits exceptional robustness under the guidance of the proposed robust indicator. Notably, the robust convergence indicator can also effectively assess comprehensive performance.

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arXiv2025

Robust Longitudinal-lateral Look-ahead Pursuit Path-Following Control: Fast Finite-Time Stability Guarantee

This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic characteristics and flight constraints of fixed-wing UAVs, achieving accurate and fast stable path following remains difficult, especially in low-altitude mountainous terrains, urban landscapes, and under wind disturbances. Most existing path-following guidance laws often struggle to ensure fast stabilization under unknown bounded disturbances while maintaining sufficient robustness, and there is a lack of research on optimizing robustness for non-smooth paths under flight constraints. This paper addresses these issues by proposing a constraints-based robust path-following controller. Firstly, from the perspective of global random attractor, we innovatively introduce robustness metrics that quantify both the exponential convergence rate and the range of the ultimate attractor set. Secondly, building on these metrics, we develop a robust longitudinal-lateral look-ahead pursuit (RLLP) guidance law for fixed-wing UAVs, specifically considering the flight path angle and track angle under external disturbances. Thirdly, we also derive an optimized version (Optimal-RLLP) to enhance the robustness metrics, and elaborate on the sufficient conditions for fast finite-time stability, ensuring the guidance law achieves finite-time stability and robustness with reduced sensitivity to constrained uncertainties. The simulation results validate the proposed guidance law's feasibility, optimality and robustness under atmospheric disturbances using a high-fidelity simulation platform and provide key principle for practical deployment.

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arXiv2025

Online Optimal Parameter Compensation method of High-dimensional PID Controller for Robust stability

Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Single - Output (SISO) system. However, the industrial nonlinear Multiple - Input Multiple - Output (MIMO) system demands a high - robustness PID controller due to strong state coupling, external disturbances, and faults. Existing research on PID parameter regulation for a nonlinear uncertain MIMO system has a significant drawback: it's limited to a specific system type, the control mechanism for a MIMO nonlinear system under disturbances is unclear, the MIMO PID controller over - relies on decoupled control, and lacks dynamic parameter compensation. This paper theoretically analyzes a high - dimensional PID controller for a disturbed nonlinear MIMO system, providing a condition for online dynamic parameter regulation to ensure robust stability. By transforming the parameter regulation into a two - stage minimum eigenvalue problem (EVP) solvable via the interior point method, it enables efficient online tuning. The experiment proves that the designed dynamic compensation algorithm can achieve online robust stability of system errors considering multi - channel input coupling, addressing the key limitation in the field.

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