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NEW APPROACH TO ATTITUDE MOMENTUM control FOR THE SPACE STATION

JOURNAL OF GUIDANCE control AND DYNAMICS 1989年第5期12卷 714-722页

作者： WIE, B BYUN, KW WARREN, VW GELLER, D LONG, D SUNKEL, J NASA LYNDON B JOHNSON SPACE CTRDIV MISS PLANNING & ANALHOUSTONTX 77058

A new approach to control moment gyro (CMG) momentum management and attitude control of the space station is presented. The control algorithm utilizes both the gravity-gradient and gyroscopic torques to seek torque equilibrium attitude in the presence of secular and cyclic disturbances. It is shown that, depending on mission requirements, either pitch attitude or pitch-axis CMG momentum can be held constant. It is also shown that a combination of yaw attitude and roll-axis CMG momentum can be held constant, whereas a combination of roll attitude and yaw-axis CMG momentum cannot. As a result, the overall attitude and CMG momentum oscillations caused by cyclic aerodynamic disturbances are minimized. A state feedback controller with minimal computer storage requirements for gain scheduling is also presented. An inherent physical property of the coupled roll/yaw dynamics is discussed in terms of a transmission zero of a multivariable system. © 1980 American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Space Stations Closed Loop Transfer Function Yaw control control Moment Gyros control algorithm Full State Feedback control System Design Aerodynamic Torque Earth Inertial Reference System

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UAV based adaptive trajectory tracking control with input saturation and unknown time-varying disturbances

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IET INTELLIGENT TRANSPORT SYSTEMS 2023年第4期17卷 780-793页

作者： Zhou, Yimin Tian, Zengwu Lin, Huaxing Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen Peoples R China Univ Chinese Acad Sci Beijing Peoples R China South Univ Sci & Technol Shenzhen Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen 518055 Peoples R China

This paper proposes an adaptive control method for an underactuated complex nonlinear system, that is, unmanned aerial vehicle (UAV), to realize high-precision trajectory tracking under input saturation constraint and other disturbances via artificial neural network and anti-saturation auxiliary system. First, the rigid body motion theory is applied to establish a simplified nonlinear dynamic model of the UAV. Then a Lyapunov function is designed with the error surface to form the preliminary control law based on dynamic surface control. Afterwards, a radical basis function neural network is developed and used to estimate and compensate the disturbance, while the input saturation is also addressed via the designed anti-saturation auxiliary system. Thus the stability and signal consistency of the closed-loop UAV control system can be proved via the Lyapunov stability theory with appropriately tuned parameters. Simulation experiments are performed to verify that the proposed control algorithm can be used for UAV high-precision trajectory tracking under time-varying disturbances.

关键词： trajectory control Nonlinear control systems error surface UAV based adaptive trajectory tracking control simplified nonlinear dynamic model artificial neural network Lyapunov methods Mobile robots Time-varying control systems control nonlinearities underactuated complex nonlinear system Lyapunov stability theory aircraft control unknown time-varying disturbances autonomous aerial vehicles unmanned aerial vehicle Telerobotics preliminary control law Aerospace control radial basis function networks dynamic surface control rigid body motion theory closed-loop UAV control system adaptive control input saturation constraint Self-adjusting control systems control system synthesis closed loop systems control algorithm UAV high-precision trajectory tracking nonlinear control systems control system analysis and synthesis methods Lyapunov function designed anti-saturation auxiliary system radical basis function neural network adaptive control method Stability in control theory time-varying systems Spatial variables control stability

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Inertia-Free Spacecraft Attitude control Using Reaction Wheels

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JOURNAL OF GUIDANCE control AND DYNAMICS 2013年第5期36卷 1425-1439页

作者： Weiss, Avishai Kolmanovsky, Ilya Bernstein, Dennis S. Sanyal, Amit Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA New Mexico State Univ Dept Mech & Aerosp Engn Las Cruces NM 88003 USA

This paper extends the continuous inertia-free control law for spacecraft attitude tracking derived in prior work to the case of three axisymmetric reaction wheels. The wheels are assumed to be mounted in a known and linearly independent, but not necessarily orthogonal, configuration with an arbitrary and unknown orientation relative to the unknown spacecraft principal axes. Simulation results for slew and spin maneuvers are presented with torque and momentum saturation.

