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Experimental Study on Piezoelectric-Stack-Actuator-Driven Active Vibration control of Helicopter Floor Structure

JOURNAL OF AIRCRAFT 2020年第2期57卷 377-382页

作者： Meng, De Xia, Pinqi Song, Laishou Smith, Edward C. Nanjing Univ Aeronaut & Astronaut Coll Aerosp Engn Nanjing 210016 Peoples R China Penn State Univ Dept Aerosp Engn University Pk PA 16802 USA

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An adaptive Integral Sliding Mode Tracking control for Robotic Manipulators 2019

An Adaptive Integral Sliding Mode Tracking Control for Robot...

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Proceedings of the 2019 3rd International Symposium on Computer Science and Intelligent control

作者： Anh Tuan Vo Hee-Jun Kang Tien Dung Le Graduate School of Electrical Engineering University of Ulsan Ulsan South Korea School of Electrical Engineering University of Ulsan Ulsan South Korea The University of Danang - University of Science & Technology Danang Vietnam

ISBN: (纸本)9781450376617

This paper proposes an adaptive integral sliding mode tracking control for robotic manipulators. Our proposed control method is developed based on the benefits of both integral sliding mode control and adaptive control, such as high robustness, high accuracy, and estimation ability. In this paper, an integral sliding mode controller is designed with the elimination of the reaching stage to provide better trajectory tracking accuracy and to stabilize the closed-loop system. To reduce the computation complexity, an adaptive controller with only one simple adaptive law is used to estimate the upper-bound values of the lumped model uncertainties. As a result, the requirement of their prior knowledge is eliminated and then decrease the computation cost. Consequently, this controller provides better tracking accuracy and handles the dynamic uncertainties and external disturbances more strongly. The system global stability of the controller is guaranteed by using Lyapunov criteria. Finally, the effectiveness of the proposed control method is tested by computer simulation for a PUMA560 robotic manipulator.

关键词： adaptive control algorithm Integral Sliding Mode control Robotic Manipulators

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Observer-Based Fault-Tolerant Attitude control for Spacecraft with Input Delay

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JOURNAL OF GUIDANCE control AND DYNAMICS 2018年第9期41卷 2041-2053页

作者： Liu, Chuang Vukovich, George Sun, Zhaowei Shi, Keke Harbin Inst Technol Res Ctr Satellite Technol 2 Yikuang St Harbin 150001 Heilongjiang Peoples R China York Univ Dept Earth & Space Sci & Engn 4700 Keele Str Toronto ON M3J 1P3 Canada

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adaptive Spacecraft Attitude control Using Single-Gimbal control Moment Gyroscopes Without Singularity Avoidance

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JOURNAL OF GUIDANCE control AND DYNAMICS 2019年第11期42卷 2342-2355页

作者： Zhao, Zhanzhan Cruz, Gerardo Bernstein, Dennis S. Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA Univ Michigan Ann Arbor MI 48109 USA NASA Goddard Space Flight Ctr Greenbelt MD USA

This paper applies retrospective cost adaptive control (RCAC) to spacecraft attitude control with a rotation-matrix attitude parameterization using constant-speed single-gimbal control moment gyroscopes. Unlike control laws that use torque-steering laws to synthesize torque requests while avoiding gimbal singularities, the adaptive control law requests the rate of each gimbal. Because no torque request is provided, there is no need to invert the mapping from the gimbal rates to the control torque, and thus no attempt is made to avoid gimbal singularities. The RCAC implementation is based on a target model involving a single Markov parameter corresponding to the initial gimbal configuration. The parameters and weights for RCAC are based on nominal-model tuning, which uses no explicit knowledge of the nonlinear equations of motion. This paper investigates the robustness of RCAC to off-nominal conditions of commands, noise, and unknown bus inertia;and it examines the performance of RCAC in the case where an approximately singular gimbal configuration occurs during attitude command, following as well as the case of an initial gimbal-lock singularity. The performance of the adaptive controller in the presence of sensor/actuator misalignment is also investigated.

