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A robust constrained control approach for flexible air-breathing hypersonic vehicles

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2020年第7期30卷 2752-2776页

作者： Bu, Xiangwei Wei, Daozhi He, Guangjun Air Force Engn Univ Air & Missile Def Coll Xian Peoples R China Northwestern Polytech Univ Sch Astronaut Xian 710072 Peoples R China

This article investigates the robust adaptive control system design for the longitudinal dynamics of a flexible air-breathing hypersonic vehicle (FAHV) subject to parametric uncertainties and control input constraints. A combination of back-stepping and nonlinear disturbance observer (NDO) is utilized for exploiting an adaptive output-feedback controller to provide robust tracking of velocity and altitude reference trajectories in the presence of flexible effects and system uncertainties. The dynamic surface control is introduced to solve the problem of "explosion of terms." A new NDO is developed to guarantee the proposed controller's disturbance attenuation ability and to performance robustness against uncertain aerodynamic coefficients. To deal with the problem of actuator saturation, a novel auxiliary system is exploited to compensate the desired control laws. The stability of the presented NDO and controller is analyzed. Simulation results are given to demonstrate the effectiveness of the presented control strategy.

关键词： back-stepping control input constraints dynamic surface control flexible air-breathing hypersonic vehicle (FAHV) nonlinear disturbance observer (NDO) parametric uncertainties

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Iterative LMI approach to robust static output feedback control of uncertain polynomial systems with bounded actuators

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AUTOMATICA 2021年 123卷 109292-109292页

作者： Jennawasin, Tanagorn Banjerdpongchai, David King Mongkuts Univ Technol Fac Engn Dept Control Syst & Instrumentat Engn 126 Pracha Uthit Rd Bangkok 10140 Thailand Chulalongkorn Univ Intelligent Control Automat Proc Syst Res Unit Dept Elect Engn Fac Engn 254 Phayathai Rd Bangkok 10330 Thailand

This paper presents a novel static output feedback stabilization of polynomial systems with bounded actuators. We propose a new sufficient condition for static output feedback design for nominal polynomial systems with constraints on input magnitudes. In the proposed stabilization condition, the system matrices and the Lyapunov matrices are separated, and hence parameterization of the controller is independent of the Lyapunov matrices. The main result is the novel parameter-dependent Lyapunov functions that are readily applied to robust static output feedback design of polynomial systems subject to parametric uncertainty. The proposed design conditions are bilinear in the decision variables. Hence, we provide iterative algorithms to solve the design problems. At each iteration, the design condition is cast as parameter-dependent linear matrix inequalities using the sum-of-squares technique and can be efficiently solved. The proposed approach leads to enhanced static output feedback design with computationally tractable formulation. Effectiveness of the proposed approach is demonstrated by numerical examples. (c) 2020 Elsevier Ltd. All rights reserved.

关键词： Polynomial systems control input constraints Stabilization Static output feedback Parameter-dependent Lyapunov functions Iterative LMI Sum-of-squares

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Heterogeneous linear multi-agent consensus with nonconvex input constraints and switching graphs

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INFORMATION SCIENCES 2019年 501卷 397-405页

作者： Li, Xue Li, Cancan Yang, Yikang Univ Elect Sci & Technol China Sch Astronaut & Aeronaut Chengdu 611731 Sichuan Peoples R China Xi An Jiao Tong Univ Sch Elect & Informat Engn Xian 710049 Shaanxi Peoples R China

This study focuses on a constrained consensus problem of heterogeneous linear multi-agent systems with nonconvex input constraints and switching graphs. A distributed control algorithm with the time-varying gain is presented to ensure the control input of each agent to stay in a nonconvex set and make all agents reach to a common point. Through the method of nonnegative matrices, we obtain the sufficient conditions for the consensus of the system. It is shown that all agents can reach a consensus as long as the union of communication graphs contains spanning trees. Finally, simulations are provided to show the effectiveness of the proposed algorithm. (C) 2019 The Authors. Published by Elsevier Inc.

