检索结果-内蒙古大学图书馆

Adaptive Fault-Tolerant Constrained control of Cooperative Spacecraft Rendezvous and Docking

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2020年第4期67卷 3107-3115页

作者： Sun, Liang Univ Sci & Technol Beijing Inst Artificial Intelligence Beijing Peoples R China Univ Sci & Technol Beijing Minist Educ Sch Automat & Elect Engn Key Lab Knowledge Automat Ind Proc Beijing 100083 Peoples R China

The relative pose control problem for spacecraft rendezvous and docking missions in the presence of control input constraints, actuators partial failures, and unknown external disturbances is studied in this paper. A smoothly adaptive fault-tolerant constrained controller is developed based on the adaptive nonlinear state feedback method. Different from the traditional fault-tolerant saturated controllers, the proposed control approach explicitly accounts for the control input constraints with straightforward tuning parameters in controller. Meanwhile, the exact knowledge of the actuator failures is not required and uncertain failure information can be rejected. A smooth control signal containing simple saturation functions is designed, and the unknown bounded external disturbances can be rejected by the proposed method. The proposed controller can ensure ultimately, uniformly bounded stability of the closed-loop system, where relative pose and velocities converge to the small neighborhoods of zero. Numerical simulation results demonstrate the effectiveness of the proposed control approach.

关键词： Space vehicles Fault tolerance Fault tolerant systems Actuators Attitude control Materials requirements planning Closed loop systems control input constraint fault-tolerant control relative pose control rendezvous and docking spacecraft control

来源：评论

学校读者我要写书评

暂无评论

Design of state-feedback control for polynomial systems with quadratic performance criterion and control input constraints

引用

SYSTEMS & control LETTERS 2018年 117卷 53-59页

作者： Jennawasin, Tanagorn Banjerdpongchai, David Chulalongkorn Univ Fac Engn Dept Elect Engn 254 Phayathai Rd Bangkok 10330 Thailand King Mongkuts Univ Technol Thonburi Fac Engn Dept Control Syst & Instrumentat Engn 126 Pracha Uthit Rd Bangkok 126 Thailand

This paper presents a novel convex optimization approach to design state-feedback control for polynomial systems. Design criteria are comprised of a quadratic cost function and bounded magnitudes of control inputs. Specifically, we formulate a control synthesis of closed-loop systems operated in a given bounded domain characterized by a semi-algebraic set. We consider an extended class of rational Lyapunov functions and derive an upper bound of the cost function, together with a state-feedback control law. By exploiting bounds on the control input magnitudes, the controller design condition can be cast as a parameter-dependent linear matrix inequality (PDLMI), which is convex optimization and can be efficiently solved by sum-of-squares (SOS) technique. In addition, we derive a sufficient condition to compute a lower bound of the cost function. When choosing polynomial structure of the solution candidate, the lower bound can also be written as PDLMI. Numerical examples are provided to illustrate the effectiveness of the proposed design. (C) 2018 Elsevier B.V. All rights reserved.

关键词： Convex optimization Polynomial systems Quadratic performance criterion control input constraint Rational Lyapunov functions State-feedback control

来源：评论

学校读者我要写书评

暂无评论

Constrained adaptive fault-tolerant attitude tracking control of rigid spacecraft

引用

ADVANCES IN SPACE RESEARCH 2019年第7期63卷 2229-2238页

作者： Sun, Liang Univ Sci & Technol Beijing Sch Automat & Elect Engn Key Lab Knowledge Automat Ind Proc Minist Educ Beijing 100083 Peoples R China

A saturated fault-tolerant attitude tracking controller for disturbed rigid spacecraft is derived using nonlinear state feedback control method. The proposed controller achieves the constraints of control inputs by directly using the bounded function instead of the traditional saturation compensator technique, and the active tolerance to the partial loss of actuator effectiveness is also achieved by directly using the known bounds of the actuator faults in the controller. Specifically, compared with the traditional saturated control methods, a continuously bounded nonlinear function in the proposed controller is used to guarantee that the actuator outputs are smoothly bounded under the prescribed constraints. Based on some properties of the attitude tracking dynamics, the proposed controller can ensure the attitude tracking errors converge to small neighborhoods of zero via stability analysis in the Lyapunov framework. Simulation results are presented to illustrate the effectiveness of the control scheme. (C) 2018 COSPAR. Published by Elsevier Ltd. All rights reserved.

