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3rd Scientific-Practical Workshop Information Technologies: Algorithms, Models, systems, ITAMS 2020

作者： Shigarov, Alexey Khristyuk, Vasiliy Cherkashin, Evgeniy Yang, Shuo Matrosov Institute for System Dynamics and Control Theory of SB RAS 134 Lermontov st. Irkutsk664033 Russia School of Computer Science and Cyber Engineering Guangzhou University 230 Wai Huan Xi Road Guangzhou510006 China

This addresses representation of the table semantics for the cross-context information exchange. The tables we consider have an arbitrary cells structure represented in a machine-readable format. For example, tables can be contained in electronic documents, such as a spreadsheet or a web-page, and, typically, they are not accompanied by semantics enabling their automatic interpretation. In spite of the existing variety of formalisms for representation of the table semantics, most of them they are fairly inefficient in terms of the user efforts required for the semantic annotation. We outline a new approach to the lightweight representation of the table semantics. We stay on the interpretation level that provides the inference of the semantics of atomic data items of a table from a description of data groups expressed by the syntax of the table. We expect that, in the future, implementation of our approach can reduce the complexity and volume of the table semantics required for the cross-context information exchange, as well as the user efforts aimed at annotating tabular data. © 2020 for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Semantics

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Agile Spacecraft Attitude control: an Incremental Nonlinear Dynamic Inversion Approach

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IFAC-PapersOnLine 2020年第2期53卷 5709-5716页

作者： B. Paul Acquatella Qi Ping Chu DLR German Aerospace Center Institute of System Dynamics and Control D-82234 Oberpfaffenhofen Germany Delft University of Technology Faculty of Aerospace Engineering 2629HS Delft The Netherlands

This paper presents an agile and robust spacecraft attitude tracking controller using the recently reformulated incremental nonlinear dynamic inversion (INDI). INDI is a combined model- and sensor-based control approach that only requires a control effectiveness model and measurements of the state and some of its derivatives, making a reduced dependency on exact system dynamics knowledge. The reformulated INDI allows a non-cascaded dynamic inversion control in terms of Modified Rodrigues Parameters (MRPs) where scheduling of the time-varying control effectiveness is done analytically. This way, the controller is only sensitive to parametric uncertainty of the augmented spacecraft inertia and its wheelset alignment. Moreover, we draw some parallels to time-delay control (TDC) —more familiar in the robotics community— which have been shown to be equivalent to the incremental formulation of proportional-integral-derivative (PID) control for second order nonlinear systems in controller canonical form. Simulation experiments for this particular problem demonstrate that INDI has similar nominal performance as TDC/PID control, but superior robust performance and stability.

关键词： aerospace tracking application of nonlinear analysis design

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Longitudinal Short-Period Aircraft Motion control Under Loadcase Variation

Longitudinal Short-Period Aircraft Motion Control Under Load...

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American control Conference

作者： Felix Gossmann Agnes Gabrys Ferdinand Svaricek Institute of Control Engineering University of the German Federal Armed Forces Munich Neubiberg Germany Institute of Flight System Dynamics Technische Universitat Munchen Garching Germany

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

In this paper, an LPV longitudinal flight controller design is presented, which takes variations of mass and mass distribution into account without the need for additional measurements or estimation of the current loadcase (a certain combination of mass, center of gravity and inertia tensor). This means the loadcase variation is included in the LPV model, but the obtained controller depends on the measurable variations of altitude and airspeed only. Therefore, a technique based on LPV systems with partly-measurable parameters is used. This approach is applied to the control of the short-period dynamic on a model of a small regional aircraft. The obtained controller is evaluated on a more detailed linear model, which takes parts of the real control system into account, as well as within a 6DOF high-fidelity nonlinear simulation environment, which is used to analyze flight controllers before real-life flight tests.