关键词： Heterogeneous multi-agent systems control input constraints Switching graphs Distributed algorithm

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VFO Path following control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained control input

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2018年第1-2期89卷 191-210页

作者： Michalek, Maciej Marcin Gawron, Tomasz Poznan Univ Technol PUT Chair Control & Syst Engn Piotrowo 3A PL-60965 Poznan Poland

The Vector-Field-Orientation (VFO) method is a control design concept which was originally introduced for the unicycle kinematics to solve two classical control tasks corresponding to the trajectory tracking and set-point control problems. A unified solution to both the tasks was possible by appropriate definitions of the so-called convergence vector field. So far, there has not been a version of the VFO control law for the third classical control task concerning the path following problem, which is particularly meaningful in the context of practical applications. The paper fills this gap by presenting a novel VFO path following controller devised for robots of unicycle-like kinematics with the amplitude-limited control input. Opposite to most path following controllers proposed in the literature, the new control law utilizes the recently introduced level curve approach which does not employ any parametrization of a reference path. In this way, the proposed solution is free of main limitations resulting from the need of unique determination of the shortest distance from a robot to the path. In contrast to other solutions, a formal analysis of the closed-loop dynamics presented in this paper provides sufficient conditions which guarantee constrained transients of robot motion with the position confined to a prescribed subset around a reference path. Theoretical results have been validated by numerical examples and experimentally verified with utilization of a laboratory-scale differentially driven robot.

关键词： Path following Unicycle control input constraints State constraints Level-curve approach VFO

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Fault-tolerant control design for a class of nonlinear systems with actuator malfunctions

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International Journal of Robust and Nonlinear control 2021年第5期32卷

作者： Kexin Guo Shangke Lyu Xiang Yu Jianzhong Qiao Lei Guo Youmin Zhang School of Aeronautic Science and Engineering Beihang University Beijing China Hangzhou Innovation Institute of Beihang University Hangzhou China School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Quebec Canada

This article presents a single-hidden-layer feedforward network (SLFN) aided fault-tolerant control (FTC) scheme for a class of nonlinear systems subject to actuator faults. First, the upper bounds of the norms of the unknown functions, which cover information of actuator faults and amplitude saturation degrees, are deployed. The upper bounds are approximated by SLFNs with adaptive techniques. Subsequently, a sliding mode control approach is presented to allow for prompt corrective reactions, with explicit consideration of multivariable conditions and control input constraints. Finally, simulation results based on a nonlinear Boeing 747 aircraft model are presented to demonstrate the effectiveness of the proposed FTC scheme.

关键词： actuator malfunctions control input constraints fault-tolerant control single-hidden-layer feedforward network sliding mode control

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Optimal Discrete-time Sliding Mode control for Nonlinear Systems 15

Optimal Discrete-time Sliding Mode Control for Nonlinear Sys...

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15th International Multi-Conference on Systems, Signals and Devices (SSD)

作者： Jedda, Olfa Douik, Ali Natl Engn Sch Monastir Elect Engn Dept Monastir Tunisia Natl Engn Sch Sousse Comp Engn Dept Sousse Tunisia

ISBN: (纸本)9781538653050

This paper presents an optimal discrete-time sliding mode control for simple-input simple-output nonlinear systems subject to input constraints. The proposed controller is developed on the basis of quasi-sliding mode concept. It ensures the finite-time convergence, the stability of the closed-loop system, as well as the follow-up of reference model. Chattering phenomenon is eliminated using the saturation function as a smooth switching function in the controller design. Moreover, particle swarm optimization algorithm is used in the design of the sliding surface in order to optimize the system response characteristics in presence of control input constraints. The effectiveness of the developed scheme is illustrated with an inverted pendulum system.

关键词： discrete-time sliding mode control chattering phenomenon saturation function particle swarm optimization control input constraints

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Constrained Consensus of Multiple Autonomous Vehicles with Nonconvex constraints

Constrained Consensus of Multiple Autonomous Vehicles with N...

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International Conference on Intelligent Rail Transportation (ICIRT)

作者： Duan, Mengmeng Zhu, Hongqiu Cent S Univ Sch Informat Sci & Engn Changsha 410083 Hunan Peoples R China

ISBN: (纸本)9781538675281

In this paper, we investigate the consensus problem for multiple autonomous vehicles with nonconvex constraints. We propose a distributed control algorithm and prove that consensus can be reached if the communication network jointly has a spanning tree. The analysis approach is based on the model transformation and the properties of the Metzler matrix and the stochastic matrix.

