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Simultaneous improvement of handling and lateral stability via a new robust control system

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES 2023年第4期51卷 1964-1986页

作者： Saeedi, Mohammad Amin Shahid Rajaee Teacher Training Univ Dept Mech Engn Tehran Iran

This article presents the development of a new combined controller based on an active steering system and an active braking system to increase maneuverability and the directional stability of the vehicle. First, to dominate the uncertainties of the dynamic model, sliding model control (SMC) method has been used. Then, to verify the performance of the proposed controller, a control system has been designed based on linear quadratic regulator (LQR) control method. Next, to investigate the performance of the controllers, a 14 degree-of-freedom (DOF) dynamic model has been utilized. The computer simulations confirmed the effectiveness of the robust controller in comparison with the LQR control system during critical maneuver.

关键词： Simplified dynamic model robust control system stability analysis active braking system active steering system

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robust control system for Vessel Descent-Rise Device with Heave Compensation Capability

Robust Control System for Vessel Descent-Rise Device with He...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Chupina, Kira V. Kataev, Evgeny V. Sennikov, Igor A. Far Eastern Fed Univ Dept Ship Power & Automat Vladivostok Russia

ISBN: (纸本)9781538643075

The deviation of the underwater towed vehicle's immersion depth is caused by vessel heave. To gain more efficiency of underwater operations, it is offered to realize a heave motion compensation system as a descent-rise device with a nodding boom. There is uncertainty in the models of the system "vessel - cable - underwater vehicle" and input disturbances. That is why there are difficulties in the design of control systems of underwater vehicle immerging depth. This control system has been stable and highly effective for heave compensation of any sea states and different parameters of the vehicle and cable. It is offered to use the robust theory but without traditional methods of optimization at control system synthesis.

关键词： towed underwater vehicles descent-rise device heave compensation system robust control system

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Comparison Study of Power Supplies in Real-Time robust control systems of Vertical Plasma Position in Tokamak 11th

Comparison Study of Power Supplies in Real-Time Robust Contr...

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11th IFAC Symposium on control of Power and Energy systems (CPES)

作者： Konkov, Artem E. Mitrishkin, Yuri, V RAS Inst Control Sci Moscow Russia Lomonosov Moscow State Univ RAS Inst Control Sci Fac Phys Moscow Russia

The article is devoted to a comparative study of VIs (Voltage Inverters) in the RAO (Relay Auto-Oscillatory) mode and in the multilevel PWM (Pulse Width Modulation) mode as actuators in closed-loop control systems of vertical plasma motion in the T-15MD tokamak. The new digital multilevel PWM controller was developed. Both systems were put under equivalent conditions in terms of the same response to external signals. The discrete robust controller is single for both control systems and has been designed by LMI (Linear Matrix Inequalities) approach using the LPV (Linear Parameter Varying) plant model. The main criteria for comparison are the control power and signal spectrum on the HFC (Horizontal Field Coil). The simulations were performed on the real-time test bed consisting of two real-time target machines connected in a feedback loop "Plant Model controller", to basically bring the system as close to reality as possible. The comparison results have showed the significant superiority of the 9-level PWM VI over the VI in RAO mode according to the selected criteria. Copyright (C) 2022 The Authors.

关键词： tokamak voltage inverter real-time PWM auto-oscillatory mode LMI ARX identification robust control system spectral analysis control power analysis

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Comparison Study of Power Supplies in Real-Time robust control systems of Vertical Plasma Position in Tokamak

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IFAC-PapersOnLine 2022年第9期55卷 327-332页

作者： Artem E. Konkov Yuri V. Mitrishkin Institute of Control Sciences of RAS Moscow Russia Faculty of Physics Lomonosov Moscow State University Institute of Control Sciences of RAS Moscow Russia

The article is devoted to a comparative study of VIs (Voltage Inverters) in the RAO (Relay Auto-Oscillatory) mode and in the multilevel PWM (Pulse Width Modulation) mode as actuators in closed-loop control systems of vertical plasma motion in the T-15MD tokamak. The new digital multilevel PWM controller was developed. Both systems were put under equivalent conditions in terms of the same response to external signals. The discrete robust controller is single for both control systems and has been designed by LMI (Linear Matrix Inequalities) approach using the LPV (Linear Parameter Varying) plant model. The main criteria for comparison are the control power and signal spectrum on the HFC (Horizontal Field Coil). The simulations were performed on the real-time test bed consisting of two real-time target machines connected in a feedback loop “Plant Model – controller”, to basically bring the system as close to reality as possible. The comparison results have showed the significant superiority of the 9-level PWM VI over the VI in RAO mode according to the selected criteria.

