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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Nguyen, Nhan Technical Group Lead of Advanced Control and Evolvable Systems Group Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents a distributed Hamiltonian control of a class of Lagrangian infinite-dimensional systems with adaptive disturbance rejection control in presence of actuator dynamics. The distributed Hamiltonian control is formulated as a linear quadratic optimal control in a semigroup abstraction. Two adaptive disturbance estimation is based on a model prediction approach combined with two different adaptation strategies. The model prediction is based on disturbance measurements using look-ahead sensors. When used in con junction with an adaptive estimation of the disturbance signal or with an adaptive parameter estimation of the disturbance dynamics, the performance of the disturbance rejection is further improved. A demonstration problem of a flexible HALE aircraft illustrates the effectiveness of the proposed adaptive disturbance rejection control strategies in the presence of actuator dynamics. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Disturbance rejection

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Analytical Flight Dynamic Model Development for eVTOL Aircraft

Analytical Flight Dynamic Model Development for eVTOL Aircra...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Nguyen, Nhan Webb, Benjamin Technical Group Lead of Advanced Control and Evolvable Systems Group Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents an analytical flight dynamic model development method for a multirotor eVTOL aircraft in hover and transition flight. The method captures the analytical stability and control sensitivities of rotor unsteady aerodynamic loads about a trim solution generated by a rotorcraft aeromechanics comprehensive analysis tool. The rotor aerodynamic forces include circulatory and non-circulatory components to account for unsteady aerodynamics. The circulatory forces are corrected for unsteady aerodynamics using the time-domain approximation of Theodorsen's function. The integrated flight dynamic model includes the rigid-body aircraft flight dynamics, inflow dynamics, unsteady aerodynamics, and blade pitch and rotor actuator dynamics. Stability analyses shows that the Lift+Cruise aircraft is statically unstable in roll and yaw axes and also dynamically unstable in hover. Closed-loop feedback control is necessary for stable hover flight. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Flight dynamics

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Hybrid adaptive Sine Cosine Algorithm with Finite-Time Prescribed Performance PID control for pneumatic servo systems

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IFAC Journal of systems and control 2025年 32卷

作者： Irawan, Addie Suid, Mohd Helmi Ismail, R.M.T. Raja Jusof, Mohd Falfazli Mat Azahar, Mohd Iskandar Putra Nasir, Ahmad Nor Kasruddin Robotics Intelligent Systems and Control Engineering (RiSC) research group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pahang Pekan 26600 Malaysia

This paper addresses the challenge of enhancing pressure regulation in pneumatic servo systems, specifically for proportional valve-controlled double-acting pneumatic cylinders (PPVDC). A Hybrid Nonlinear Sine Cosine Algorithm (HNSCA) is proposed to optimize a Finite-Time Prescribed Performance control (FT-PPC) integrated with a PID controller. The HNSCA combines the Nonlinear Sine Cosine Algorithm (NSCA) with Adaptive Safe Experimentation Dynamics (ASED) to fine-tune FT-PPC-PID parameters, achieving rapid transient response and system stability. Simulation results demonstrate significant improvements over other optimization variants like ESCA and ASCA, including a 96% faster rise time, 61.9% reduction in settling time, and 6.4% lower overshoot. Additionally, HNSCA reduced pressure oscillations by 25%–30%, lowered power consumption by 20%–30%, and achieved up to a 50% reduction in energy consumption under a 10 kg load. It also enhanced subsonic flow stability by 10%–15% under choked flow conditions. These advancements offer practical benefits for industries utilizing pneumatic systems, such as manufacturing and robotics, by providing more precise control, reducing energy costs, and extending equipment lifespan. The findings highlight the effectiveness of the proposed approach in error minimization and long-term stability for pneumatic servo systems. © 2025 Elsevier Ltd

关键词： Metaheuristic Nonlinear sine cosine algorithm Pneumatic actuator Prescribed performance control Safe experimentation dynamics

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Trajectory Tracking for Directional Drilling in Underground Coal Mine Using Robust Model Predictive control

Trajectory Tracking for Directional Drilling in Underground ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Jiajun Wu Chengda Lu Hao Li Hongchao Wei Min Wu School of Future Technology China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China School of Automation China University of Geosciences Wuhan China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an China China Coal Research Institute Beijing China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension model is obtained by the linearization of a drilling tool kinematic model through the Taylor series expansion in the borehole depth domain. Then, in view of the influence of the uncertainty of the drilling tool slope and external interference, a robust model predictive control method is introduced in the form of an optimal control problem. A sufficient condition is obtained to calculate the corresponding controller gain matrix on the premise of satisfying the stability of the closedloop control system and the $H_{\infty}$ performance index. At last, the effectiveness of our method is illustrated through simulation analysis. Compared with model predictive control, robust model predictive control directly incorporates the uncertainty of the drilling tool slope and external interference into the control design, enabling it to better adapt to the complex and variable underground coal mine environment.

关键词： Drilling Uncertainty Trajectory tracking Stability criteria Predictive models Taylor series Coal mining Trajectory Thermal stability Predictive control

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Trajectory Tracking for Directional Drilling in Underground Coal Mine Using Robust Model Predictive control

Trajectory Tracking for Directional Drilling in Underground ...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Wu, Jiajun Lu, Chengda Li, Hao Wei, Hongchao Wu, Min School of Future Technology China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an710077 China China Coal Research Institute Beijing100013 China

ISBN: (纸本)9798331521950

This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension model is obtained by the linearization of a drilling tool kinematic model through the Taylor series expansion in the borehole depth domain. Then, in view of the influence of the uncertainty of the drilling tool slope and external interference, a robust model predictive control method is introduced in the form of an optimal control problem. A sufficient condition is obtained to calculate the corresponding controller gain matrix on the premise of satisfying the stability of the closedloop control system and the H∞ performance index. At last, the effectiveness of our method is illustrated through simulation analysis. Compared with model predictive control, robust model predictive control directly incorporates the uncertainty of the drilling tool slope and external interference into the control design, enabling it to better adapt to the complex and variable underground coal mine environment. © 2025 IEEE.

