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computational control framework for tethered space systems using finite element method

ACTA ASTRONAUTICA 2025年 228卷 595-606页

作者： Zhang, Qi Zhu, Zheng H. York Univ Dept Earth & Space Sci & Engn 4700 Keele St Toronto ON M3J 1P3 Canada York Univ Dept Mech Engn 4700 Keele St Toronto ON M3J 1P3 Canada

This paper develops a computational feedback control framework for flexible tethered space systems by integrating dynamic models, state estimation, and optimal control with a moving horizon into a cohesive procedure using the finite element method. A high-fidelity dynamic model of the tethered space system is developed using the nodal position finite element method. The positions and velocities of the entire tether are estimated by a robust finite element Kalman state estimator. Then, optimal control in the finite element form is proposed to control the geometrical profile of flexible space tethers. The optimal control problem is recast into canonical equations by Hamilton's variational principle as a two-point boundary value problem with a moving terminal boundary condition. The control inputs are generated numerically from the canonical equations for closed-loop feedback control using a moving horizon. The effectiveness of the proposed computational optimal feedback control framework is verified through numerical simulations of an initially bent tethered space system. Analysis results show the proposed framework can be extended to other flexible elastic systems, indicating its potential for broader applications. The key advantages of the framework are algorithmic controller synthesis within a variational framework, preservation of high-fidelity of dynamic model in controller synthesis, and numerical algorithms in place of closed-form control commands for more adaptive and flexible control solutions.

关键词： Space tether Dynamics Optimal control computational control Feedback Hamilton principle Canonical equations Nodal position finite element method

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The DAO to Metacontrol for MetaSystems in Metaverses:The System of Parallel control Systems for Knowledge Automation and control Intelligence in CPSS

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IEEE/CAA Journal of Automatica Sinica 2022年第11期9卷 1899-1908页

作者： Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing100190Chi the Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

An investigation and outline of Metacontrol and Decontrol in Metaverses for control intelligence and knowledge automation are *** control with prescriptive knowledge and parallel philosophy is proposed as the starting point for the new control philosophy and technology,especially for computational control of metasystems in cyberphysical-social *** argue that circular causality,the generalized feedback mechanism for complex and purposive systems,should be adapted as the fundamental principle for control and management of metasystems with metacomplexity in ***,an interdisciplinary approach is suggested for Metacontrol and Decontrol as a new form of intelligent control based on five control metaverses:MetaVerses,MultiVerses,InterVerses,TransVerse,and DeepVerses.

关键词： Metacontrol MetaSystems Metaverses CPSS DAO Decontrol Prescriptive control Parallel control computational control Knowledge Automation control Intelligence Parallel Intelligence

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Guaranteeing control Requirements via Reward Shaping in Reinforcement Learning

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2024年第6期32卷 2102-2113页

作者： De Lellis, Francesco Coraggio, Marco Russo, Giovanni Musolesi, Mirco di Bernardo, Mario Univ Napoli Federico II Dept Elect Engn & Informat Technol I-80125 Naples Italy Scuola Super Meridionale Sch Adv Studies I-80138 Naples Italy Univ Salerno Dept Comp & Elect Engn & Appl Math DIEM I-840484 Salerno Italy UCL Dept Comp Sci London WC1E 6BT England Univ Bologna Dept Informat Sci & Engn I-40136 Bologna Italy

In addressing control problems such as regulation and tracking through reinforcement learning (RL), it is often required to guarantee that the acquired policy meets essential performance and stability criteria such as a desired settling time and steady-state error before deployment. Motivated by this, we present a set of results and a systematic reward-shaping procedure that: 1) ensures the optimal policy generates trajectories that align with specified control requirements and 2) allows to assess whether any given policy satisfies them. We validate our approach through comprehensive numerical experiments conducted in two representative environments from OpenAI Gym: the Pendulum swing-up problem and the Lunar Lander. Utilizing both tabular and deep RL methods, our experiments consistently affirm the efficacy of our proposed framework, highlighting its effectiveness in ensuring policy adherence to the prescribed control requirements.