关键词： Spacecraft Attitude Closed Loop System Quaternions control Moment Gyroscope control algorithm Spacecraft Tracking Earth Centered Inertial Newton's Second Law Poisson's Equation Spacecraft Models

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control strategy for mitigation of pulsed heat load transferred to ITER cryoplant from magnets

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FUSION ENGINEERING AND DESIGN 2017年第Oct.期121卷 1-6页

作者： Alekseev, A. Arslanova, D. Belyakov, V. Bessette, D. Gornikel, I. Kalinin, V. Kaparkova, M. Mitchell, N. Serio, L. Shatil, N. Sytchevsky, S. Vasiliev, V. JSC NIIEFA 3 Doroga Metallostroy St Petersburg 196641 Russia ITER Org Route Vinon Sur Verdon F-13115 St Paul Les Durance France ALPHYSICA GmbH Unterreut 6 D-76135 Karlsruhe Germany CERN CH-1211 Geneva 23 Switzerland St Petersburg State Univ St Petersburg Russia

Active mitigation of pulsed heat load is foreseen for the ITER superconducting magnets during cyclic plasma scenarios to ensure stable operation of the cryoplant. The paper addresses a promising feedback control to smooth heat pulses in the primary cryogenic circuits of the ITER magnets. A feedback control signal is proposed that can be derived from direct measurements of helium parameters in a low pressure return cryoline to the cryoplant. Configurations with two or more LHe baths were investigated at the Auxiliary Cold Box (ACB) level. Efficiency of the proposed control approach was evaluated in thermohydraulic simulations. A possibility to control several cryogenic loops using a common regulator is demonstrated. (C) 2017 Elsevier B.V. All rights reserved.

关键词： Fusion reactor Cryogenic circuit Cryoplant Heat load mitigation Thermal-hydraulic analysis control algorithm

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Feedback Flow control: A Heuristic Approach

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AIAA JOURNAL 2018年第10期56卷 3825-3834页

作者： Seidel, Juergen Fagley, Casey McLaughlin, Thomas US Air Force Acad Dept Aeronaut Colorado Springs CO 80840 USA US Air Force Acad Dept Aeronaut Aeronaut Res Ctr Colorado Springs CO 80840 USA

This paper describes a heuristic approach to feedback flow control and illustrates its use for two flowfields: the flow around a tangent ogive at large angles of attack and the shear layer behind a backward-facing step. Both investigations followed the feedback flow control approach laid out in this paper;however, because of the very different flowfields and control goals, different techniques were selected for developing the most effective control strategy. The flow instabilities on the tangent ogive made this flow a good candidate for effective flow control. Unforced computational and experimental data showed the relevant flow features. With only four pressure sensors, the relevant flow features were controlled, and a prescribed side force signal could be tracked. For the shear layer, the control goal was to reduce the optical path difference, a control goal that cannot easily be observed in experiment or simulation. Using a wavenet autoregressive exogenous model, a reduction in optical path difference of 40% was achieved using a sensor array colocated with the aperture. Open-loop simulations showed the need to capture the effect of forcing startup and shutdown. Adaptive feedback resulted in a new flow state that the open-loop data had not captured.

关键词： Proportional Integral Derivative control Turbulent Boundary Layer Aerodynamic Performance Flow Sensors Pressure Sensors Vortex Induced Vibrations Neural Networks control algorithm Freestream Velocity Flow Conditions

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A unified smoke control method based on signed distance field

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COMPUTERS & GRAPHICS-UK 2013年第7期37卷 775-786页

作者： Yang, Ben Liu, Youquan You, Lihua Jin, Xiaogang Zhejiang Univ State Key Lab CAD&CG Hangzhou 310058 Zhejiang Peoples R China Changan Univ Xian 710064 Peoples R China Bournemouth Univ Natl Ctr Comp Animat Bournemouth Dorset England

Smoke control involves shape and path. A unified framework able to deal with both of them will enable animators to manipulate the shape and path of smoke animation more effectively. In this paper, we develop such a unified framework. With our approach, path control, shape control, and mixed control of both can be handled satisfactorily in the same framework. In order to develop this framework, we use a signed distance field to provide three control forces: path control force, boundary control force, and shape control force based on medial axis point clouds. The path control force makes the smoke move along the appointed route, the boundary control force keeps the smoke moving through specified regions only, and the shape control force enables the smoke to form various given shapes. The boundary control force and the shape control force are two novel control forces developed in this paper. To make the smoke form the target shape more accurately, we develop an adaptive strategy to adjust the divergence field. We also employ a new hybrid vortex particle scheme to enhance the turbulence flow details. The examples given in this paper indicate that our proposed framework is advantageous over the existing shape control approaches and path control algorithms, and a naive combination of the two. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Smoke animation control algorithm Shape control Path control Mixed control

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control of the evolution of Heisenberg spin systems

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EUROPEAN JOURNAL OF control 2004年第5期10卷 497-504页

