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American control Conference

作者： Sankaranarayanan Subramanian Sergio Lucia Sebastian Engell 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

ISBN: (纸本)9781509045839

Model Predictive control (MPC) is an advanced strategy for the control of multi-variable and constrained dynamical systems. Tube-based MPC is a robust control technique that handles uncertainties present in the model. Since full state information is seldom available in practical systems, the estimation error must also be taken into account in addition to model uncertainties to achieve closed-loop stability and constraint satisfaction despite estimation and model errors. In this paper, we propose a novel strategy for the design of a tube-based output feedback MPC which is independent of the estimation method employed. We formulate a control policy by choosing a candidate estimate that is consistent with the reachable sets of the system under control. The proposed method can be combined with any estimation scheme as long as the assumed error bounds are satisfied. We show that the proposed method is recursively feasible, robustly exponentially stable, and performs better than other available strategies.

关键词： Maximum Allowable Concentration Linear system control strategy Output feedback constraint satisfaction problems model error control technology model uncertainty Statistical analysis

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Lyapunov Equation Based Stability Mapping Approach: A MIMO Case Study

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IFAC-PapersOnLine 2016年第9期49卷 130-135页

作者： Mutlu, Ilhan Schrödel, Frank Bajcinca, Naim Abel, Dirk Söylemez, M. Turan Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey Institute of Automatic Control RWTH Aachen University Aachen52074 Germany Department of Mechanical and Process Engineering Technical University of Kaiserslautern Kaiserslautern Germany

In this study, a Lyapunov Equation based stability mapping approach is proposed for MIMO systems in order to determine stability regions. Since the proposed approach is independent of the controller type and the number of the control variables, it is also applicable for SISO systems. In standard Lyapunov Equation approach, the designer should solve 2n equations to calculate the stabilizing parameter sets. However, it is necessary and sufficient to solve at most two equations in order to determine the stability boundaries in the proposed approach. Moreover, frequency sweeping that is required in most of the frequency domain based approaches is omitted in this approach since the stability problem is defined in the time domain. Several case studies are discussed within the scope of this study to verify the effectiveness of the derived theoretical results. © 2016

关键词： Lyapunov functions Convergence of numerical methods Frequency domain analysis Lyapunov methods Mapping MIMO systems Time domain analysis control variable Frequency domains Frequency sweeping Lyapunov equation Stability analysis Stability boundaries Stability problem Stability regions

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An online tracking-control strategy compositing disturbance-observer for hypersonic vehicles 35

An online tracking-control strategy compositing disturbance-...

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第35届中国控制会议

作者： Liu Zhibing Qiao Jianzhong Li Wenshuo Guo Lei Zhang Peixi School of Automation Science and Electrical Engineering Beihang University National Key Laboratory of Aerospace Intelligent Control Technology Beijing Aerospace Automatic Control Institute

ISBN: (纸本)9781509009107

A novel type of control scheme compositing an online tracking method and disturbance-observer is proposed for a hypersonic cruise vehicle with kinds of disturbances including flexible states, aerodynamic uncertainties, unmodeled dynamics and external disturbance. The online control method is provided on the basis of using aeropropulsive as well as elevator-to-lift couplings to design the controller without strategically neglecting or reducing the nonminimum-phase characteristic. Through an ingenious transformation, the control commands and reference trajectories are obtained simultaneously. The flexible dynamics on the pitch-rate tunnel is estimated by a state observer. A nonlinear disturbance observer is designed to estimate the disturbance and enhance the robustness of the composite scheme, then all kinds of disturbances are compensated or rejected effectively.

关键词： Hypersonic vehicles Tracking control strategy Disturbance observer Composite controller

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On the nonexistence of event-based triggers that preserve Gaussian state in presence of package-drop

On the nonexistence of event-based triggers that preserve Ga...

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American control Conference

作者： Enoch Kung Junfeng Wu Dawei Shi Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Department of Automatic Control The Royal Institute of Technology (KTH) State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781509045839

State estimation is a core objective in cyber-physical systems. In the state estimation problem over linear systems, the Kalman filter is the standard solution. The filter is the format on which the solutions to subsequent estimation problems are based. Among these problems are the estimation problem in the presence of packet drops and estimation problem involving event-based triggers. We study in this paper both phenomena simultaneously. In an attempt to find the Kalman-like filter, which proves the Gaussianity of the state and offers a set of update equations, our paper shows that no such filter exists. More precisely, one cannot find an event-based trigger such that under possible packet drops, the state variable remains a Gaussian variable. This conclusion can be reasonably extended to a more general setting.

