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A robust back-stepping based trajectory tracking controller for the tanker with strict posture constraints under unknown flow perturbations

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Aerospace Science and Technology 2016年 56卷 34-45页

作者： Zikang Su Honglun Wang Xingling Shao Yu Huang School of Automation Science and Electrical Engineering Beihang University 100191 Beijing China Honors College of Beihang University 100191 Beijing China The Science and Technology on Aircraft Control Laboratory Beihang University 100191 Beijing China

This paper proposes a novel robust back-stepping based trajectory tracking controller for the tanker with strict posture constraints under unknown flow perturbations in Autonomous Aerial Refueling (AAR). Firstly, by using the back-stepping technique, the proposed trajectory tracking control law design is separated into five loops. The 6 DOF model for tanker is tactfully transformed into several strict-feedback nonlinear forms, especially the dynamics of the translational kinematics which are originally non-affine nonlinear forms and are intractable for controller design . The influences of the unknown flow perturbations on tanker in each loop are viewed as the components of the “total disturbances” which are estimated and compensated by extended state observer (ESO). Secondly, the uncontrolled Euler angle constraints, which should also be considered in AAR, are transformed into extra boundary commands for the angular rates. And a novel command limiting tracking differentiator (CLTD), which considers not only the controlled but also uncontrolled state constraints, is specially designed for posture control. Thirdly, an integrated robust constrained posture control scheme is proposed for tanker's posture constraints based on Barrier Lyapunov (BL) function and CLTD. Then, with the position and ground velocity controller based on traditional active disturbance rejection control (ADRC) in the outer loop, a novel robust back-stepping based trajectory tracking controller is proposed for tanker in AAR. Finally, extensive simulations and comparisons on the 6 DOF tanker model are carried out to demonstrate the effectiveness of the proposed control scheme.

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A hybrid backtracking search optimization algorithm for nonlinear optimal control problems with complex dynamic constraints

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Neurocomputing 2016年 186卷 182-194页

作者： Zikang Su Honglun Wang Peng Yao School of Automation Science and Electrical Engineering Beihang University 100191 Beijing China Honors College of Beihang University 100191 Beijing China The Science and Technology on Aircraft Control Laboratory Beihang University 100191 Beijing China

Nonlinear optimal control (NOC) problem with complex dynamic constraints (CDC) is difficult to compute even with direct method. In this paper, a hybrid two-stage approach integrating an improved backtracking search optimization algorithm (IBSA) with the hp-adaptive Gauss pseudo-spectral methods (hpGPM) is proposed. Firstly, BSA is improved to enhance its convergent speed and the global search ability, by adopting the harmony search strategy and an adaptive amplitude control factor with individual optimum fitness feedback. Then, at the beginning stage of the hybrid search process, an initialization generator is constructed using IBSA to find a near optimum solution. When the change in fitness function approaches to a predefined value which is small enough, the search process is replaced by hpGPM to accelerate the search process and find an accurate solution. By this way, the hybrid algorithm is able to find a global optimum more quickly and accurately. Two NOC problems with CDC are examined using the proposed algorithm, and the corresponding Monte Carlo simulations are conducted. The comparison results show the hybrid algorithm achieves better performance in convergent speed, accuracy and robustness.

关键词： Backtracking search optimization algorithm Hp-adaptive gauss pseudospectral methods Harmony search algorithm Nonlinear optimal control

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Start-up analysis methods for the diagnosis of rotor asymmetries in induction motors-seeing is believing

Start-up analysis methods for the diagnosis of rotor asymmet...

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Mediterranean Conference on control and automation (MED)

作者： George Georgoulas Vicente Climente-Alarcon Leonidas Dritsas Jose A. Antonino-Daviu George Nikolakopoulos Control Engineering Group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Aalto Finland Department of Electrical and Electronic Engineering Educators School of Pedagogical and Technological Education Athens Greece Instituto Tecnologico de la Energia Universitat Politècnica de València Valencia Spain

This article presents a qualitative analysis of different methods proposed for the diagnosis of broken rotor bars using the stator current during start-up operation. The slip dependent components, caused by the asymmetry, which is created by the breakage of rotor bar(s) and especially the left sideband harmonic (LSH) component, can create a distinctive pattern in a time-frequency plane. Short Time Fourier Transform, Wavelet analysis, and Wigner-Ville Distribution are evaluated using signals from motors operating in real industrial settings. The corresponding analysis presents the pros and the cons of these approaches for their potential application under realistic industrial conditions using the larger number of real life cases encountered in the literature.

