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Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： Bin Xian Jianchuan Guo Yao Zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of automation.

关键词： Backstepping Closed loop control systems Closed loop systems controllers Flight dynamics Helicopters

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Fault Tolerant Flight-control via control Allocation for Reusable Launch Vehicles with Aerodynamic control Surfaces Stuck

Fault Tolerant Flight-Control via Control Allocation for Reu...

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第35届中国控制会议

作者： Dezhi Xu Yao Tang Nan Ji Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education)Institute of Automation Jiangnan University Editorial Office of Journal Systems Engineering and Electronics

ISBN: (纸本)9781509009107

In this paper,a reconfiguration flight-control via control re-allocation is developed for a reusable launch vehicle(RLV) under aerodynamic control surfaces *** dynamic control re-allocation scheme is based on real-time computation of linear matrix inequalities(LMIs).In the approach proposed here,control allocation is formulated as an optimization problem to minimize the performance *** into account non-negligible dynamics of the actuators with hard constraints,the presented scheme extends the existing algorithms by providing asymptotic tracking of time-varying input commands for a class of ***,simulation results of X-3 3 reentry vehicle model dynamic show the effectiveness of the reconfiguration approach developed in this study.

关键词： Actuator faults stuck fault-tolerant control(FTC) linear matrix inequalities(LMIs) reusable launch vehicle(RLV)

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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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Robust Stabilization of Input Constrained Uncertain Systems with Nonhomogeneous Markov Switching

Robust Stabilization of Input Constrained Uncertain Systems ...

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第28届中国控制与决策会议

作者： Yanyan Yin Zongli Lin Ministry of Education Key Laboratory of Advanced Process Control for Light Industry Institute of AutomationJiangnan University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781467397155

This paper addresses the problem of robust stabilization for uncertain systems subject to input saturation and nonhomogeneous Markov *** uncertainties are assumed to be norm bounded and the transition probabilities are time-varying and *** expressing the saturated linear feedback law on a convex hull of a group of auxiliary linear feedback laws and the time-varying transition probabilities inside a polytope,we establish conditions under which the closed-loop system is asymptotically *** on these conditions,the problem of designing the state feedback gains for achieving fast transience response with a guaranteed size of the domain of attraction is formulated and solved as a constrained optimization problem with linear matrix inequality(LMI) *** results are then illustrated by a numerical example.

关键词： Robust stabilization actuator saturation Markov jumps time-varying transition probabilities uncertainties

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A Geometric Extension Design for Second-Order Nonlinear Agents Formation Surrounding a Sphere

A Geometric Extension Design for Second-Order Nonlinear Agen...

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第28届中国控制与决策会议

作者： Yang-Yang Chen Kai-Xuan Wang Ya Zhang Cheng-Lin Liu Qin Wang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University Chien-Shiung Wu College Southeast University Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education) Institute of AutomationJiangnan University College of information engineering Yangzhou University

ISBN: (纸本)9781467397155

This article deals with the problem of driving a family of second-order nonlinear agents to land on a sphere and formation tracking a set of given orbits on the sphere.A novel geometric extension called the concentric compression method is proposed to give a solution to spheral landing and then combines with the control of spherical meridian and parallel to achieve formation motion along given orbits on the *** asymptotic stability of system is proved by Lyapunov-based method when the communication topology is *** effectiveness of the analytical result is verified by a numerical simulation.

关键词： Formation tracking Sphere landing Geometric Extension Second-Order Nonlinear Agents

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Modified Elman Neural Network Based Neural Adaptive Inverse control of Rate-Dependent Hysteresis

Modified Elman Neural Network Based Neural Adaptive Inverse ...

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International Joint Conference on Neural Networks

作者： Liang Deng Rudolf J. Seethaler YangQuan Chen Ping Yang Qiming Cheng College of Automation Engineering Institute of Smart Grid Technology Shanghai University of Electric Power School of Engineering The University of British Columbia School of Engineering University of California Shanghai Engineering Research Center of Intelligent Management and Control for Power Process Shanghai University of Electric Power

