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Fully actuated system approaches for continuous-time delay systems: part 1. Systems with state delays only

Science China(Information Sciences) 2023年第2期66卷 158-187页

作者： Guangren DUAN Center for Control Science and Technology Southern University of Science and Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, the fully actuated system(FAS) approaches for continuous-time systems with time-varying state delays are proposed. Two types of continuous-time high-order FAS models with time delays: single-order time-delay FAS models and multi-order time-delay FASs, are proposed. Particularly, the type of sub-FASs that do not completely but partially satisfy the full actuation is investigated, and the sets of feasible points are defined. When the system states are constrained to the feasible set, a controller can be easily constructed for the sub-FAS such that the closed-loop system is a constant linear system with an arbitrarily assignable eigenstructure. In addition, it is demonstrated that the feasibility constraint can be transformed into a constraint on the initial values of the system, which vanishes when the system is a(global)FAS. Based on the unique control characteristic of the type of FAS models, the concepts of controllability and stabilizability of general dynamical time-delay systems are also proposed. The effect of the proposed theories is illustrated with examples.

关键词： time-delay systems fully actuated systems controller designs controllability stabilizability

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Predictive sliding-mode control of networked high-order fully actuated systems under random deception attacks

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Science China(Information Sciences) 2023年第9期66卷 50-63页

作者： Da-Wei ZHANG Guo-Ping LIU Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology

This research addresses the output tracking of networked high-order fully actuated(NHOFA)systems under random deception attacks in the sensor to networked controller(SNC) and networked controller to actuator(NCA) communication channels, where a Bernoulli process represents the launching success rate of random deception attacks. A successful attack involves the output and control signals being tampered with by the injection of false data. Herein, a predictive sliding-mode control scheme is proposed to achieve the security tracking. In this scheme, a sliding-mode variable is introduced to defend the random deception attacks by enhancing the robustness of closed-loop systems. An incremental HOFA(IHOFA) prediction model is developed using a Diophantine equation as an alternative to the traditional reduced-order prediction model. Through this IHOFA prediction model, the multistep ahead predictions of the sliding-mode variable are constructed to optimize the tracking performance and defense of random deception attacks. By utilizing the Lyapunov function and linear matrix inequality(LMI) approach, a sufficient and necessary condition is proposed to ensure stability and high tracking performance of closed-loop NHOFA systems. Herein, an experiment on the tracking control of an air-bearing spacecraft(ABS) simulator is performed to demonstrate the effectiveness and practicability of the predictive sliding-mode control scheme.

关键词： NHOFA systems random deception attacks predictive sliding-mode control stability and tracking performance tracking control of ABS simulator

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Disturbance Observer-Based Predictive Tracking control of Uncertain HOFA Cyber-Physical Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1711-1713页

作者： Da-Wei Zhang Guo-Ping Liu IEEE the Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is use... 详细信息

关键词： Observer Uncertain letter

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Stabilization controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren Duan School of Engineering Qufu Normal UniversityRizhao 276826China Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

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Parametric control of quasi-linear second-order systems with partitioned eigenstructure assignment by output feedback

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Science China(Information Sciences) 2023年第4期66卷 228-243页

作者： Weizhen LIU Guangren DUAN Dake GU Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology School of Automation Engineering Northeast Electric Power University

In this paper, a parametric design approach for stabilizing a quasi-linear second-order system with partitioned eigenstructure assignment(PESA) is investigated through output feedback control. The PESA approach is established by partitioning the desired eigenvalue matrix into two parts to separate the associated right and left eigenvectors into a subset of the generalized eigenvectors simultaneously. A parametric controller is established by solving two second-order generalized Sylvester matrix equations, and a certain form with the desired eigenstructure can be derived with the established quasi-linear output feedback controller. Unlike the prevailing approach that assigns the entire set of generalized eigenvectors, which is difficult to satisfy a large number of complicated constraints in practical systems by the normalized pair of right and left eigenvector matrices, a subset of the generalized eigenvectors is considered. In addition, the proposed PESA approach provides less computational load and is easy to use. A numerical example and application in spacecraft rendezvous are provided to verify the numerical economy and high efficiency of the proposed approach.