关键词： Time-frequency analysis Rotors Induction motors Continuous wavelet transforms Spectrogram Interference

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Tracking of Stribeck Friction based on Second-Order Linear Extended State Observer

Tracking of Stribeck Friction based on Second-Order Linear E...

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第28届中国控制与决策会议

作者： Lijun Wang Qing Li Ruihua Jiao Yixin Yin Yinan Feng Yichang Liu School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process(Ministry of Education) University of Science and Technology Beijing

ISBN: (纸本)9781467397155

To deal with the problem of observing or tracking for discontinuous signal,a kind of second order linear extended state observer(LESO) algorithm is *** ESO estimating the uncertain disturbance,a simple second-order linear ESO with less tunable parameters was designed in the absence of dynamic model,and the method of discrete time realization was *** proposed LESO was applied to the tracking of discontinuous Stribeck Friction in comparison with adaptive state *** results show that the proposed ESO is effective and practical.

关键词： Extended State Observer Adaptive State Observer Stribeck Friction Discontinuous Track

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DC-link voltage stabilization and source THD improvement using d-axis current injection in reduced DC-link capacitor system

DC-link voltage stabilization and source THD improvement usi...

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Annual Conference of Industrial Electronics Society

作者： Jun-Hyung Jung Hong-Jun Heo Jang-Mok Kim Seong-Uk Choi Department of Electrical Engineering Pusan National University Busan Korea Department of Automation & Control Research Hyundai Heavy Industries Co. Ltd. Ulsan Korea

This paper proposes an active damping control method to reduce the voltage fluctuation caused by using the reduced DC-link film capacitors instead of the conventional electrolytic capacitors. The motor drive system with the reduced DC-link capacitor has the problem of an unstable DC-link voltage. The ripple of the capacitor voltage is caused by the resonance of both the large input line filter and the reduced DC-link capacitor. To solve this problem, the active damping control method using the d-axis current injection is proposed in this paper. The virtual damping impedance is applied to the equivalent circuit of the system to suppress the voltage ripple of the DC-link. The damping impedance is generated by injecting the DC and AC components into the d-axis current. The relationship between the injected d-axis current and the damping impedance is analyzed through the equational analysis. The proposed method can decrease the DC-link capacitor voltage oscillation and minimize the torque ripple because the injection current is not q-axis but d-axis. The simulation results are presented to prove the validity of the proposed method.

关键词： Capacitors Damping Mathematical model Voltage control Inverters Torque Synchronous motors

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LQG control for Networked control Systems in the Presence of Data Packet Drops

LQG Control for Networked Control Systems in the Presence of...

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第35届中国控制会议

作者： Kun Xu Jianming Zhou Fei Liu Guoxiang Gu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University School of Electrical Engineering and Computer Science Louisiana State University

ISBN: (纸本)9781509009107

We study the linear-quadratic-Gaussian(LQG) control for multiple-input/multiple-output(MIMO) discrete-time networked control systems(NCSs) in the presence of data packet drops that are modeled as multiplicative noises,assumed to be white *** will first analyze the mean square(MS) stability problem for MIMO feedback systems in the presence of the multiplicative noises,and provide a new useful MS stability *** LQG control under packet data drops will then be studied in which the critical probability of the received data packet can be computed by solving a set of linear matrices inequalities(LMIs),beyond which the modified algebraic Riccati equations,associated with the LQG control,admit the stabilizing *** a numerical example from the known literature is employed to illustrate our results.