关键词： inertia tensor Simulated Environment controllers mass distribution linear models control systems Regional jets Aircraft flight controllers mass six degrees of freedom FLIGHT TESTS airspeed Variation

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Nonlinear control of Dual Half Bridge Converters in Hybrid Energy Storage systems

Nonlinear Control of Dual Half Bridge Converters in Hybrid E...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Ricardo de Castro Jonathan Brembeck Rui Esteves Araujo Institute of System Dynamics and Control German Aerospace Center (DLR) Wessling Germany INESC TEC and Faculty of Engineering University of Porto Porto Portugal

ISBN: (数字)9781728189598

ISBN: (纸本)9781728189604

This work proposes a new control framework for power converters with a dual half bridge (DHB) configuration. The new framework exploits the multi-port structure of the DHB to simultaneously: i) regulate the current in the primary side of the DHB and ii) equalize the voltage in the two secondary ports of the DHB. To implement these functions, we combine input-output linearization methods with pragmatic voltage balance algorithms. We then apply this framework to a hybrid energy storage system composed of a battery pack and two supercapacitor modules. Numerical simulation results demonstrate the effectiveness of the proposed approach in regulating the power between the energy storage units and balancing the supercapacitors' voltages.

关键词： Bridge circuits Supercapacitors Hybrid power systems Batteries Voltage control Task analysis Pragmatics

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Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna

Preliminary results for the multi-robot, multi-partner, mult...

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IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： Robotics

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Study on the Band Gap and Directional Wave Propagation Mechanism of Novel Single-Phase Metamaterials

SSRN

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SSRN 2022年

作者： Cheng, Shu-Liang Yang, Hong-Yun Yan, Qun Wang, Bin Sun, Yong-Tao Xin, Ya-Jun Ding, Qian Yan, Hao Wang, Liang Key Laboratory of Mechanical Reliability for Heavy Equipment and Large Structure of Hebei Province Yanshan University Qinhuangdao China Tianjin Key Laboratory of Soft Soils and Engineering Environment Tianjin Chengjian University Tianjin China Department of Mechanics Tianjin Key Laboratory of Nonlinear Dynamics and Control Tianjin University Tianjin China State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao University Shijiazhuang China Key Laboratory of Aeroacoustics and Dynamics Aircraft Strength Research Institute Xi’an China Key Laboratory of Green Construction and Intelligent Maintenance for Civil Engineering of Hebei Province Yanshan University Qinhuangdao China

In this paper, a new type of single-phase metamaterial is proposed. Based on the finite element method, the band gap characteristics of the structures with different branches are comprehensively analyzed, and the existence of the band gap is further verified by the frequency response transmission spectrum. Then, the propagation characteristics of elastic waves of different frequencies in different combinations of structures are investigated respectively. The results show that the proposed single-phase metamaterial structure has an excellent band gap range, and under the action of relatively low-frequency elastic waves, the wave propagation in the structure has a certain direction and regionality, while the elastic waves at higher frequencies are applied, the propagation direction of the wave tends to propagate in all directions. This paper provides a new idea for studying the structural design of metamaterials with specific wave propagation directions. © 2022, The Authors. All rights reserved.

关键词： Energy gap

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Reserve Balancing in a Microgrid system for Safety Analysis ⁎

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IFAC-PapersOnLine 2020年第2期53卷 13581-13586页

作者： Clemens Kiebler Ionela Prodan Felix Petzke Stefan Streif Technische Universität Chemnitz Automatic Control and System Dynamics Lab Univ. Grenoble Alpes Grenoble INP Institute of Engineering Univ. Grenoble Alpes. LCIS F-26000 Valence

This work presents a robust MPC (Model Predictive control) approach for reserve balancing in DC microgrid systems under uncertainties like wind power and energy price variations and different types of fault events. The robust MPC algorithm considers a variable-length prediction horizon which accounts for forecasts in energy price and renewable power over one day. Furthermore, a storage system is used to increase the utility of the demands and minimize the energy costs. The algorithm is tested for multiple fault types which affect the system (line and loss of power faults).