关键词： quasi-linear second-order systems partitioned eigenstructure assignment parametric approach Sylvester matrix equation output feedback

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Brockett's Second Example:A FAS Approach Treatment

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Journal of Systems Science & Complexity 2023年第5期36卷 1789-1808页

作者： DUAN Guang-Ren Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In this paper,several equivalent forms of the well-known Brockett's second example system are firstly *** stabilization of the system is then treated in the fully actuated system approach.A simple continuous time-invariant sub-stabilizing controller is designed,and the corresponding region of attraction is *** a result,all trajectories of the system starting from the characterized region of attraction are driven exponentially to the *** the region of attraction is very large,the designed sub-stabilizing controller can be directly useful in many practical *** cases where the initial values are indeed needed to be chosen out of the region of attraction,extremely simple pre-controllers can be designed,which drive the system trajectories into the designed region of attraction.A simulation of the designed control system is carried out to show the effect of the proposed approach.

关键词： Brockett integrator continuous time-invariant controllers fully actuated system approach region of attraction sub-stabilization

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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement

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Defence technology（防务技术） 2024年第12期42卷 136-155页

作者： Xintao Wang Ming Yang Songyan Wang Mingzhe Hou Tao Chao Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an *** confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 ***,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the ***,the nonlinear numerical simulations verify the performance of the game guidance strategy.

关键词： Active defense aircraft Differential game theory Three-player confrontation Energy optimization Acceleration constraint Obstacle avoidance

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Adaptive Preassigned Time Stabilisation of Uncertain Second-Order Sub-Fully Actuated Systems

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Journal of Systems Science & Complexity 2022年第2期35卷 703-713页

作者： SHI Wenrui HOU Mingzhe DUAN Guang-Ren Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

For a class of second-order sub-fully actuated systems(SOSFASs),this paper presents a preset-trajectory-based(PT-based)adaptive stabilising control method by integrating the function augmented sliding mode control(FASMC)technique and the flat-zone introduced Lyapunov function *** SOSFASs under study are subject to internal uncertainties and external *** proposed PT-based stabilising control method exhibits several attractive features:1)The system states can converge to a predefined region close to zero in a preassigned time and can be confined in a preassigned‘safe’area,which can make the control coefficient matrix always full rank so as to preserve the realizability of the proposed controller;2)the utilization of flat-zone introduced Lyapunov function technique not only eliminates the chatting phenomenon,but also avoids the potential persistent increase problem of the adaptive law;and 3)the control gain increases as the adaptive law increases only when necessary,that is,when the current control gain is not sufficient to suppress uncertainties or disturbances,therefore,the conservativeness of the control design due to unnecessarily high control gain can be effectively *** effectiveness of the proposed control method is verified via a numerical example.

关键词： Adaptive control fully-actuated systems sliding mode control sub-fully actuated systems

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Analytical Solution for Impact-Angle-Constrained guidance with Flight Speed and Trajectory Length Prediction 12

Analytical Solution for Impact-Angle-Constrained Guidance wi...

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12th International Symposium on Project Management, ISPM 2024

作者： Kang, Honglong Song, Shenmin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)9798331302344

This paper proposes an analytical guidance law for unmanned aerial vehicles (UAV) to achieve the desired impact angle on a stationary target and provide the prediction of flight speed and trajectory length. Firstly, an impact angle guidance (IAG) law is developed based on the framework of conventional proportional navigation guidance (PNG). The novelty of the proposed guidance law is that its trajectory shape and length are independent of UAV speed variation. Then, the flight speed and trajectory length are obtained by utilizing the small leading angle assumption and the drag polar model. Unlike most similar studies, the proposed methods have significant potential to address the impact time control problem and incorporate cooperative guidance laws under a more practical scenario, in which the speed of the UAV is continuously varying subject to aerodynamic drag. © 2024 12th International Symposium on Project Management, ISPM 2024. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Coupled Dynamics and Integrated control for Position and Attitude Motions of Spacecraft:A Survey

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2187-2208页

作者： Feng Zhang Guangren Duan the Research and Development Center China Academy of Launch Vehicle TechnologyBeijing 100076China IEEE the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 the Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space *** paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and *** this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of ***,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital *** on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and *** the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and *** the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation ***,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.

关键词： Coupled position and attitude dynamic modeling integrated position and attitude control position and attitude coupling analysis spacecraft space missions

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