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AIAA SciTech Forum

作者： Kurttisi, Atahan Sarioglu, Eren Dogan, K. Merve Embry Riddle Aeronaut Univ Dept Aerosp Engn Daytona Beach FL 32114 USA Embry Riddle Aeronaut Univ Fdn Autonomous Syst & Technol Lab Daytona Beach FL 32114 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Multi-agent systems offer low-cost and flexible solutions for complex tasks thanks to their advantages and efficient algorithms. One of the most important features of multi-agent systems is operating in a formation for example, carrying a slung-load by using several multi-copters or platooning autonomous trucks. However, building control algorithms to provide formation control is not straightforward as real physical systems are affected by non-linear uncertainties and non-identical actuator-related issues. Being inspired by the nature of the real physical systems, in this research, we focus on designing distributed adaptive control algorithms to obtain formation control for multi-agent systems with uncertainties, unknown actuation efficiency, and actuator dynamics. Specifically, we utilize a leader-follower distance-based consensus algorithm together with adaptive terms to cancel out unknown and undesired effects. To do this, we use hedging-based reference models to decouple adaptation from the actuator dynamics. We analyze the stability of the multi-agent system by using the Lyapunov Stability Theory, and investigate feasible actuator bandwidth limits with the Linear Matrix Inequalities (LMI) method. Finally, we show the efficacy of the designed control law on a multi-agent system with both on undirected line graph and a fully connected graph. In addition, the results of this paper is compared with the previous results given in [1].

关键词： Multi Agent System Actuators Model Reference adaptive control Consensus algorithm adaptive control algorithm American Institute of Aeronautics and Astronautics Feedback control System

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Data-Guided Regulator for adaptive Nonlinear control

Data-Guided Regulator for Adaptive Nonlinear Control

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AIAA SciTech Forum

作者： Rahimi, Niyousha Mesbahi, Mehran

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper addresses the problem of designing a data-driven feedback controller for complex nonlinear dynamical systems in the presence of time-varying disturbances with unknown dynamics. Such disturbances are modeled as the "unknown" part of the system dynamics. The goal is to achieve finite-time regulation of system states through direct policy updates while also generating informative data that can subsequently be used for data-driven stabilization or system identification. First, we expand upon the notion of "regularizability" and characterize this system characteristic for a linear time-varying representation of the nonlinear system with locally-bounded higher-order terms. "Rapid-regularizability" then gauges the extent by which a system can be regulated in finite time, in contrast to its asymptotic behavior. We then propose the Data-Guided Regulation for adaptive Nonlinear control (DG-RAN) algorithm, an online iterative synthesis procedure that utilizes discrete time-series data from a single trajectory for regulating system states and identifying disturbance dynamics. The effectiveness of our approach is demonstrated on a 6-DOF power descent guidance problem in the presence of adverse environmental disturbances.

关键词： Nonlinear control Nonlinear Systems Linear Time Invariant Powered Descent Guidance Nonlinear Dynamics Reaction control System Basis Function Thrust Vectoring Aeroplane adaptive control algorithm

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Active Vibration control of Helicopter Fuselage with Large Dynamic Modeling Errors

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AIAA JOURNAL 2022年第3期60卷 1895-1908页

作者： Kai, Lang Lina, Shang Pinqi, Xia Nanjing Univ Aeronaut & Astronaut Coll Aerosp Engn Natl Key Lab Rotorcraft Aeromech Nanjing 210016 Peoples R China

Active vibration control is an effective method for vibration control of a helicopter fuselage. However, when there are large dynamic modeling errors of a control system, the effectiveness of active vibration control may decrease, or even the control may diverge by using the existing harmonic control algorithms. Large modeling errors will result in inaccurate frequency response functions in the control system. In this paper, a new frequency response function updating-harmonic identification algorithm and its convergence condition have been proposed for effective active vibration control of a helicopter fuselage with large modeling errors through identifying the frequency response function of the control system in real time. In addition, to improve the accuracy of identifying frequency response function and further improve the effect of active vibration control, a dynamic harmonic control weight matrix algorithm is also proposed in this paper. The active vibration control simulations and experimental validation on a dynamically similar and geometrically scaled structure of a helicopter fuselage verify that the proposed algorithm in this paper can achieve faster speed of convergence and better effect of vibration control when there are large dynamic modeling errors over the existing harmonic control algorithms.