关键词： tokamak voltage inverter real-time PWM auto-oscillatory mode LMI ARX identification robust control system spectral analysis control power analysis

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Comparative Study of Real-Time control systems of Vertical Plasma Position in Tokamak with Different Power Supplies for Horizontal control Field Coil

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PHYSICS OF ATOMIC NUCLEI 2023年第7期86卷 1616-1628页

作者： Mitrishkin, Y. V. Konkov, A. E. Korenev, P. S. Moscow MV Lomonosov State Univ Moscow 119991 Russia Russian Acad Sci Trapeznikov Inst Control Sci Moscow 117997 Russia

The paper is devoted to a comparative analysis of voltage inverters in the relay mode and in the multilevel pulse-width modulation (PWM) mode as actuators in closed-loop control systems of the vertical plasma position in the T-15MD tokamak. The systems are compared on a first-order plasma model obtained by approximation of the plasma model with distributed parameters by a second-order model of the plasma with a control coil. Both systems have been put in equal conditions in terms of the same response to external signals. The method of Linear Matrix Inequalities (LMI) is used to identify an AutoRegressive with eXternal input (ARX) model of the serial connection of the both actuators with the horizontal field coil (HFC) and to synthesize a robust controller of the vertical plasma position in the tokamak. The main criteria for comparison are the control power and the HFC signal spectrum. A digital controller in the multilevel PWM mode has been developed. Simulations are performed using a real-time digital test bed. According to the criteria chosen, the new results of comparison demonstrate a significant superiority of the voltage inverter in the 9-level PWM mode over the voltage inverter in the relay mode.

关键词： tokamak voltage inverter real-time test bed multilevel PWM LMI ARX identification robust control system spectral analysis control power analysis

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Non-linear control of a Quadrotor with Actuator Delay

Non-linear Control of a Quadrotor with Actuator Delay

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AIAA SciTech Forum

作者： Kartal, Muhammed R. Ignatyev, Dmitry Zolotas, Argyrios Cranfield Univ Sch Aerosp Transport & Mfg Autonomous Syst & Control Ctr Autonomous & Cyberp Cranfield MK43 0AL Beds England

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

During the last decade, Unmanned Aerial Vehicles (UAVs) gained significant interest for use in various application domains such as monitoring/surveillance, freight/cargo shipping, and agriculture spraying. Developing such vehicle platforms requires the utilization of robust control approaches to maintain stable and appropriate maneuvering capabilities, as well as to address system uncertainty such as payload variation or dynamic variations (e.g., spraying drones are affected by such uncertainty). Moreover, due to the rotor-based structure, rotorcraft UAVs are quite vulnerable to UAV systems control input signal delay. In terms of maintaining a robust approach for a rotorcraft UAV, it is essential to provide stability against UAV systems control input signal delay. This paper makes an analysis throughout to improve control efficiency against UAV systems control input signal delay. Through investigation and improved fault rejection, three controlling algorithms were designed and applied. The analysis focused on three different scenarios. Insights are discussed within the remit of command tracking performance with UAV systems control input signal delay.

关键词： Quadcopter Actuators Unmanned Aerial Vehicle control Algorithm Rotorcrafts robust control system Cargo Ships Proportional Integral Derivative Nonlinear Dynamics Newton's Second Law

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robust Finite-Time Continuous control of an Unsteady Aeroelastic system

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JOURNAL OF GUIDANCE control AND DYNAMICS 2018年第4期41卷 978-986页

作者： Lee, Keum W. Singh, Sahjendra N. Catholic Kwandong Univ Kangnung 25601 South Korea Univ Nevada Dept Elect & Comp Engn Las Vegas NV 89154 USA Dept Elect Engn Gangwon South Korea

A supertwisting continuous control law for the robust control of an aeroelastic system is studied with unsteady aerodynamics in the presence of uncertainty and gust loads, using a trailing-edge flap. By the Lyapunov analysis, finite-time convergence of the pitch angle and its derivative was established. In contrast to this, the controllers available in the literature for unsteady aeroelastic models accomplished asymptotic control of the controlled variable. It can be noted that finite-time control systems have stronger stability properties. The designed controller is simple from the viewpoint of synthesis as compared to adaptive systems. Simulation results showed stabilization of the oscillatory responses despite unsteady aerodynamics and uncertainties in the model.