关键词： Spacecraft Attitude Single Gimbal control Moment Gyroscopes adaptive control algorithm Sensors Steering Law Actuators Retrospective Cost Nonlinear Equation Spacecraft control Numerical Simulation

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adaptive control of Precision Guided Airdrop Systems with Highly Uncertain Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2018年第5期41卷 1025-1035页

作者： Cacan, Martin R. Costello, Mark Georgia Inst Technol Woodruff Sch Mech Engn Ctr Adv Machine Mobil Atlanta GA 30322 USA Georgia Inst Technol Auton Guggenheim Sch Aerosp Engn Atlanta GA 30322 USA

The bulk of research in the field of precision guided airdrop systems has focused on improving landing accuracy in the presence of atmospheric winds that can exceed vehicle airspeed. One important challenge of parafoil systems is their highly uncertain flight dynamic behavior and control response, which can result from canopy degradation or an offnominal inflation event. This significantly impacts the ability to reach the target and can often lead to very large miss distances. This work addresses guided airdrop system model uncertainty with a novel combined direct and indirect adaptive control strategy to quickly characterize vehicle dynamics and lateral control sensitivity in flight. Extensive simulation and experimental flight testing indicate that the proposed adaptive algorithm is capable of high-accuracy landing in a large variety of degraded conditions, including unknown nonlinear changes in control sensitivity as well as control reversals. In comparison, current industry standard algorithms experience over an order of magnitude decrease in accuracy when tested under identical scenarios.

关键词： adaptive control algorithm Parafoil Experimental Flight Test Airspeed control Reversal adaptive algorithm Navigation algorithm GPS Multiple Input Multiple Output algorithms Ability

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Active Suspension Method and Active Vibration control of a Hoop Truss Structure

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AIAA JOURNAL 2018年第4期56卷 1689-1695页

作者： Ma, Guoliang Gao, Bo Xu, Minglong Feng, Bo Xi An Jiao Tong Univ State Key Lab Strength & Vibrat Mech Struct Sch Aerosp Xian 710049 Shaanxi Peoples R China

The hoop truss structure is an indispensable structure of communication satellite antennas. Because the hoop truss structure can deform and seriously vibrate, a ground test is essential before application. This paper first introduces an active suspension method of lifting the structure. Voice coil actuators are used to output an Ampere force that balances the gravity of the structure. Under the condition that the two damped frequencies of the suspension structure and no-suspension structure are equal to each other, the active suspension method is available on the ground. Active vibration control is then investigated to suppress vibration responses. According to a proportional-plus-derivative algorithm and fuzzy algorithm, the control force is calculated and generated by another voice coil actuator. Finally, excitation and closed-loop control experiments are conducted to suppress the nod mode vibration under transient excitation and steady-state excitation. Experimental results show that the actuator effectively suppresses the nod mode vibration of the hoop truss structure.

关键词： Active Vibration control adaptive Truss Piezoelectric Stack Actuator adaptive control algorithm Communications Satellite Resonance Frequencies Fuzzy control Signal Generator Satellites Flexible Structures

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adaptive control of Variable Geometry Inlet-Configured Air-Breathing Hypersonic Vehicles

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JOURNAL OF SPACECRAFT AND ROCKETS 2019年第5期56卷 1520-1530页

作者： An, Hao Wu, Qianqian Harbin Inst Technol Space Control & Inertial Technol Res Ctr 2 Yikuang St Harbin 150001 Heilongjiang Peoples R China Harbin Inst Technol Ctr Composite Mat & Struct 2 Yikuang St Harbin 150001 Heilongjiang Peoples R China

This paper studies the longitudinal fault-tolerant control problem for a class of variable geometry inlet-configured air-breathing hypersonic vehicles, whose inlet length varies dynamically to ensure an efficient scramjet thrust. After lumping the effects of uncertain parameters, external disturbances, flexible dynamics, actuator faults, and variable inlet into the linearly parameterized form, a parameterized control-oriented model (PCOM) is derived for design purpose. To handle the time-varying uncertain parameter vectors involved in the PCOM, a novel bound estimation method is developed, while greatly reducing the required parameter update laws. In the adaptive back-stepping design for altitude subsystem, the command filter technique is implemented to circumvent the analytical derivative calculations of virtual controls that are unmanageable by a standard back-stepping procedure because of the time-varying uncertain factors in the PCOM. The corresponding tracking errors are regulated into adjustable residual sets. A simulation study is implemented to verify the developed controller.