关键词： Trajectory Steady-state Reinforcement learning Regulation Stability criteria Shape Lyapunov methods computational control deep reinforcement learning (RL) learning-based control policy validation reward shaping

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Active control for mid-span connection of a deployable tensegrity footbridge

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ENGINEERING STRUCTURES 2016年 112卷 245-255页

作者： Veuve, Nicolas Safaei, Seif Dalil Smith, Ian F. C. Sch Architecture Civil & Environm Engn ENAC Swiss Fed Inst Technol EPFL Appl Comp & Mech Lab Lausanne Switzerland

Tensegrity structures are spatial self-stressed pin jointed structures where compression components (struts) are surrounded by tension elements. This paper describes a near full-scale deployable tensegrity footbridge that deploys from both sides and connects at mid-span. Two topologies that differ in terms of symmetry of elements and paths of continuous cables are compared. Although both topologies behave similarly with respect to serviceability criteria, there is a significant difference in behavior during deployment. A two-stage control methodology for the connection of both halves of the footbridge is presented. The control methodology determines active cable length changes based on computational control and measurement of the response of the structure during deployment. Both halves are successfully connected at the end of deployment. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Tensegrity Footbridge Topology computational control Active structures

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Model Predictive control with Repetitive control for Periodic Signal Tracking and Constraint Handling of Fast Sampled-Data control Systems

Model Predictive Control with Repetitive Control for Periodi...

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IEEE International Conference on control Applications Part of 2010 IEEE Multi-Conference on Systems and control

作者： Liu, Yen-Chung Lin, Chi-Ying Natl Taiwan Univ Sci & Technol Dept Mech Engn Taipei 106 Taiwan

ISBN: (纸本)9781424453634

This paper presents design and implementation of model predictive control with repetitive control for periodic signal tracking and constraint handling of fast sampled-data systems. An internal model based discrete time repetitive control law is integrated with the model predictive controller and the original problem is then transformed to a quadratic programming problem to deal with the given constraints. This heavy computational control was implemented on a piezo-actuated system at a 10 kHz sampling rate. The experimental results demonstrate the feasibility and effectiveness of the proposed approach for asymptotic error tracking of periodic reference profiles with constraint handling.

关键词： asymptotic error tracking computational control constraint handling constraint handling control design control system synthesis discrete time repetitive control law discrete time systems fast sampled-data control systems fast sampled-data systems frequency 10 kHz internal model model predictive control periodic signal tracking piezo-actuated system predictive control quadratic programming quadratic programming problem

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Dynamic Facades and Computation: Towards an Inclusive Categorization of High Performance Kinetic Facade Systems 1

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16th International CAAD Futures Conference

作者： Velasco, Rodrigo Paul Brakke, Aaron Chavarro, Diego Univ Piloto Colombia Programme Architecture Bogota Colombia Frontis3d Facade Syst Bogota Colombia

ISBN: (数字)9783662473863

ISBN: (纸本)9783662473863;9783662473856

This chapter provides a panorama of the current state of computationally controlled dynamic facades through a literature review and a survey of contemporary projects. This was completed with an underlyings interest in understanding how innovative design solutions with the capacity to 'react to' and/or 'interact with' the varying states of climatic conditions have been developed. An analysis of these projects was conducted, and led to the identification of tendencies, which were subsequently synthesized and articulated. While most classifications are limited to describing the movement or structure needed to achieve morphological transformation, an important recommendation is to also consider control as a determining factor. For this reason, the culmination of the investigation presented here is a proposal for a classification structure of dynamic facades, developed according to the functional modus operandi of each structure in terms of movement and control.

关键词： Dynamic facades Kinetic architecture computational control High performance building envelopes

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Gain adaptation and sensor guidance of diffusion PDEs using on-line approximation of optimal feedback kernels

Gain adaptation and sensor guidance of diffusion PDEs using ...