关键词： Multi-vehicle Systems Velocity constraints control input constraints

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Novel adaptive neural control design for a constrained flexible air-breathing hypersonic vehicle based on actuator compensation

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ACTA ASTRONAUTICA 2016年 120卷 75-86页

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

This paper investigates the design of a novel adaptive neural controller for the longitudinal dynamics of a flexible air-breathing hypersonic vehicle with control input constraints. To reduce the complexity of controller design, the vehicle dynamics is decomposed into the velocity subsystem and the altitude subsystem, respectively. For each subsystem, only one neural network is utilized to approach the lumped unknown function. By employing a minimal-learning parameter method to estimate the norm of ideal weight vectors rather than their elements, there are only two adaptive parameters required for neural approximation. Thus, the computational burden is lower than the ones derived from neural back-stepping schemes. Specially, to deal with the control input constraints, additional systems are exploited to compensate the actuators. Lyapunov synthesis proves that all the closed-loop signals involved are uniformly ultimately bounded. Finally, simulation results show that the adopted compensation scheme can taclde actuator constraint effectively and moreover velocity and altitude can stably track their reference trajectories even when the physical limitations on control inputs are in effect. (C 2015 IAA. Published by Elsevier Ltd. All rights reserved.

关键词： Flexible air-breathing hypersonic vehicle control input constraints Neural network Minimal-learning parameter

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On the dynamics and control of a class of continuous digesters

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JOURNAL OF PROCESS control 2015年 34卷 82-96页

作者： Schaum, Alexander Alvarez, Jesus Garcia-Sandoval, Juan P. Gonzalez-Alvarez, Victor M. Univ Kiel Chair Automat Control Kiel Germany Univ Autonoma Metropolitana Iztapalapa Dept Ingn Proc & Hidraul Mexico City DF Mexico Univ Guadalajara CUCEI Dept Ingn Quim Guadalajara Jalisco Mexico

The saturated OF control problem for a class of four-state anaerobic digesters with volatile fatty acids (VFAs) measurement is addressed. The reactor must operate about an optimal steady-state, with maximum VFA consumption that is locally open-loop stable but not necessarily structurally stable. The problem is addressed as an interlaced control-observer design in the light of passivity, observability, and bifurcation properties. The result is a saturated linear PI controller with: (i) systematic construction and tuning and (ii) nonlocal robust stability conditions in terms of control gains and limits. The proposed approach is illustrated with a representative case example through numerical simulations, including a comparison with the switching control approach. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Continuous anaerobic digestion Stoichiometric invariants control input constraints PI control Robust nonlocal stability

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Adaptive Observer-Based Integrated Fault Diagnosis and Fault-Tolerant control Systems Against Actuator Faults and Saturation

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2013年第4期135卷 041008-1-041008-13页

作者： Fan, Jinhua Zhang, Youmin Zheng, Zhiqiang Natl Univ Def Technol Coll Mechatron Engn & Automat Changsha 410073 Hunan Peoples R China Concordia Univ Dept Mech & Ind Engn Montreal PQ H3G 1M8 Canada

A challenging problem on observer-based, integrated fault diagnosis and fault-tolerant control for linear systems subject to actuator faults and control input constraints is studied in this paper. An adaptive observer approach is used for the joint state-fault magnitude estimation, and a feedback controller is designed to stabilize the closed-loop system without violating the actuator limits in the presence of actuator faults. Matrix inequality conditions are provided for computation of design parameters of the observer and the feedback controller, and the admissible initial conditions and estimation errors are bounded by invariant ellipsoidal sets. The design results are closely related to the fault magnitude and variation rate, and a necessary condition on the admissible fault magnitudes dependent on the control limits is directly obtained from the design process. The proposed design framework allows a direct application of the pole placement method to obtain stabilization results. To improve the system performance, a nonlinear programming-based optimization algorithm is proposed to compute an optimized feedback gain, whereas the one obtained by pole placement can be taken as an initial feasible solution for nonlinear optimization. Numerical studies with two flight control systems demonstrate the effectiveness of proposed design techniques.

关键词： adaptive observer fault diagnosis fault-tolerant control control input constraints

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