关键词： Vibration control Systems Helicopters Fuselages Stochastic control System control algorithm Frequency Response Functions adaptive control algorithm Vibration Amplitude Accelerometer Optimal control

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Design of an adaptive feedforward/feedback combined control for piezoelectric actuated micro positioning stage

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PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY 2022年 78卷 199-205页

作者： Shi, Beichao Shi, Rui Wang, Fujun Tianjin Univ Sch Mech Engn Key Lab Mech Theory & Equipment Design Minist Educ Tianjin 300354 Peoples R China

This paper proposes a novel feedforward/feedback combined control applied to a piezoelectric (PZT) actuated micro positioning stage. Based on the rate-dependent P-I inverse hysteresis model, a feedforward controller is built to compensate the hysteresis characteristics of the piezoelectric actuators, and the relevant parameters of the model are obtained through system identification. An adaptive control algorithm is adopted in feedback controller to reduce the influence of external disturbance. By introducing error-related forgetting factors to adjust the weight of old data and new data in real time, the robustness and accuracy of the control system are improved. The simulations are carried out to estimate the performance of the time-varying forgetting factors based adaptive algorithm. Finally, experimental tests are conducted to investigate the performance of the pro-posed feedforward/feedback combined control. The experimental results indicates that the settling time is 53 ms corresponding to the square wave signal and the maximum tracking error of a sine trajectory with the frequency of 20 Hz is 1.63 mu m.

关键词： feedback combined control P -I inverse Hysteresis model adaptive control algorithm Error-related forgetting factors Micro positioning stage

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Computationally Efficient Collision-Free Trajectory Planning of Satellite Swarms Under Unmodeled Orbital Perturbations

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JOURNAL OF GUIDANCE control AND DYNAMICS 2023年第8期46卷 1548-1563页

作者： Basu, Himadri Pedari, Yasaman Almassalkhi, Mads Ossareh, Hamid R. Univ Grenoble Alpes Grenoble Images Parole Signal Automat Lab CNRS F-38000 Grenoble France Univ Vermont Dept Elect & Biomed Engn Burlington VT 05405 USA

This paper studies the problem of collision-free trajectory planning for a satellite swarm reconfiguration under perturbations and modeling uncertainties in a low Earth orbit (LEO). Determining exact trajectory planning solutions is computationally heavy as they require solving a mixed-integer nonlinear program owing to i) nonlinear relative dynamic models of satellites, ii) fuel-optimal assignment of satellites on the final formation, and iii) nonconvex collision avoidance constraints. To address these, first, a suitable linear model for trajectory planning is identified by quantifying modeling accuracy associated with various models capturing LEO perturbations. The effects of any residual modeling errors in the path prediction are mitigated by shrinking-horizon model-predictive feedback control, which updates the control command based on the latest satellite measurements. Secondly, an optimal swarm configuration is efficiently computed by decoupling the target-assignment algorithm from the trajectory optimization problem. Based on the estimated fuel expenditure for each satellite-target pairing, the target-assignment algorithm selects a configuration with minimal fuel consumption. Lastly, to determine collision-free, fuel-optimal maneuvers, two novel trajectory planning approaches, namely, distributed and decentralized trajectory optimization, are presented. While the former iteratively searches for collision-free feasible paths to optimal terminal configuration, the latter computes a near-optimal configuration with collision-free paths.