关键词： Aeroelastic Models Sliding Mode control Freestream Velocity Unsteady Aerodynamics Flap Deflection Trailing Edge Flap Wind Tunnel Models Mathematical Models robust control system NASA Langley Research Center

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Developing a Small-Scale Propeller Thrust Model Using Experimentation and CFD

Developing a Small-Scale Propeller Thrust Model Using Experi...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech Forum)

作者： Bryant, Alexander H. Walters, Dibbon K. Univ Oklahoma Dept Aerosp & Mech Engn Lockheed Martin Aerodynam Aircraft Performance Norman OK 73019 USA Univ Oklahoma Aerosp & Mech Engn Dept Aerosp & Mech Engn Norman OK 73019 USA

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

Autonomous unmanned aerial vehicles ( UAVs) are playing an ever-increasing role in naval operations. In order for these UAVs to safely operate autonomously in a wide range of conditions, robust control systems must be combined with a high-fidelity model of the thrust from the vehicle's propellers. The vast majority of experimental and computational fluid dynamics (CFD) studies on propeller thrust documented in the open literature have studied propeller thrust only as a function of RPM and axial advance ratio. For a UAV operating in the vicinity of the moving deck of a ship, operating conditions will also include crosswinds across the propeller disks and effects from the vehicle proximity to the ship deck. Currently, no experimental or computational studies provide an all-encompassing study into the entirety of a propeller's operating envelope. In this paper, FLUENT based CFD is utilized to investigate the thrust performance of a small-scale propeller as a function of RPM, axial advance ratio, transverse advance ratio, and ground proximity. Experimental thrust measurements were also performed in order to validate thrust trends and provide an anchor for the thrust data from CFD. The thrust data from the CFD showed good qualitative agreement with available experimental data while generally overpredicting thrust by 20 percent. The combination of the experimental and CFD data allowed for an accurate empirical thrust model to be developed that will permit UAVs to safely and effectively operate in a wide range of operating conditions.

关键词： Propeller Performance Freestream Velocity Computational Fluid Dynamics Unmanned Aerial Vehicle robust control system Reynolds Averaged Navier Stokes Aerodynamic Angle Turbulence Models Tachometer Quadrotor

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Sliding Mode control Toolbox for Aerospace Applications: Relative Degree Approach

Sliding Mode Control Toolbox for Aerospace Applications: Rel...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Kode, S. Shtessel, Y. Univ Alabama Huntsville Dept Elect & Comp Engn Huntsville AL 35899 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

A sliding mode control toolbox for designing and simulating aerospace vehicle control systems is developed using the relative degree approach. The proposed toolbox is created based on a MATLAB/Simulink platform. The created toolbox allows the design and the simulation of the aerospace vehicles controlled by classical and higher order sliding mode control algorithms, including their adaptive and continuous implementations. Efficacy of the proposed toolbox is illustrated via numerical simulations of controlled Resource Prospector Lunar Lander (RPL) and Rocket Launch Vehicle using the simplified mathematical models provided by NASA/MSFC.

关键词： Open Loop Transfer Function Mathematical Models MATLAB In Situ Resource Utilization robust control system Rocket Launch Vehicle Numerical Simulation control Rocket control Algorithm Soft Landing

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control Software: Research Directions in the Intersection of control Theory and Software Engineering

Control Software: Research Directions in the Intersection of...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Bradley, Justin Bagheri, Hamid Univ Nebraska Lincoln Dept Comp Sci & Engn Lincoln NE 68508 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

control theory and Software Engineering are well established research fields. Their intersection occurs in every computer-controlled system as control laws, sampling rates, derivatives, integrals, sensor readings, and control actuations are implemented in code and executed by the computer. The execution of controllers has received the bulk of attention from researchers in this intersection while their actual software implementation has received comparatively little. This intersection warrants increased attention from researchers for two main reasons: 1) control systems are distinct from much of the research in software engineering due to the focus on computing for the physical world (e.g., motor actuation, sensor readings, velocity calculations), need for deterministic timing, and safety-critical nature, and 2) correctness and performance guarantees are only meaningful if, in addition to the model, they also characterize the software implementation and its execution - something many in the control community take for granted. In this paper we identify the need for increased research at this intersection by focusing on control software - an area distinct from, but informed by both control theory and software engineering disciplines. This area is complementary to the verification community which focuses on models and testing but may not examine the development process or the software itself, its evolution, semantics, maintainability, or longevity. We identify two key areas in this domain worthy of increased attention. First, successful controllers, their models, and software evolve over their lifetime. Understanding how controllers evolve can help designers know what types of changes impact important controller properties such as margins of stability, rise time, settling time, etc. We discuss this challenge in detail and report on our recent research to characterize controller evolution, including the development of a tool to rapidly simulate it and characterize its im

关键词： Software Engineering Model Based Design robust control system Computing Architecture Sensors Software Development Ardupilot Unmanned Aircraft system Commercial Aircraft Safety Critical Software

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