关键词： Predictive control systems

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Camera calibration of a Nintendo wii remote using PA-10 robotic arms

Camera calibration of a Nintendo wii remote using PA-10 robo...

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14th Eurographics Symposium on Virtual Environments, EGVE 2008

作者： Grimes, H.S. Ferguson, R.S. McMenemy, K. Intelligent Systems and Control Research Group Queen's University Belfast United Kingdom

ISBN: (纸本)9783905674064

The Remote control unit for the Nintendo Wii computer games console features an infrared camera capable of detecting up to 4 infrared lights. As such, it is possible to calibrate this device using normal camera calibration techniques so that it can be used for tracking or human interfacing in a virtual environment. Camera calibration is an active area of research and there is a wealth of software available to perform the calibration e.g. ArToolKit and Matlab. Camera calibration typically requires at least five images which contain multiple grid points from which a matrix of camera parameters can be estimated. This paper proposes a method of calibrating the Wii Remote's IR camera by building up 24 calibration points from the 4 viewed infrared LEDs for a single viewpoint of the IR camera. This is done by moving the 4 LEDs in a known sequence using highly accurate PA-10 robotic arms. The camera calibration matrix parameters obtained from this method are presented. © The Eurographics Association 2008.

关键词： Robotic arms

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Calculation of resonant frequency for an equilateral triangular microstrip antenna with the use of artificial neural networks

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MICROWAVE AND OPTICAL TECHNOLOGY LETTERS 1997年第2期14卷 89-93页

作者： Sagiroglu, S Guney, K Intelligent Systems Research Group Department of Control and Computer Engineering Erciyes University 38039 Kayseri Turkey Department of Electronic Engineering Erciyes University 38039 Kayseri Turkey

new method for calculating the resonant frequency of an equilateral triangular microstrip patch antenna, based on artificial neural networks, is presented The back-propagation algorithm is used to train the networks. The theoretical resonant frequency results obtained by using this method are in very good agreement with the experimental results reported elsewhere. (C) 1997 John Wiley & Sons, Inc.

关键词： triangular microstrip antennas resonant frequency artificial neural networks multilayer perceptron back propagation

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Subspace method identification for dynamic Multivariate Statistical Process control

Subspace method identification for dynamic Multivariate Stat...

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作者： Treasure, Richard Kruger, Uwe Sreeram, Victor Control Systems Research Group University of Western Australia Nedlands 6009 Australia Intelligent Systems and Control Research Group Queens University Belfast BT5 9AH United Kingdom

ISBN: (纸本)008045108X

Subspace method identification (SMI) and model reduction for Multivariate Statistical Process control has been proposed as an improvement to dynamic principal component analysis (DPCA). The linear parametric model structure captures both static and dynamic information from the system. in this paper, an analysis of the dimension reduction capabilities of the subspace approach is provided. It is proven that the SMI method yields a parsimonious model structure that requires fewer latent variables and uses fewer process measurements than DPCA. These findings are illustrated by an industrial application study. Copyright © 2005 IFAC.

关键词： Fault detection

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Parallel and separable recursive Levenberg-Marquardt training algorithm 12

Parallel and separable recursive Levenberg-Marquardt trainin...

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12th IEEE Workshop on Neural Networks for Signal Processing, NNSP 2002

作者： Asirvadam, V.S. McLoone, S.F. Irwin, G.W. Intelligent Systems and Control Research Group School of Electrical and Electronic Engineering Queen's University of Belfast United Kingdom

ISBN: (纸本)0780376161

A novel decomposed recursive Levenberg Marquardt (RLM) algorithm is derived for the training of feedforward neural networks. By neglecting interneuron weight correlations the recently proposed RLM training algorithm can be decomposed at neuron level enabling weights to be updated in an efficient parallel manner. A separable least squares implementation of decomposed RLM is also introduced. Experiment results for two nonlinear time series problems demonstrate the superiority of the new training algorithms. © 2002 IEEE.

关键词： Feedforward neural networks

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Adaptive output feedback control of elastically shaped aircraft

Adaptive output feedback control of elastically shaped aircr...

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AIAA Guidance, Navigation, and control Conference, 2018

作者： Boškovic, Jovan D. Jackson, Joseph A. Wise, Richard Nguyen, Nhan Scientific Systems Company Inc. Intelligent Control Systems Group WoburnMA01801 United States Scientific Systems Company Inc. Autonomy Systems Group WoburnMA01801 United States NASA Ames Research Center Advanced Control and Evolvable Systems Group Intelligent System Division Moffett Field CA94035 United States

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

Adaptive control of aircraft with reduced-stiffness wings to accommodate for parametric uncertainty or slow changes in aerodynamic and structural parameters is a complex problem. The key challenge is that the structural states are not directly measurable so the adaptive control scheme needs to simultaneously compensate for parametric and state uncertainty. In this paper we develop an adaptive output feedback control strategy and derive conditions under which it can achieve a control objective in the presence of uncertain structural parameters and non-measurable states. Initial theoretical results are illustrated through simulations of a flexible wing aircraft. © 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Adaptive control systems

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