关键词： Networked control system LQG control data packet drop

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High Power LED Luminaire Design Optimization

High Power LED Luminaire Design Optimization

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IEEE International Conference on Environment and electrical engineering

作者： Jose Luiz F. Barbosa Wesley P. Calixto Dan Simon University of Brasilia Program in Electronic Systems and Automation (PGEA) Brasilia-DF Brazil Cleveland State University Department of Electrical Engineering and Computer Science Cleveland Ohio USA

ISBN: (纸本)9781509023219

A methodology for optimizing the geometry of a high power (HP) light emitting diode (LED) luminaire is presented in this paper. The arrangement of a HP-LED luminaire is evaluated, technically and economically, for outdoor lighting. Parameters that affect both heat dissipation and lighting efficiency are considered. A finite element method (FEM) simulator is used to determine the thermal analysis and a stochastic ray tracing simulator is used to perform the lighting distribution. The thermal analysis of a HP-LED luminaire model is simulated and validated with 7.5% average error in LED temperature. An evaluation function is developed that considers the illuminance distribution on the target plane and the maximum temperature that reaches the LED chip. Optimized thermal and luminous results are presented and discussed.

关键词： high power LED LED luminaire optimization illuminance distribution thermal heat dissipation

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Wireless Tool Holder Sensor Design for Cutting Force Measurement Applied to Chatter Detection

Wireless Tool Holder Sensor Design for Cutting Force Measure...

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IEEE Region 10 Conference

作者： D. A. Reyes Uquillas T. Hsiao EECS International Graduate Program. National Chiao Tung University. Department of Electrical and Control Engineering. National Chiao Tung University

ISBN: (纸本)9781509025985

Cutting forces in machining operations are of great importance because their characteristics are useful for predicting and detecting tool conditions and other occurrences. For example, one important and common problem shown in metal cutting is chatter, and cutting forces have a strong correlation with this phenomenon. Many researchers have worked in chatter detection and estimation using cutting forces. This work proposes the use of cutting force measurements and analysis of the frequency spectrum to detect chatter. The cutting force should be measured using a simple, compact, and low cost technique. Hence, in this work the measurement technique proposed in [1] of using strain gauges to measure the cutting forces is applied. Additionally, the previous design was enhanced and upgraded into a wireless system for monitoring. This new smart tool holder uses wireless technology to transmit the measurement data, and therefore removes various constraints the previous design had because of the use of wires. With the new design and added interface operations such as frequency response of the measured signal, a more functional online monitoring system was established. A peak in high frequencies was observed in the cutting test experiments when chatter appears.

关键词： wireless tool holder sensor cutting force chatter detection frequency

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Mapping the Human Body at Cellular Resolution -- The NIH Common Fund Human BioMolecular Atlas program