关键词： Satellite Formation Flying Pontryagin's Maximum Principle Mixed Integer Linear Programming Energy Economics Feedback control adaptive control algorithm Aircraft Operations Planets Sun Synchronous Orbit Computational Fluid Dynamics

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adaptive AUV Mission control System Tested in the Waters of Baffin Bay

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DRONES 2024年第2期8卷 45-45页

作者： Hwang, Jimin Bose, Neil Millar, Gina Bulger, Craig Nazareth, Ginelle Chen, Xi Mem Univ FEAS St John NF A1B 3X9 Canada Mem Univ Off President & Vice Chancellor St John NF A1C 5S7 Canada Mem Univ Autonomous Ocean Syst Ctr AOSCENT St John NF A1B 3X9 Canada Mem Univ Marine Inst St John NF A1B 3X9 Canada

The primary objectives of this paper are to test an adaptive sampling method for an autonomous underwater vehicle, specifically tailored to track a hydrocarbon plume in the water column. An overview of the simulation of the developed applications within the autonomous system is presented together with the subsequent validation achieved through field trials in an area of natural oil seeps near to Scott Inlet in Baffin Bay. This builds upon our prior published work in methodological development. The method employed involves an integrated backseat drive of the AUV, which processes in situ sensor data in real time, assesses mission status, and determines the next task. The core of the developed system comprises three modular components-Search, Survey, and Sample-each designed for independent and sequential execution. Results from tests in Baffin Bay demonstrate that the backseat drive operating system successfully accomplished mission goals, recovering water samples at depths of 20 m, 50 m, and 200 m before mission completion and vehicle retrieval. The principal conclusion drawn from these trials underscores the system's resilience in enhanced decision autonomy and validates its applicability to marine pollutant assessment and mitigation.

关键词： autonomous underwater vehicle adaptive control algorithm backseat driver modular control system natural oil seeps oil plume detection real-time analysis adaptive sampling

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Implementation of ML algorithms for the Purpose of Quality Improvement of Power

Implementation of ML Algorithms for the Purpose of Quality I...

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2023 International Conference on Power Energy, Environment and Intelligent control, PEEIC 2023

作者： Raghu, N. Meena, Mansingh Saxena, Kumud Faculty of Engineering and Technology Department of Electrical and Elceltronics Engineering Bangalore India Vivekananda Global University Department of Electrical Engineering Jaipur India Noida Institute of Engineering & Technology Department of Computer Science and Engineering Uttar Pradesh Greater Noida India

ISBN: (纸本)9798350357769

In our fast industrializing world, the need for more reliable and high-quality power production is highlighted by the growing need for electrical energy and the drive toward automation. In an effort to fulfill the growing need for electrical power, sources of renewable electricity (RE) have surfaced as an eco-friendly substitute for traditional energy sources. However, because of their intrinsically erratic and fluctuating production patterns, integrating these sources of renewable energy into the utility grid poses difficulties for sustaining the quality of electricity (PQ) and system stability. Mitigating PQ difficulties related to the adoption of renewable energy has been made possible by the integration of a distributed flexibly AC transfer system gadgets such as distribute static compensator (DSTATCOM) as dynamic voltage restorer (DVR). The control algorithms that dictate the functioning of those DFACTS devices are substantially responsible for their effectiveness. This exploration leads an extensive examination of the ordinary and adjust control methods utilized in DFACTS frameworks to address power quality issues in utility organizations where sustainable power is being incorporated. The exhaustive assessment incorporates an assessment of in excess of 170 examination papers and offers a cautious classification and outline of the different control techniques. The survey investigates these calculations' plan, trying equipment, signs of execution, and reasonability as archived in the group of surviving exploration. This collection is an invaluable tool that provides engineers and scholars working in the dynamic subject of improving power quality in utility networks amid the increasing impact of renewable energy sources with a rapid reference. © 2023 IEEE.

关键词： adaptive control algorithm Conventional control algorithm DFACTS Device Modern Utility Grid Power Quality and Renewable Energy Source

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Cognitive Preadaptation for Resilient adaptive control

Cognitive Preadaptation for Resilient Adaptive Control

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

作者： Muthirayan, Deepan Khargonekar, Pramod P. Univ Calif Irvine Elect Engn & Comp Sci Irvine CA 92717 USA

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

In this paper, we investigate a novel control architecture and algorithm for incorporating preadaption functions. We propose a preadaptation mechanism that can augment any adaptive control scheme and improve its resilience. We also propose a preadaptation learner that learns the preadaption function with experience, which removes the complexity of designing and fine tuning the preadaptation function specific to the system to be controlled. Through simulations of a flight control system we illustrate the effectiveness of the preadaptation mechanism in improving the adaptation. We show that the preadaptation mechanism we propose can reduce the peak of the response by as much as 50%. The scenarios we present also show that the preadaptation mechanism is effective across a wide range of scenarios suggesting that the mechanism is reliable.

