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Optimization Of Observation And control Processes

丛书名： AIAA Education Series

1992年

作者： Mihkail Naumovi Krasilshikov Veniamin Vasily Malyshev Valeri Ivanovic Karlov

ISBN: (数字)9781600862229

ISBN: (纸本)9781563470400

This book generalizes the classic theory of the regression experiment design in the case of Kalman-type filtering in controllable dynamic systems. A new approach is proposed for optimization of the measurable parameters structure, of navigation mean modes, of the observability conditions, of inputs for system identification, etc. The developed techniques are applied for enhancing efficiency of spacecraft navigation and control.

关键词： Acoustic Noise Acoustics Aerospace Sciences Algorithms and Data Structures Applied Mathematics Astrodynamics Astronautics Boundary Element Method Computational Fluid Dynamics Computing and Informatics Computing, Information, and Communication Continuum Mechanics control Systems control theory Coordinate System Data Science Design of Experiments Elementary Algebra Fluid Dynamics General Physics Guidance, Navigation, and control Systems Inverse Problems Kalman Filter Materials and Structural Mechanics Mathematical Optimization Mechanical and Structural Vibrations Meteoroids Monte Carlo Method nonlinear control theory Numerical Analysis Optimal control theory Optimization Algorithm Orbital Maneuvers Planetary Science and Exploration Planets Riccati Equations Satellites Solar Physics Solar Wind Solid Mechanics Space Orbit Space Science and Technology Space Systems and Vehicles Spacecraft Design Spacecraft Guidance Spacecraft Guidance and control Spacecrafts Statistical Analysis Structural Design and Development Structural Engineering Structural Mechanics Structures, Design and Test Vibration Measuring Instruments

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nonlinear continuous feedback controllers

Nonlinear continuous feedback controllers

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作者： Sitharaman, Sai Ganesh Texas A&M University

学位级别：硕士

Packet-switched communication networks such as today’s Internet are built with several interconnected core and distribution packet forwarding routers and several sender and sink transport agents. In order to maintain stability and avoid congestion collapse in the network, the sources control their rate behavior and voluntarily adjust their sending rates to accommodate other sources in the network. In this thesis, we study one class of sender rate control that is modeled using continuous first-order differential equation of the sending rates. In order to adjust the rates appropriately, the network sends continuous packet-loss feedback to the sources. We study a form of closed-loop feedback congestion controllers whose rate adjustments exhibit a nonlinear form. There are three dimensions to our work in this thesis. First, we study the network optimization problem in which sources choose utilities to maximize their underlying throughput. Each sender maximizes its utility proportional to the throughput achieved. In our model, sources choose a utility function to define their level of satisfaction of the underlying resource usages. The objective of this direction is to establish the properties of source utility functions using inequality constrained bounded sets and study the functional forms of utilities against a chosen rate differential equation. Second, stability of the network and tolerance to perturbation are two essential factors that keep communication networks operational around the equilibrium point. Our objective in this part of the thesis is to analytically understand the existence of local asymptotic stability of delayed-feedback systems under homogeneous network delays. Third, we propose a novel tangential controller for a generic maximization function and study its properties using nonlinear optimization techniques. We develop the necessary theoretical background and the properties of our controller to prove that it is a better rate adaptation algorithm

关键词： nonlinear control theory Optimization theory Book Thesis

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Autonomous Underwater Vehicles : Modeling, control Design, and Simulation

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2016年

作者： sabiha wadoo

Autonomous Underwater Vehicles : Modeling, control Design, and Simulation by Wadoo, Sabiha; Kachroo, Pushkin; published by Boca Raton : Crc Press

关键词： autonomous autonomous robots autonomous underwater chained form control control design control law design, equation feedback feedback control feedback control systems francis kinematic kinematic model llc llc control lyapunov function modeling, motion planning nonlinear control theory remote submersibles simulation system taylor underwater underwater vehicles vector vehicles

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nonlinear and adaptive control

Nonlinear and adaptive control

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丛书名： Lecture notes in control and information sciences

2003年

作者： Alan Zinober David Owens (eds.).

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Inertial quasi-velocity based controllers for a class of vehicles

Inertial quasi-velocity based controllers for a class of veh...