关键词： Spacecraft control Attitude tracking control input constraint Nonlinear state feedback control Fault-tolerant control

来源：评论

学校读者我要写书评

暂无评论

Neural-approximation-based robust adaptive control of flexible air-breathing hypersonic vehicles with parametric uncertainties and control input constraints

引用

INFORMATION SCIENCES 2016年 346卷 29-43页

作者： Bu, Xiangwei Wu, Xiaoyan Wei, Daozhi Huang, Jiaqi Air Force Engn Univ Air & Missile Def Coll Xian 710051 Peoples R China

In this paper, a neural-approximation-based robust adaptive control methodology is proposed for a constrained flexible air-breathing hypersonic vehicle (FAHV) subject to parametric uncertainties. To reduce the computational costs, only two radial basis function neural networks (RBFNNs) are applied to approximate the lumped unknown nonlinearities of the velocity subsystem and the altitude subsystem, while guaranteeing the exploited controller with satisfactory robustness against system uncertainties. Furthermore, a minimal-learning parameter (MLP) approach is employed to update the norm rather than the elements of RBFNNs' weight vectors, which yields a low computational load design. By constructing a novel auxiliary system to compensate the desired control laws, the effects of magnitude constraints on actuators are tackled. The Lyapunov synthesis proves that the closed-loop uniformly ultimately bounded stability can be achieved even when the physical limitations on actuators are in effect. Finally, simulation results are presented to verify the efficacy of the addressed control strategy in the presence of uncertain parameters, external disturbances and control input constraints. (C) 2016 Elsevier Inc. All rights reserved.

关键词： Flexible air-breathing hypersonic vehicle (FAHV) Robust adaptive control Radial basis function neural network (RBFNN) Minimal-learning parameter (MLP) control input constraint

来源：评论

学校读者我要写书评

暂无评论

Intelligent Fuzzy control for Nonlinear Two-Link Robot System with input Energy Constrained Disturbance Rejection and Pole Placement 7

Intelligent Fuzzy Control for Nonlinear Two-Link Robot Syste...

引用

7th IEEE Annual International Conference on CYBER Technology in Automation, control, and Intelligent Systems (CYBER)

作者： Chang, Wen-Jer Qiao, Hong-Yu Natl Taiwan Ocean Univ Dept Marine Engn Keelung Taiwan Nantong Vocat Tech Shipping Coll Dept Marine Engn Nantong Jiangsu Peoples R China

ISBN: (纸本)9781538604908

An intelligent fuzzy control of a nonlinear two-link robot system is investigated with assigning all poles into a specified disk, while the disturbance reelection can be realized and the norms of control input are bounded. The considered nonlinear two-link robot system is represented by a Takagi-Sugeno fuzzy model. The sufficient conditions of stabilization and performance constraints are first derived in terms of linear matrix inequalities based on the Lyapunov theory. Then, an intelligent fuzzy controller based on parallel distributed compensation technique is designed via solving the corresponding sufficient conditions. Employing this intelligent fuzzy controller, the closed-loop system can achieve multiple performance constraints including pole placement, disturbance rejection and bounded input energy. Finally, a computer simulation is provided to verify the applicability of the proposed method for controlling a nonlinear two-link robot system.

关键词： Nonlinear Two-Link Robot System Takagi-Sugeno Fuzzy Model Pole Placement Disturbance Rejection control input constraint

来源：评论

学校读者我要写书评

暂无评论

Multiobjective Static Output-Feedback control with control input constraint for a Class of Nonlinear Systems

Multiobjective Static Output-Feedback Control with Control I...

引用

第三十届中国控制会议

作者： ZHANG Dengfeng~1,XIE Dexiao~2,WANG Hong~3,LU Baochun~1 1.School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,P.R.China 2.The 28th Research Institute of CETC,Nanjing 210007,P.R.China 3.control Systems Center,University of Manchester,Manchester M60 1QD,United Kingdom

The robust static-output-feedback controller design is studied for a class of uncertain nonlinear systems with multiobjective *** parameter uncertainties are allowed to be unstructured but *** nonlinear dynamics is described by vector-valued *** aim is the design of static-output-feedback controller such that the closed-loop system is of robust stability,the magnitude of the control input is within the given bound,the prescribed constraint on the disturbance rejection is guaranteed,and the upper bound of quadratic cost function is optimized,*** controller design is based on the Lyapunov stability theory and multiobjective optimization strategy,by using linear matrix inequality(LMI) approach. Matrix variable transformation technique is adopted in the design to convert the non-convex LMI constraints into convex ones.A numerical example is provided to illustrate the effectiveness of the proposed design algorithm.