关键词： State estimation Packet drops Event-based triggers State estimation Event-based Filters State variable TRIGGERS Gauss

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Subway location method based on SINS/DR integrated navigation and map-matching technology

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Journal of Measurement Science and Instrumentation 2017年第4期8卷 378-383页

作者： XU Chen CHEN Guang-wu FAN Ze-yuan LIU She-de Automatic Control Research Institute Lanzhou Jiaotong UniversityLanzhou 730070China Gansu Provincial Key Laboratory of Traffic Information Engineering and Control Lanzhou 730070China College of Automation and Electrical Engineering Lanzhou Jiaotong University Lanzhou 730070China

With the development of rail transit,subway is playing an increasingly important role in peoples daily *** positioning technology of subway is the key of communication based on train control system(CBTC).Considering that the global positioning system(GPS)cant be utilized in the subway and the ground equipment is complex and expensive,a self-positioning method based on inertial measurement unit(IMU)and speed sensor is put forward,and the track electronic map is used to reduce the *** method can suppress the error divergence of Strapdown inertial navigation system(SINS)and reduce the cumulative error of dead reckoning(DR)due to attitude *** accordance with the particularity of railway lines,using the least squares method to match the line and revise the error caused by the navigation,can greatly improve the positioning accuracy and reduce the dependency on the ground equipment,and the costs of construction and maintenance can be lowered.

关键词： subway location Strapdown inertial navigation system (SINS) dead reckoning (DR) map-matching

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Dead-Time Compensator for Multi Time-delay Systems:the Scalar Case

Dead-Time Compensator for Multi Time-delay Systems:the Scala...

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第36届中国控制会议

作者： Pedro Albertos Pedro García Qiang Chen Xiaoli Luan Fei Liu Department of Systems Engineering and Control Instituto de Automática e Informática Industrial Universitat Politècnica de València Key Laboratory of Advance Process Control for Light Industries Institute of Automation Jiangnan University

This paper deals with the control of simple process models where multiple time-delays appear. These delays can be input, output or state delays. For the case of input/output time-delays, a general solution is retrieved from the *** state time-delays, the scalar case is considered and a precompensator is used to cancel the delay. The proposed algorithms are applied to the control of a simple academic example.

关键词： Input/output time-delays State time-delays Unstable delayed systems

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Nonlinear control Method for Hypersonic Vehicle Based on Double Power Reaching Law of Sliding Mode

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Transactions of Nanjing University of Aeronautics and Astronautics 2018年第5期 849页

作者： Liu Rong Zhang Heng Liang Jin Key Laboratory of UAV’s Advanced Technology (Nanjing University of Aeronautics and Astronautics) Ministry of Industry and Information Technology College of Automation Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of Aircraft Control Integration Technology Aviation Industry Xi’an Flight Automatic Control Research Institute

The intelligence nonlinear control scheme via double power reaching law based sliding mode control method is proposed to solve the problems of model uncertainties and unknown outside disturbances. Firstly, the aerodynamic parameters of the morphing vehicle are replaced with curve-fitted approximation to build the accurate model for control design in the hypersonic flight. Then the nonlinear vehicle model is transformed into the strict feedback multi-input/multi-output nonlinear system by using the input-output feedback linearization approach. At the same time, the disturbance observer is used to approximate the unknown disturbance, and the sliding mode method is used to solve the problem of non-matching and uncertainty. Finally, according to the buffeting problem in sliding mode control, the double power is improved. Simulation results show that the proposed method can ensure the global stability of the closed-loop system, and has good tracking and robust performance.

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Blade Shape Optimization of Liquid Turbine Flow Sensor

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Transactions of Tianjin University 2016年第2期22卷 144-150页

作者：郭素娜张涛孙立军杨振杨文量 School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Tianjin Key Laboratory of Process Measurement and Control Tianjin 300072 China North China Municipal Engineering Design & Research Institute Tianjin 300384 China

Based on the characteristic curve analysis, the method using D(K^2) square difference of meter factor at different flow rates was developed to evaluate the performance of turbine flow sensor in this study. Then according to the distribution of entrance velocity, it was supposed that reducing the blade area near the tip could decrease the linearity error of a sensor. Therefore, the influence of different blade shape parameters on the performance of the sensor was investigated by combining computational fluid dynamics(CFD)simulation with experimental test. The experimental results showed that, for the liquid turbine flow sensor with a diameter of 10 mm, the linearity error was smallest, and the performance of sensor was optimal when blade shape parameter equaled 0.25.

关键词： turbine flow sensor performance evaluation method parameter optimization mathematical model CFD simulation

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Observer-based fault detection for affine nonlinear systems with disturbances and uncertainties 35

Observer-based fault detection for affine nonlinear systems ...

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第35届中国控制会议

作者： HAN Huayun YANG Ying LI Linlin Chen Yu State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University School of Automation and Electrical Engineering University of Science and Technology Beijing the Institute for Automatic Control and Complex Systems (AKS) University of Duisburg-Essen Beijing Institute of Astronautics System Engineering

ISBN: (纸本)9781509009107

This paper is concerned with the integrated design schemes of L observer-based fault detection（FD） systems for affine nonlinear processes with disturbances and uncertainties,*** this end,a so called L observer-based FD scheme is studied ***,the integrated design approaches for nonlinear systems with disturbances and uncertainties are addressed,*** the end,examples are given to illustrate the effectiveness of the proposed approaches.

关键词： Robust Fault Detection Observer Design Affine Nonlinear Systems

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Sliding mode tracking control for miniature unmanned helicopters

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Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： Xian Bin Guo Jianchuan Zhang Yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

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