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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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Research methods review of magnetic materials multi-process coordination production planning and scheduling

Research methods review of magnetic materials multi-process ...

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International Conference on control, automation, Robotics and Vision (ICARCV)

作者： Yefeng Liu Tianyou Chai College of information and control Shenyang Institute of Technology Fushun China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

ISBN: (纸本)9781509035502

Due to the non-renewable character, magnetic materials (especially rare earth permanent magnet) become a hot topic which world scientists are eager to explore and research. Magnetic enterprises are constantly promoting lean production. The core of lean production is production planning and scheduling, which is also the core of enterprise management. It is essential to effective control of plant inventory, improve production efficiency, reduce production cost and rise product delivery satisfaction rate. All above can be realized by using the fast and effective methods which come from multi-process coordination production planning and scheduling. A research method review of magnetic materials multi-process coordination production planning and scheduling is given on the base of describing magnetic materials production process with rare earth as the raw material. Finally, the paper gives four research fields of magnetic materials multi-process coordination production planning and scheduling.

关键词： Job shop scheduling Magnetic materials Dynamic scheduling Production planning Mathematical model Heuristic algorithms

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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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Identification of Nonlinear Soft Sensor Models of Industrial Distillation process under Uncertainty

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IFAC-PapersOnLine 2015年第28期48卷 45-50页

作者： Torgashov, Andrei Zmeu, Konstantin Institute of Automation and Control Process FEB RAS 5 Radio Str. Vladivostok Russia Campus FEFU Russky Island Vladivostok Russia

The advancement of method of nonlinear soft sensor development using a nonparametric approach based on the example of industrial multicomponent distillation column is considered. The proposed procedure for soft-sensors evaluation is directed to overcome such difficulties in practice as process nonlinearity and uncertainty due to unknown model structure and measurement errors of output. © 2015

关键词： Distillation columns Distillation Uncertainty analysis Distillation process Multicomponent distillations Nonparametric approaches process identification process model Soft sensing Soft sensor models uncertainty

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Observer-based finite-time controller for Markov jump systems with deterministic switches 34

Observer-based finite-time controller for Markov jump system...

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第三十四届中国控制会议

作者： ZHOU Chaojie LUAN Xiaoli LIU Fei Key Laboratory for Advanced Process Control of Light Industry of the Ministry of Education Institute of AutomationJiangnan University

ISBN: (纸本)9781467374439

The observer-based controller with finite-time bounded property design technique for a class of discrete-time Markov jump linear systems governed by deterministic switches is presented in this paper. Less conservative conditions are derived to ensure the state trajectories of the closed-loop systems keep within the desired bound in given-time interval by allowing the Lyapunov function to increase at every switching instant with a limited increasing rate. Meanwhile, considering the effect of time-delay on the transient performance of the systems, the analytic form of the relationship among time-delay, average dwell time and given finite time horizon are obtained through an average dwell time constraint. A numeric example is given to verify the results we derived.

关键词： Stochastic Markov jumps,Deterministic switches,Time-delay,Finite-time,Average dwell time

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Constrained model predictive control for Markov jump system with disturbances 34

Constrained model predictive control for Markov jump system ...

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第三十四届中国控制会议

作者： ZHANG Yueyuan YIN Yanyan LIU Fei Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

ISBN: (纸本)9781467374439

This study is concerned with model predictive control(MPC) for a class of discrete-time Markov jump system with disturbances. A synthesis method to design robust model predictive controller is proposed by considering H2/H performance index, a serious of sufficient conditions are obtained which guaranteeing the stability of system, meanwhile satisfying the constraints. Finally, a numerical example is presented to illustrate the effectiveness of the developed results.

关键词： MPC MJS H2/H performance index disturbances

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Adaptive Consensus Algorithms for Heterogeneous Second-order Multi-agent Systems 34

Adaptive Consensus Algorithms for Heterogeneous Second-order...

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第三十四届中国控制会议

作者： LIU Cheng-Lin LIU Fei Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University

ISBN: (纸本)9781467374439

We investigate the consensus problem of heterogeneous second-order multi-agent systems under undirected and symmetric interconnection topology, and construct two adaptive consensus algorithms by introducing an adaptive variable into the usual dynamical consensus algorithm. Sufficient and necessary consensus criteria are obtained for two algorithms respectively based on matrix theory and graph theory. Numerical examples illustrate the validity of the theoretical results.

关键词： Consensus,Heterogeneous Second-order Multi-agent Systems,Adaptive Algorithms,Symmetric Topology

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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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