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2022年

作者： Przemyslaw Herman.

ISBN: (纸本)9783030946463

This book offers a timely overview of nonlinear control methods applied to a set of vehicles and their applications to study vehicle dynamics. The first part on the book presents the mathematical models used for describing motion of three class of vehicles such as underwater vehicles, hovercrafts and airships. In turn, each model is expressed in terms of Inertial Quasi-Velocities. Various control strategies from the literature, including model-free ones, are then analyzed. The second part and core of the book guides readers to developing model-based control algorithms using Inertial Quasi-Velocities. Both non-adaptive and adaptive versions are covered. Each controller is validated through simulation tests, which are reported in detail. In turn, this part shows how to use the controllers to gain information about vehicle dynamics, thus describing an important relationship between the dynamics of the moving object and its motion control. The effects of mechanical couplings between variables describing vehicle motion due to inertial forces are also discussed. All in all, this book offers a timely guide and extensive information on nonlinear control schemes for unmanned marine and aerial vehicles. It covers specifically the simulation tests and is therefore meant as a starting point for engineers and researchers that would like to verify experimentally the suitability of the proposed models in real vehicles. Further, it also supports advanced-level students and educators in their courses on vehicle dynamics, control engineering and robotics.

关键词： Automated vehicles nonlinear control theory

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Dinâmica não linear de sistemas de levitação magnética

Dinâmica não linear de sistemas de levitação magnética

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作者： Arbex, Hassan Costa Universidade Estadual Paulista

O propósito deste trabalho foi estudar as não linearidades na dinâmica de sistemas mecânicos e eletromecânicos. Entre eles inclui-se um corpo em levitação. As não linearidades levam o movimento da estrutura para o Efeito Sommerfeld. Por este fato, o trabalho do motor fica próximo ou na frequência de ressonância. Quando a estrutura atinge a condição de ressonância, a melhor parte da energia é consumida para gerar vibrações de grande amplitude sem nenhuma mudança sensível na frequência do motor. Neste trabalho, foi verificado o fenômeno para alguns sistemas não ideais inclusive o sistema com levitação magnética, discutindo uma forma de conduzir o sistema à condição de ressonância e evitar o absorvedor de energia que ocorre com o efeito SommerfeldThis paper studies the nonlinearities in dynamics of mechanics and electro mechanics non ideal systems. One of them is a magnetically levitated body. These nonlinearities lead the motion of the structure to the Sommerfeld Effect. For this reason the motors near or in resonance frequency. When the structure achieves resonance condition, the best part of the energy is consumed to generate large amplitude vibration, with no sensitive change in the motor frequency. In this paper, is checked whether the phenomenon in some non ideal systems and also, if occurs with magnetic levitation. Will be discussed how to drive the system to ressonance condition and to avoid the energy sink that occurs with the Sommerfeld effect

关键词： Problemas conjugados (Sistemas complexos) Sistemas não lineares Motores Teoria do controle não-linear Dinâmica Coupled problems (Complex systems) nonlinear systems Motors nonlinear control theory Dynamics Dissertação de mestrado

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Full-State and Output Feedback control of Uncertain nonlinear Nonstandard Multiple-Time-Scale Systems

Full-State and Output Feedback Control of Uncertain Nonlinea...

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作者： Saha, Dipanjan Texas A&M University

nonlinear systems with dynamics evolving in distinct slow and fast time-scales are common in science and engineering. Geometric singular perturbation theory is a powerful tool for controller design for such systems over multiple-time-scales. Aerospace vehicles such as aircraft and spacecraft are examples of nonstandard multiple-time-scale systems, for which the control synthesis is more challenging than for standard systems. Most control methods for nonstandard systems assume deterministic model and full-state feedback. This dissertation extends the current capabilities of multiple-time-scale control for nonstandard systems by developing novel theories of control design for uncertain systems and using output feedback. Both of slow state tracking and simultaneous slow and fast state tracking for nonstandard systems are considered as control objectives. Using the time-scales of the slow states, slow actuators, fast states and fast actuators, the control laws developed over four-time-scales can account for multiplicative and additive uncertainties. The controller uses estimates of the unknown parameters and the unmeasured states, and ensures Lyapunov-stability of the lower-order reduced subsystems. The estimates are updated by an online parameter estimator and a nonlinear state observer respectively. They are designed using the composite Lyapunov analysis. This analysis also proves the boundedness of errors and establishes bounds of time-scale separation to accomplish the same. The theory is applied to perform attitude tracking for a generic spacecraft with uncertain inertias, and large-amplitude combined longitudinal and lateral/directional maneuvers of a nonlinear six-degree-of-freedom aircraft with uncertain inertias, control derivatives and engine time-constant.