作者： Albertini, F D'Alessandro, D Univ Padua Dipartimento Matemat Pura & Applicata I-35100 Padua Italy Iowa State Univ Dept Math Ames IA 50011 USA

In this paper, we give an algorithm for the control of the for the system of two spin 1/2's unitary evolution operator ? interacting through Heisenberg interaction. This algorithm allows for arbitrarily bounded control. The results extend previous ones that only concerned the control of a pure state. A Lie group decomposition technique is used to this goal and the problem is reduced to a two level problem with constraints. We also show how the control result allows to obtain information on the initial state through a series of evolutions and measurements. The study of the Heisenberg spin model is motivated by applications in electron paramagnetic resonance and in molecular magnetism. For these systems, the drift which models the interaction between the spins is typically large and cannot be neglected in the control design but it has to be used to reach the objective.

关键词： control algorithm Heisenberg spin model Lie algebraic decomposition

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Decentralized Finite Time Attitude Synchronization control of Satellite Formation Flying

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JOURNAL OF GUIDANCE control AND DYNAMICS 2013年第1期36卷 185-195页

作者： Zhou, Jiakang Hu, Qinglei Friswell, Michael I. Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China Swansea Univ Swansea SA2 8PP W Glam Wales

This paper investigates a quaternion-based finite time attitude synchronization and stabilization problem for satellite formation flying. Sufficient conditions are presented for finite time boundness and stability of this distributed consensus problem. More specifically, a nonlinear control law based on a finite time control technique is developed such that the attitude of the rigid spacecraft will coordinate and converge to the attitude of the leader, while the angular velocity will converge to zero in finite time. The associated stability proof is constructive and accomplished by adding a power integrator term in the Lyapunov function. Furthermore, to reduce the heavy communication burden, a modified control law is then designed by introducing a finite time sliding-mode estimator such that only one satellite has to communicate with the leader. Simulation results are presented to demonstrate the effectiveness of the designed scheme, especially the potential advantages derived through the inclusion of the continuous finite time control method, such as the fast convergent rate and the alleviation of chattering.

关键词： Satellite Formation Flying Quaternions Spacecraft Formation Nonlinear control Lyapunov Stability Theory Synthetic Aperture Radar Spacecraft Tracking Attitude Stabilization Multi Agent System control algorithm

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Finite-Time Fault-Tolerant Spacecraft Attitude control with Torque Saturation

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JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第10期40卷 2524-2537页

作者： Hu, Qinglei Tan, Xiao Akella, Maruthi R. Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Univ Texas Austin Dept Aerosp Engn & Engn Mech Engn Austin TX 78712 USA

A smooth attitude-stabilizing controller is proposed for rigid spacecraft actuated by thrusters that achieves finite-time stability in the presence of external disturbance, input saturation, and inertia uncertainty. More specifically, a novel time-varying fast terminal sliding-mode surface is first developed in conjunction with a judiciously designed control signal that rigorously obeys a known maximum-torque constraint. The controller can be viewed as a continuous analog to a variable structure approach, with the smoothness of the control permitted to vary with time according to a set of user-defined parameters. The second major contribution is that the control algorithm is extended to accommodate actuator faults while making use of the remaining active actuating capabilities. A Lyapunov-based analysis of the proposed formulation is provided, and finite-time stability of the closed-loop system is guaranteed. Numerical simulation studies are presented to help illustrate the desirable properties of the controller whenever certain design parameters are selected appropriately, and guidelines for selecting those parameters are provided in depth.

关键词： Spacecraft Attitude Model Reference Adaptive control Actuators Numerical Simulation control algorithm Rigid Spacecraft Attitude control System Fault Detection and Diagnosis Mathematical Models Spacecraft control

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Reliability-based dynamic position control of floating vessels: a numerical and experimental study

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SHIPS AND OFFSHORE STRUCTURES 2009年第3期4卷 207-214页

作者： Leira, B. J. Berntsen, P. I. B. Aamo, O. M. Sorensen, A. J. NTNU Dept Marine Technol Trondheim Norway NTNU Dept Engn Cybernet Trondheim Norway

This paper addresses dynamic positioning of surface vessels moored to the seabed via a turret-based spread mooring system, referred to as position mooring. Different options relevant for construction of automatic control schemes for the thruster system are first discussed based on consideration of relevant loss functions. In particular, the role of structural reliability criteria applied to the mooring system is addressed. A control algorithm based on such reliability criteria is introduced. The structural reliability measure becomes an intrinsic part of the controller, automatically adjusting the allowed motion limits based on current weather conditions and structural properties of the mooring lines. The performance of this control system is subsequently demonstrated both by numerical simulations and laboratory experiments on a model vessel.

关键词： dynamic positioning structural reliability measure control algorithm

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