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American control Conference (ACC)

作者： Demetriou, Michael A. Worcester Polytech Inst Dept Mech Engn Worcester MA 01609 USA

ISBN: (纸本)9781467386821

This paper considers the multi-level approximation of controllers for partial differential equations. First, assuming that the full state is available, an optimal controller based on a finite horizon Linear Quadratic Regulator (LQR) design is computed. Assuming that the feedback operator admits a time varying feedback kernel, the first level approximation provides a means to replace the requirement of full state knowledge by the knowledge of the state at the single spatial location that best approximates the kernel by a delta function. This then replaces the full state feedback by a static output feedback that is simultaneously approximating the full state controller and is providing the optimal sensor location. The second level approximation produces the static gain that is needed to multiply the state evaluated at the approximating spatial sensor location. Since the feedback gain is time varying, this two-level approximation is applied at each time instant thus rendering the sensor mobile and the static gain adaptive. Algorithms for PDEs in one and two spatial dimensions are provided along with numerical studies that compare the full-state optimal controllers with the suboptimal static output feedback controllers with mobile sensor.

关键词： Distributed parameter systems computational control distributed local controllers mobile sensors kernel approximation

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Discrete-Time High Order Neural control 2008

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丛书名： Studies in computational Intelligence

2008年

作者： Edgar N. Sanchez Alma Y. Alanís Alexander G. Loukianov

ISBN: (数字)9783540782896

ISBN: (纸本)9783540782889

The objective of this work is to present recent advances in the theory of neural control for discrete-time nonlinear systems with multiple inputs and multiple outputs. The results that appear in each chapter include rigorous mathematical analyses, based on the Lyapunov approach, that guarantee its properties; in addition, for each chapter, simulation results are included to verify the successful performance of the corresponding proposed schemes. In order to complete the treatment of these schemes, the final chapter presents experimental results related to their application to a electric three phase induction motor, which show the applicability of such designs. The proposed schemes could be employed for different applications beyond the ones presented in this book. The book presents solutions for the output trajectory tracking problem of unknown nonlinear systems based on four schemes. For the first one, a direct design method is considered: the well known backstepping method, under the assumption of complete sate measurement; the second one considers an indirect method, solved with the block control and the sliding mode techniques, under the same assumption. For the third scheme, the backstepping technique is reconsidering including a neural observer, and finally the block control and the sliding mode techniques are used again too, with a neural observer. All the proposed schemes are developed in discrete-time. For both mentioned control methods as well as for the neural observer, the on-line training of the respective neural networks is performed by Kalman Filtering.

关键词： computational control

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Převodovka pro pohon přední nápravy vozidla

Převodovka pro pohon přední nápravy vozidla

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作者： Černuško, Lukáš Brno University of Technology

Cieľom diplomovej práce bolo navrhnúť koncepciu pohonu elektromobilu, ktorá umožňuje vektorovanie točivého momentu medzi jednotlivé kolesá nezávisle a navrhnúť prevodovku pre prednú nápravu. Účelom bolo využiť vozidlo na závodnej trati a testovať dynamiku elektromobilu pre ďalší vývoj. Na základe stanovených požiadaviek a dostupných riešení bol navrhnutý koncept pohonu a určené základné parametre. Hlavná časť práce obsahuje návrh samotnej prevodovky vrátane pevnostného výpočtu ozubenia, kontroly hriadeľov k medznému stavu únavy a pružnosti, výpočet trvanlivosti zvolených ložísk. Riešenie tvaru skrine bolo podrobené výpočtovej kontrole pomocou MKP analýzy. Záverečná kapitola zisťuje zrýchlenie vozidla pomocou simulácie. Navrhnutý elektrický pohon je po prispôsobení možné aplikovať aj na iné športové vozidlá.

关键词： pohon prevodovka ozubenie skriňa prevodovky výpočtová kontrola driveline gearbox gearing gearbox case computational control Text

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Gain adaptation and sensor guidance of diffusion PDEs using on-line approximation of optimal feedback kernels

Gain adaptation and sensor guidance of diffusion PDEs using ...

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American control Conference

作者： Michael A. Demetriou Worcester Polytechnic Institute Dept of Mechanical Engineering Worcester MA 01609 USA

ISBN: (纸本)9781467386838

关键词： kernel approximation Distributed parameter systems computational control distributed local controllers mobile sensors Distributed parameter systems optimal controllers approximation Seeds Sensors feedback gain Feedback State feedback state controller Kernel linear quadratic regulators static output Gain feedback controller time varying

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