关键词： Hypersonic Vehicles adaptive control algorithm Actuators Scramjet Aerodynamic Coefficients Finite Element Modeling Hypersonic Flight Flight Path Angle Elevator Deflection Airframes

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Output Feedback adaptive control of Plants with Unmodeled Dynamics and Input Uncertainties

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JOURNAL OF GUIDANCE control AND DYNAMICS 2019年第10期42卷 2143-2156页

作者： Chandramohan, Rajeev Calise, Anthony J. Gulfstream Aerosp 500 Gulfstream Rd Savannah GA 31408 USA Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA

An approach for designing an adaptive output feedback controller for uncertain systems with unmodeled dynamics and plant input uncertainty is developed. The adaptive control augments an assumed existing observer-based linear controller. The main advantages of the method are that it can be used to augment an existing linear controller without modifying the parameters of that controller, and it does not rely on the use of high gains: neither in the observer nor in the adaptation law. It is applicable to nonminimum phase systems and does not require realization of a reference model. Attitude control of a flexible spacecraft is used to illustrate effectiveness of the approach. Issues related to uncertainty in the actuation effectiveness and sensor noise are also treated.

关键词： adaptive Output Feedback control adaptive control algorithm Flexible Spacecrafts Sensors Attitude control Riccati Equations Neural Networks Nonlinear Systems Quaternions Algebraic Riccati Equation

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Radial Basis Function Neural Network adaptive control of Flexible-Joint Space Robot

Radial Basis Function Neural Network Adaptive Control of Fle...

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Chinese Automation Congress (CAC)

作者： Jie, Liang Pei, Han Li, Chen Yu, Qing Kai Univ Elect Sci & Technol China Sch Astronaut & Aeronaut Chengdu Sichuan Peoples R China Chinese Acad Sci Key Lab Space Utilizat Technol & Engn Ctr Space Utilizat Beijing Peoples R China Fuzhou Univ Dept Mech Engn & Automat Fuzhou Fujian Peoples R China

ISBN: (纸本)9781728113128

Because of their unique properties and good performance, some elastic components, such as the harmonic reducers and the torque sensors, are widely used in the joints of the space robots and manipulators, in order to obtain high reduction ratio. However these elastic components bring joint flexibility into the system at the same time, which makes its stability control more complex. Based on this, this paper discussed radial basis function neural network adaptive control and elastic vibration suppression for flexible-joint space robots, it worked under the unknown parameter. Firstly, mathematical models which been suit for design of control system are established by using a joint flexibility compensation controller, the model composed of the slow-subsystem robot dynamics model and and the fast-subsystem dynamics model is deduced by the second type of Lagrange method. Then, for the dynamic model of the fast-subsystem dynamics model, the torque differential feedback control algorithm is adopted to the premise that the ultimate doundedness of system, for the slow-subsystem robot dynamics model, the radial basis function neural network adaptive control algorithm is designed to to track the desired trajectory in joint space. The whole control system is superposed by the slow-subsystem and the fast-subsystem control algorithm. The system simulation comparison test proves the effectiveness of said algorithm.

关键词： flexible-joint space robot dynamic modeling radial basis function neural network flexibility compensation adaptive control algorithm

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adaptive neuron detection-based control of single-phase SPV grid integrated system with active filtering

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IET POWER ELECTRONICS 2017年第6期10卷 657-666页

作者： Singh, Yashi Hussain, Ikhlaq Mishra, Sukumar Singh, Bhim IIT Delhi Dept Elect Engn New Delhi 110016 India

This study deals with an adaptive neuron detection-based control technique for single-phase, single-stage solar photovoltaic (SPV) array grid integrated system using a voltage-source converter (VSC). The VSC also provides power quality features such as harmonics mitigation, power factor correction and perturb and observation-based maximum power point tracking for an SPV grid-interfaced system. With this approach, the VSC has the active power flow from the SPV array to the grid and it also performs the non-linear load current harmonic compensation by keeping the grid current almost sinusoidal. On the other hand, in the night mode, if the SPV power is not available, the VSC works as an active power filter for the harmonics elimination and reactive power compensation. This increases the effective utilisation of the VSC. The adaptive neuron detection technique has lesser noise and oscillation in extraction of fundamental component in comparison of conventional adaptive control algorithm. It has also satisfied an IEEE-519 standard of harmonics by improving the quality of power of SPV grid integrated system. The proposed system is modelled and simulated using MATLAB/Simulink and the response of the system under non-linear loads and varying environmental conditions are evaluated experimentally on a prototype developed in the laboratory.

关键词： power harmonic filters active filters power supply quality photovoltaic power systems power generation control power factor correction maximum power point trackers load flow adaptive neuron detection-based control single-phase SPV grid integrated system active filtering single-phase single-stage solar photovoltaic array grid integrated system SPV array grid integrated system voltage-source converter VSC power quality harmonics mitigation power factor correction perturb and observation-based maximum power point tracking active power flow nonlinear load current harmonic compensation harmonics elimination reactive power compensation adaptive neuron detection technique adaptive control algorithm MATLAB Simulink

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