关键词： adaptive control algorithm Flight control System Angle of Attack Cyber Physical System National Science Foundation Neural Networks Autonomous Systems Elevator

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adaptive Double-Layer Continuous Super-Twisting control of a Satellite Formation

Adaptive Double-Layer Continuous Super-Twisting Control of a...

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

作者： Nixoni, Mason E. Shtessel, Yuri B. Leidos Inc GN&C Branch Huntsville AL 35758 USA Univ Alabama Huntsville Dept Elect Engn Huntsville AL 35758 USA

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

As an emerging prominent standard, CubeSats, or more generally, microsatellites continue to demonstrate an increase in capability and advantages over their monolithic counterparts. In the past few years, microsatellites have become increasingly more capable and can accumulate vast amounts of data and thus must leverage novel methods to downlink the data. Certain technologies to address this show promise such as small satellite technologies, satellite formation control, and antenna array technologies. Antenna arrays allow for pattern multiplication which can facilitate increased directivity, and also active control which enables more efficient communications. Typically, active antenna arrays, or phased arrays are implemented on a single satellite. Recent methods such as antenna remoting and RF-overfiber technologies open up the potential to develop antenna arrays with individual elements that are no longer required to be physically collocated. This idea, paired with current state-of-the-art small satellite technologies, new methods in robust nonlinear control, and new dual quaternion methods of formation control, allow for physically dispersed satellite antenna arrays. In this paper, a physically distributed, dual quaternion-based antenna formation array is proposed for satellite communication for the first time. A novel adaptive second order sliding mode control algorithm is employed to control the considered antenna array. The efficacy of the control algorithm is verified via simulations.

关键词： Monolithic Satellite Quaternions adaptive control algorithm Satellite Antennas Nonlinear control Theory Satellite Technology Earth Spacecraft Formation Flying Target Spacecraft Earth Centered Inertial

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Comprehensive Review of Distributed FACTS control algorithms for Power Quality Enhancement in Utility Grid With Renewable Energy Penetration

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IEEE ACCESS 2020年 8卷 107614-107634页

作者： Chawda, Gajendra Singh Shaik, Abdul Gafoor Mahela, Om Prakash Padmanaban, Sanjeevikumar Holm-Nielsen, Jens Bo IIT Jodhpur Dept Elect Engn Jodhpur 342037 Rajasthan India Rajasthan Rajya Vidyut Prasaran Nigam Ltd Power Syst Planning Div Jaipur 302005 Rajasthan India Aalborg Univ Dept Energy Technol DK-6700 Aalborg Denmark

Rapid industrialization and its automation on the globe demands increased generation of electrical energy with more reliability and quality. Renewable energy (RE) sources are considered as a green form of energy and extensively used as an alternative source of energy for conventional energy sources to meet the increased demand for electrical power. However, these sources, when integrated to the utility grid, pose challenges in maintaining the power quality (PQ) and stability of the power system network. This is due to the unpredictable and variable nature of generation by these sources. The distributed flexible AC transmission system (DFACTS) devices such as distributed static compensator (DSTATCOM) and dynamic voltage restorer (DVR) play an active role in mitigating PQ issues associated with RE penetration. The performance of DFACTS devices is mostly dependent on the type of control algorithms employed for switching of these devices. This paper presents a comprehensive review of various conventional and adaptive algorithms used to control DFACTS devices for improvement of power quality in utility grids with RE penetration. This review intends to provide a summary of the design, experimental hardware, performance and feasibility aspects of these algorithms reported in the literature. More than 170 research publications are critically reviewed, classified, and listed for quick reference for the advantage of engineers and academician working in this area.

关键词： adaptive control algorithm conventional control algorithm DFACTS device modern utility grid power quality renewable energy source

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