关键词： Multiobjective control Static Output Feedback control input constraint Nonlinear Systems

来源：评论

学校读者我要写书评

暂无评论

Large-scale stabilization control of input-constrained quadrotor

引用

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2016年第5期13卷 1-10页

作者： Jiang, Jun Yang, Liying Gu, Feng He, Yuqing Han, Jianda Chinese Acad Sci Shenyang Inst Automat 114 Nanta St Shenyang 110016 Liaoning Provin Peoples R China

The quadrotor has been themost popular aircraft in the last decade due to its excellent dynamics and continues to attract everincreasing research interest. Delivering a quadrotor from a large fixed-wing aircraft is a promising application of quadrotors. In such an application, the quadrotor needs to switch from a highly unstable status, featured as large initial states, to a safe and stable flight status. This is the so-called large-scale stability control problem. In such an extreme scenario, the quadrotor is at risk of actuator saturation. This can cause the controller to update incorrectly and lead the quadrotor to spiral and crash. In this article, to safely control the quadrotor in such scenarios, the control input constraint is analyzed. The key states of a quadrotor dynamic model are selected, and a two-dimensional dynamicmodel is extracted based on a symmetrical body configuration. Ageneralized point-wise min-norm nonlinear control method is proposed based on the Lyapunov function, and large-scale stability control is hence achieved. An enhanced point-wise, min-norm control is further provided to improve the attitude control performance, with altitude performance degenerating slightly. Simulation results showed that the proposed control methods can stabilize the input-constrained quadrotor and the enhanced method can improve the performance of the quadrotor in critical states.

关键词： Quadrotor control input constraint large-scale stability control-Lyapunov function

来源：评论

学校读者我要写书评

暂无评论

Design of a Class of New Nonlinear Disturbance Observers based on Tracking Differentiators for Uncertain Dynamic Systems

引用

INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2015年第3期13卷 595-602页

作者： Bu, Xiang-Wei Wu, Xiao-Yan Chen, Yong-Xing Bai, Rui-Yang Air Force Engn Univ Air & Missile Def Coll Xian 710051 Peoples R China

The main contribution of this paper is to present a general design method of new nonlinear disturbance observer (NDO) based on tracking differentiator (TD) for uncertain dynamic system. The stability and convergence of the proposed NDO can be guaranteed by TD. This new NDO can be used to estimate many types of uncertain disturbances, and can overcome the disadvantages of existing NDOs that need the priori information concerning the upper and lower bounds of the disturbance and its ith derivative's Lipschitz upper bound. It can be also applied in uncertain dynamic system for various purposes such as disturbance estimate and compensation, solving the problem of control input constraint, and reducing even eliminating chattering of control input. Simulation results are presented to show the effectiveness of the developed NDO.

关键词： Chattering control input constraint disturbance estimate nonlinear disturbance observer tracking differentiator uncertain disturbances uncertain dynamic system

来源：评论

学校读者我要写书评

暂无评论

Robust control of vehicle electrorheological suspension subject to measurement noises

引用

VEHICLE SYSTEM DYNAMICS 2011年第1-2期49卷 257-275页

作者： Du, Haiping Zhang, Nong Naghdy, Fazel Univ Wollongong Sch Elect Comp & Telecommun Engn Wollongong NSW 2522 Australia Univ Technol Fac Engn Broadway NSW 2007 Australia

In this paper, a novel robust control approach is presented for a semi-active suspension with electrorheological (ER) dampers considering suspension parameter uncertainties, control input constraint, and measurement noises. By representing the suspension with parameter uncertainties in a polytopic form, applying a norm-bounded approach to handle control input constraint, and constructing an appropriate observer to estimate state variables from noisy measurements, the design of this controller is realised by solving a finite number of linear matrix inequalities with optimised [image omitted] performance on ride comfort and estimation error. Numerical simulations on a quarter-car suspension with an ER damper are performed to validate the effectiveness of the proposed approach. The obtained results show that the designed controller can achieve good suspension performance despite the presence of measurement noises and the variations on sprung mass and ER damper time constant with constrained control input.

关键词： vehicle suspension robust control noisy measurements parameter uncertainities control input constraint electrorheological damper

来源：评论

学校读者我要写书评

暂无评论

control System Design Using Actuators with constraints on Time and Space Resolutions

Control System Design Using Actuators with Constraints on Ti...

引用

6th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Hashimoto, S. Chen, Z. Shimosakai, K. Gunma Univ Dept Elect Engn Gunma 3768515 Japan

ISBN: (纸本)9781424487554

This paper discusses a design problem for a control system with constrains on the control input. Constrains are the limitation due to the special and time resolutions of actuators. These systems are called the discrete-valued input control (DIC) system. For the DIC system, at first, we propose the compensation method using the equivalent division for the amplitude of the control input. Next, considering the realization for the fixed-point operation, the 2(n) division method is proposed. The DIC methods are compared with the method using the feedback modulator. Finally, the effectiveness of the proposed DIC methods is verified by the vibration suppression and positioning experiments.

关键词： control input constraint quantization discrete-valued input control vibration suppression control positioning system

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：