关键词： nonlinear control theory singular perturbation uncertain systems output feedback Thesis

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Precise control of Gimbal Systems with Model Reference Sliding Mode controller

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JOURNAL OF GUIDANCE control AND DYNAMICS 2023年第8期46卷 1620-1626页

作者： Birinci, Burak Eren Ozkan, Bulent Salamci, Metin U. Def Ind Res & Dev Inst Opt Syst Div TR-06261 Ankara Turkiye Gazi Univ Dept Mech Engn Fac Engn TR-06570 Ankara Turkiye Gazi Univ Addit Mfg Technol Applicat & Res Ctr Ankara Turkiye

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Neural-Inspired Measurement Observability

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JOURNAL OF GUIDANCE control AND DYNAMICS 2023年第7期46卷 1378-1389页

作者： Boyacioglu, Burak Schwarze, Alice C. Brunton, Bingni W. Morgansen, Kristi A. Univ Washington Dept Aeronaut & Astronaut Seattle WA 98195 USA Univ Washington Dept Biol Seattle WA 98195 USA

The neural encoding by biological sensors of flying insects, which prefilters stimulus data before sending them to the central nervous system in the form of voltage spikes, enables sensing capabilities that are computationally low cost while also being highly robust to noise. This process, which can be modeled as the composition of a linear moving average filter and a nonlinear decision function, inspired the work reported here to improve engineered sensing performance by maximizing the observability of particular neural-inspired composite measurement functions. We first present a tool to determine the observability of a linear system with measurement delay (the first element of the composition), and then use a Lie algebraic observability approach to study nonlinear autonomous systems with output delay (the second element of the composition). The Lie algebraic tools are then extended to address overall observability of systems with composite outputs as in the neural encoder model we adopt. The analytical outcomes are supported using the empirical observability Gramian, and optimal sensor placement on a bioinspired wing model is performed using metrics based on the empirical Gramian.

关键词： Sensors Applied Mathematics nonlinear Filter Observability Gramian Neuron Models nonlinear control theory

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Safety-Aware Hybrid control of Airborne Wind Energy Systems

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JOURNAL OF GUIDANCE control AND DYNAMICS 2024年第2期47卷 326-338页

作者： Vertovec, Nikolaus Ober-Bloebaum, Sina Margellos, Kostas Univ Oxford Dept Engn Sci Parks Rd Oxford OX1 3PJ England Paderborn Univ Dept Math Pk Rd D-33100 Paderborn Germany

A fundamental concern in progressing airborne wind energy (AWE) operations toward commercial success is guaranteeing that safety requirements placed on the systems are met. Due to the high-dimensional complexity of AWE systems, however, formal mathematical robustness guarantees become difficult to compute. We draw on research from Hamilton-Jacobi (HJ) reachability analysis to compute an avoidance control maneuver for the path-following controller that enforces safety constraints on the system while maintaining the guidance strategy. In addition, the subzero level set of the computed value function inherent in HJ reachability analysis indicates the backward reachable set, the set of states from which it is possible to safely drive the system into a target set within a given time without entering undesirable states. Furthermore, to integrate the avoidance controller with the path-following controller, we derive the necessary switching law such that the avoidance maneuver is only initiated when a tether rupture is potentially imminent. We illustrate our results via extensive simulation-based studies.

关键词： Airborne Wind Energy Optimal control Problem Energy Production Fixed Wing Aircraft Hamilton-Jacobi-Bellman Equation Aerospace Safety Renewable Energy nonlinear control theory Crosswind Kite Power

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