关键词： Energy management systems DC microgrid Fault events Distributed energy resources Robust MPC (Model Predictive control)

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Analytical and Numerical Construction of Heat Wave Type Solutions to the Nonlinear Heat Equation with a Source

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Journal of Mathematical Sciences (United States) 2019年第2期239卷 111-122页

作者： Kazakov, A.L. Kuznetsov, P.A. Spevak, L.F. Matrosov Institute for System Dynamics and Control Theory SB RAS 134 Lermontov St Irkutsk 664033 Russian Federation Institute of Engineering Science UB RAS 91 Pervomaiskaya St Ekaterinburg 620219 Russian Federation

For a nonlinear parabolic heat equation we construct a heat wave type solution composed of the zero and nonnegative solutions joined continuously along the wave front. We prove the existence and uniqueness of an analytic solution to the problem with a given wave front in the cases of plane, circular, and spherical symmetry. The solution is constructed in the form of a characteristic series with recurrently defined coefficients. In the case of a power source, we show that the original problem can be reduced to the Cauchy problem for a second order ordinary differential equation and the solution is invariant. We present numerical results verified by using the constructed analytic solutions. © 2019, Springer Science+Business Media, LLC, part of Springer Nature.

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Partial Pole Placement using Static Output Feedback

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IFAC-PapersOnLine 2020年第2期53卷 4527-4533页

作者： Manuel Pusch Julian Theis Daniel Ossmann Institute of System Dynamics and Control German Aerospace Center (DLR) 82234 Weßling Germany Institute of Aircraft Systems Engineering Hamburg University of Technology 21129 Hamburg Germany Dept. of Mechanical Automotive and Aeronautical Engineering Munich University of Applied Sciences 80335 Munich Germany

For many dynamical systems it is required to specifically shift individual poles, especially when these poles are lightly damped or even unstable. To achieve that, a preferably large number of effectors and measurements are installed leading to multivariable control problems. In this paper, a novel control approach is presented for placing either a single pole or a conjugate complex pole pair at a predefined location using rank-one static output feedback. Rank-one feedback can be interpreted as blending inputs and outputs to define a single input and single output loop with a desirable root locus along which the pole is moved. The corresponding controller synthesis is reduced to an unconstrained optimization problem in a single variable that aims at minimizing the feedback gain. Although the approach is derived for a single pole or conjugate complex pole pair, it is easily extended to multiple poles. To this end, a repeated design and superposition of rank-one feedback gains is proposed. It is further shown how residual system dynamics as well as subsequently designed gains can be efficiently decoupled from each other in order to avoid undesired interactions and spillover effects. The effectiveness of the proposed control approach is demonstrated by means of a numerical example.

关键词： static feedback control multivariable systems pole assignment blending of inputs outputs modal control

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Analysis of Sliding-Mode control systems with Unmatched Disturbances Altering the Relative Degree ⁎

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IFAC-PapersOnLine 2020年第2期53卷 5122-5128页

作者： Tobias Posielek Kai Wulff Johann Reger Institute of System Dynamics and Control German Aerospace Center (DLR) Münchner Str. 20 D-82234 Wessling Germany Control Engineering Group Technische Universität Ilmenau P.O. Box 10 05 65 D-98684 Ilmenau Germany

We consider sliding-mode control systems subject to unmatched disturbances. Classical first-order sliding-mode techniques are capable to compensate unmatched disturbances if differentiations of the output of sufficiently high order are included in the sliding variable. For such disturbances it is commonly assumed that they do not affect the relative degree of the system. In this contribution we consider disturbances that alter the relative degree of the process and study their impact on the closed-loop control system with the classical first-order sliding-mode design. We analyse the reaching and sliding phase of the resulting closed-loop system. We show that uniqueness of the solution may be lost and derive conditions for such behaviour. We present conditions for the stability of the sliding-mode dynamics and analyse the disturbance rejection properties. A simulation case study of a two-mass spring-damper system illustrates the various closed-loop behaviours.

关键词： Sliding-mode control Unmatched disturbances Relative degree

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