ISBN: (纸本)9781509006212

A modified Elman neural network (MENN) based neural adaptive inverse control scheme is proposed for trajectory tracking of rate-dependent hysteresis. To attenuate the influence of the rate-dependent hysteresis, a modified inverse backlash operator (MIBO) is developed to act as the hidden layer neuron of the MENN to describe the dynamic behavior of the inverse rate-dependent hysteresis. The diagonal recurrent weights of context layer and the recurrent weights from hidden layer to context layer are designed to enhance the dynamic learning capability of the MENN. To determine an appropriate structure and the parameters of the MENN for adaptive inverse control, a MENN is trained first based on the data of inverse rate-dependent hysteresis. In view of the nonsmooth characteristics of the MIBOs, a restricted step proximal bundle (RSPB) method is employed to search the appropriate subgradients at the nonsmooth vertexes of the MIBOs. The relevant Levenberg-Marquardt (L-M) algorithm is developed to acquire an appropriate MENN that is used as the initial controller to implement adaptive inverse control for rate-dependent hysteresis via gradient descent learning algorithm. Numerical control results on a Duhem model of piezoelectric actuators have validated the effectiveness of the proposed method.

关键词： Adaptive inverse control Hysteresis Elman neural network trajectory tracking Piezoelectric actuators

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Corrigendum to “Stabilizing Parametric Region of Multiloop PID controllers for Multivariable Systems Based on Equivalent Transfer Function”

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Mathematical Problems in engineering 2017年第1期2017卷

作者： Xiaoli Luan Qiang Chen Pedro Albertos Fei Liu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education and the Institute of Automation Jiangnan University Wuxi 214122 *** Department of System Engineering and Automatica Universidad Politécnica de Valencia 46022 Valencia Spainupv.es

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Data-driven PID controller Design for Continuous Stirred Tank Reactor 34

Data-driven PID Controller Design for Continuous Stirred Tan...

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第三十四届中国控制会议

作者： XU Dezhi LIU Fei ZHOU Hongcheng ZHANG Qiang Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Institute of Information JinLing Institute of Technology School of Electrical Engineering University of Jinan

ISBN: (纸本)9789881563897

Since most chemical processes exhibit severe nonlinear and time-varying behavior, the control of such processes is challenging. In this paper, we propose data-driven controller design method based on lazy learning for chemical processes. Using a lazy learning algorithm, a local valid linear model denoting the current state of system is automatically exacted for adjusting the PID controller parameters based on input/output data. This scheme can adjust the PID parameters in an online manner even if the system has nonlinear properties. The simulation results on the dynamic model of Continuous Stirred Tank Reactor(CSTR) are provided to demonstrate the effectiveness of the proposed new control techniques.

关键词： PID,Data-driven,Lazy learning,Continuous Stirred Tank Reactor(CSTR)

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Guest Editorial for Special Issue on Cyber-Physical Systems

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 233-234页

作者： Youxian Sun Xinping Guan Jiming Chen Yilin Mo Zhejiang University the Chinese Academy of Engineering the Institute of Industrial Process Control and the National Engineering Research Center of Industrial Automation Zhejiang University Department of Automation Shanghai Jiao Tong University University Research Management Office Shanghai Jiao Tong University the Key Laboratory of Systems Control and Information Processing Ministry of Education of China the prestigious Innovative Research Team of the National Natural Science Foundation of China(NSFC) Department of Control Science and Engineering group of Networked Sensing and Control in the State Key laboratory of Industrial Control Technology Institute of Industrial Process Control at Zhejiang University the School of Electrical and Electronic Engineering at Nanyang Technological University

Ⅰ.Introduction CYBER-PHYSICAL system is a system of collaborating computational elements to control physical *** coordination and the tight link between computational,virtual and physical resources in cyber-physical system will have a pervasive effect on our everyday *** development of cyber-physical system will create new opportunities for the introduction of services that will enhance the quality of life

关键词： for WSAN Guest Editorial for Special Issue on Cyber-Physical Systems of into on WSN is

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A novel two-stage Lagrangian decomposition approach for refinery production scheduling with operational transitions in mode switching

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Chinese Journal of Chemical engineering 2015年第11期23卷 1793-1800页

作者：施磊江永亨王凌黄德先 Institute of Process Control Engineering Department of AutomationTsinghua University Tsinghua National Laboratory for Information Science and Technology Tsinghua University

To address large scale industrial processes,a novel Lagrangian scheme is proposed to decompose a refinery scheduling problem with operational transitions in mode switching into a production subproblem and a blending and delivery *** accelerate the convergence of Lagrange multipliers,some auxiliary constraints are added in the blending and delivery subproblem.A speed-up scheme is presented to increase the efficiency for solving the production *** initialization scheme of Lagrange multipliers and a heuristic algorithm to find feasible solutions are *** results on three cases with different lengths of time horizons and different numbers of orders show that the proposed Lagrangian scheme is effective and efficient.

关键词： Refinery scheduling Operational transitions Lagrangian decomposition

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