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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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An alternative for PID control: Predictive Functional control - a tutorial

An alternative for PID control: Predictive Functional Contro...

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American control Conference

作者： R. Haber J.A. Rossiter K. Zabet Laboratory of Process Control Institute of Process Engineering and Plant Design Faculty of Process Engineering Energy and Mechanical Systems Cologne University of Applied Science D-50679 Koln Germany Dept. of Automatic Control and Systems Eng. University of Sheffield S1 3JD UK

ISBN: (纸本)9781467386838

PFC (Predictive Function control) can be considered as a bridge between PI(D) and complex MPC. PI(D) control can have problems handling dead time and constraints. PFC handles these cases and is often better than using a Smith predictor. PFC is a simple realizable MPC which thus uses prediction and preview of key variables. PFC can be implemented via simple program code and thus has cheap license costs. The tutorial introduces the basic idea of PFC and algorithms for typical processes. Simulations illustrate its effectiveness and advantages over PI(D) and Smith predictors.

关键词： process control Mathematical model Trajectory Tuning Robustness Prediction algorithms Predictive models Proportional Integral Derivative control Prediction algorithms process control Prediction models Pelvic Inflammatory Disease trajectory tuning Power factor correction Mathematical Model Smith predictors Proportional derivative control predictive functional control program code Robustness DEAD TIME

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Unit-level modelling for KPI of batch hot strip mill process using dynamic partial least squares

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IFAC-PapersOnLine 2015年第28期48卷 1005-1010页

作者： Zhang, Kai Shardt, Yuri A. W. Chen, Zhiwen Ding, Steven X. Peng, Kaixiang Institute for Automatic Control and Complex Systems University of Duisburg-Essen Bismarckstrasse 81 BB Duisburg47057 Germany Key Laboratory for Advanced Control of Iron and Steel Process School of Automation and Electrical Engineering University of Science and Technology of Beijing Beijing100083 China

This paper proposes two different approaches to the problem of modelling the key performance indicators (KPIs) in a hot strip mill process (HSMP). The first approach takes into consideration the inherent dynamics of the process and develops a nonlinear iterative dynamic partial least squares (PLS) model. The second approach takes into consideration the multibatch property of HSMP to develop an appropriate multibatch modelling framework. Both approaches can be integrated into the dynamic model framework. The proposed framework is examined using industrial data obtained from a steel plant, where it provides a decent model for this process. However, there exists the potential for improvements including dealing with interbatch variability. © 2015, IF AC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Strip mills Benchmarking Least squares approximations Steelmaking Strip metal Waste disposal Hot strip mills Industrial datum Key performance indicators Model framework Modelling framework Multibatch Partial least square (PLS) Partial least squares models

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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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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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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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Robust output feedback NMPC with guaranteed constraint satisfaction 8

Robust output feedback NMPC with guaranteed constraint satis...

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8th IFAC Symposium on Robust control Design, ROCOND 2015

作者： Subramanian, Sankaranarayanan Lucia, Sergio Paulen, Radoslav Engell, Sebastian Process Dynamics and Operations Group TU Dortmund Germany Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

Nonlinear Model Predictive control (NMPC) employs a plant model to compute a sequence of optimal control inputs for a finite horizon. As, in reality, there always exists a plant-model mismatch and not all states of the plant can be measured, the NMPC scheme must be robust to plant uncertainties and to estimation errors. Different robust NMPC strategies have been proposed to deal with these uncertainties. Among them, a multi-stage NMPC, which is based upon a scenario tree of future plant evolutions, is less conservative compared to worst-case open-loop approaches because the presence of feedback at future sampling instants is explicitly considered. In multi-stage output feedback NMPC, additional scenarios are created by sampling the innovations that are used to estimate the future states of the plant along the scenario tree. In this paper, we refine our previously published approach to include state estimation errors. Moreover we extend the scheme to guarantee robust constraint satisfaction by calculating reachable sets using Taylor models. The method is demonstrated for a nonlinear chemical process example. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control

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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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Sliding Mode control Attitude Tracking of Rigid Spacecraft using Adaptive Back-Stepping Method 34

Sliding Mode Control Attitude Tracking of Rigid Spacecraft u...

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第三十四届中国控制会议

作者： YU Chunmei LU Kunfeng XIA Yuanqing LIU Hailiang Aerospace and Materials Engineering National University of Defense Technology Beijing Aerospace Automatic Control Institute National key laboratory of science and technology on aerospace intelligent control the school of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The attitude tracking control problem for a rigid spacecraft system is investigated in this paper. A novel adaptive approach is proposed with the utilization of sliding mode control(SMC) and backstepping technique(BT) to achieve accurate attitude tracking control for spacecraft system in the presence of inertia uncertainties and external disturbances. Finally, simulation results are presented to illustrate effectiveness of the control strategies.

关键词： Adaptive control,Attitude tracking,Sliding mode control,Backstepping technique

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