arXiv

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arXiv 2019年

作者： Snyder, Michael P. Lin, Shin Posgai, Amanda Atkinson, Mark Regev, Aviv Rood, Jennifer Rozenblatt-Rosen, Orit Gaffney, Leslie Hupalowska, Anna Satija, Rahul Gehlenborg, Nils Shendure, Jay Laskin, Julia Harbury, Pehr Nystrom, Nicholas A. Bar-Joseph, Ziv Zhang, Kun Börner, Katy Lin, Yiing Conroy, Richard Procaccini, Dena Roy, Ananda L. Pillai, Ajay Brown, Marishka Galis, Zorina S. Cai, Long Shendure, Jay Trapnell, Cole Lin, Shin Jackson, Dana Snyder, Michael P. Nolan, Garry Greenleaf, William James Lin, Yiing Plevritis, Sylvia Ahadi, Sara Lee, Hayan Nevins, Stephanie Esplin, Ed Horning, Aaron Bahmani, Amir Zhang, Kun Sun, Xin Jain, Sanjay Hagood, James Kharchenko, Peter Atkinson, Mark Bodenmiller, Bernd Brusko, Todd Clare-Salzler, Michael Nick, Harry Otto, Kevin Posgai, Amanda Wasserfall, Clive Maffioletti, Sergio Caprioli, Richard M. Spraggins, Jeffrey M. Gutierrez, Danielle Patterson, Nathan Heath Neumann, Elizabeth K. Harris, Raymond deCaestecker, Mark de Plas, Raf Van Lau, Ken Cai, Long Yuan, Guo-Cheng Zhu, Qian Dries, Ruben Yin, Peng Saka, Sinem K. Kishi, Jocelyn Y. Wang, Yu Goldaracena, Isabel Laskin, Julia Ye, DongHye Burnum-Johnson, Kristin E. Piehowski, Paul D. Ansong, Charles Zhu, Ying Harbury, Pehr Desai, Tushar Mulye, Jay Chou, Peter Nagendran, Monica Bar-Joseph, Ziv Teichmann, Sarah A. Paten, Benedict Murphy, Robert F. Ma, Jian Kiselev, Vladimir Yu Kingsford, Carl Ricarte, Allyson Ruffalo, Matthew Gehlenborg, Nils Kharchenko, Peter Vella, Margaret McCallum, Chuck Börner, Katy Cross, Leonard E. Friedman, Samuel H. Heiland, Randy Herr, Bruce Macklin, Paul Quardokus, Ellen M. Record, Lisel Sluka, James P. Weber, Griffin M. Nystrom, Nicholas A. Silverstein, Jonathan C. Blood, Philip D. Ropelewski, Alexander J. Shirey, William E. Mabee, Paula Lenhardt, W. Christopher Robasky, Kimberly Michailidis, Stavros Satija, Rahul Marioni, John Regev, Aviv Butler, Andrew Stuart, Tim Fisher, Eyal Ghazanfar, Shila Rood, Jennifer Gaffney, Leslie Ersalan, Gokcen Biancalani, Tommaso Conroy, Richard Procaccini, Dena Roy, Anan School of Medicine Stanford University 300 Pasteur Drive United States Department of Genetics Stanford School of Medicine StanfordCA94305 United States Department of Medicine University of Washington SeattleWA98195 United States Department of Pathology University of Florida Diabetes Institute GainesvilleFL32610 United States Klarman Cell Observatory Broad Institute of MIT and Harvard CambridgeMA02142 United States Howard Hughes Medical Institute Koch Institute of Integrative Cancer Research Department of Biology Massachusetts Institute of Technology CambridgeMA02140 United States New York Genome Center New York CityNY10013 United States New York University New YorkNY10012 United States Department of Biomedical Informatics Harvard Medical School BostonMA02115 United States Department of Genome Sciences University of Washington SeattleWA98105 United States Department of Chemistry Purdue University West LafayetteIN47907 United States Department of Biochemistry Stanford University School of Medicine StanfordCA94305 United States Pittsburgh Supercomputing Center Carnegie Mellon University PittsburghPA15213 United States Department of Computational Biology School of Computer Science Carnegie Mellon University PittsburghPA15213 United States Department of Bioengineering University of California San Diego La JollaCA92093 United States Department of Intelligent Systems Engineering School of Informatics Computing and Engineering Indiana University BloomingtonIN47408 United States Department of Surgery Washington University School of Medicine St LouisMO63110 United States Division of Program Coordination Planning and Strategic Initiatives National Institutes of Health BethesdaMD20892 United States National Human Genome Research Institute National Institutes of Health BethesdaMD20892 United States National Heart Lung and Blood Institute National Institutes of Health BethesdaMD20892 United States Caltech-UW TMC Departmen

Transformative technologies are enabling the construction of three dimensional (3D) maps of tissues with unprecedented spatial and molecular resolution. Over the next seven years, the NIH Common Fund Human Biomolecular Atlas program (HuBMAP) intends to develop a widely accessible framework for comprehensively mapping the human body at single-cell resolution by supporting technology development, data acquisition, and detailed spatial mapping. HuBMAP will integrate its efforts with other funding agencies, programs, consortia, and the biomedical research community at large towards the shared vision of a comprehensive, accessible 3D molecular and cellular atlas of the human body, in health and various disease settings. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Design of Bi-directional DC-DC converter

Design of Bi-directional DC-DC converter

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiaohu Xu Changbao Zheng Cungang Hu Yin Lu Qunjing Wang School of Electrical Engineering and Automation Anhui University Hefei China Collaborative Innovation Center of Industrial Energy-saving and Power Quality Control Hefei China Ministry of Education Engineering Research Center of Power Quality Hefei China

ISBN: (纸本)9781467386456

A bi-directional DC-DC converter is a dual-quadrant DC-DC converter, which is a typical "dual-use" in one device. The concept and application of bi-directional DC-DC converter are introduced in this paper. Hardware of the system mainly includes the main control circuit, sampling circuit, auxiliary power supply circuit, and the Buck/Boost chopper circuit. Software of the system includes the core control algorithm and the PID (Proportion Integration Differentiation) algorithm. Experimental results are provided to realize the double closed-loop control of battery charging current and load voltage.

关键词： Bidirectional control Voltage control Voltage measurement Power supplies Switches Discharges (electric) Current measurement

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