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International Workshop on Variable Structure systems, VSS

作者： Shi Jin Zhenxing Zhang Shihua Li Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing P.R. China

The terminal guidance problem for missile intercepting maneuvering targets is investigated in this paper. To guarantee the disturbance rejection performance and alleviate the chattering problem, nonsingular terminal sliding mode control(NTSMC) and finite-time disturbance observer(FTDO) are introduced to design the composite guidance law considering the first-order autopilot dynamics. In this paper, the target acceleration and some state variables are regarded as unknown bounded disturbances. Finite-time disturbance observer(FTDO) is employed to estimate the disturbances and estimations of disturbances are employed as feedforward compensation to weaken the influence of disturbances. The proposed guidance law can guarantee that the line of sight(LOS) angular rate converges to zero in finite time. Simulation comparisons show the effectiveness of the proposed method.

关键词： Missiles Acceleration Observers Sliding mode control Navigation Convergence

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Sensitivity Analysis of Optimal control Problems for Switched systems

Sensitivity Analysis of Optimal Control Problems for Switche...

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第26届中国控制与决策会议

作者： Jinjin Liu Kanjian Zhang Xiaomei Liu Haikun Wei School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781479937097

This paper investigates the problem of sensitivity analysis for switched autonomous systems involving uncertain parameters. The aim is to find switching instants which minimizes the cost function, and meanwhile makes it robust to the variation of the original objective with respect to unknown parameters. We focus on the fixed switching mode sequences and convert the sensitivity problem into a conventional optimal switched control problem, which can be solved directly using the gradient descent algorithm. The efficacy of the proposed method is illustrated via numerical example.

关键词： Switched systems,Sensitivity analysis,Optimal control,Parameter variation

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Paint Deposition Modeling with Variable Parameters for Spray Painting Robots

Paint Deposition Modeling with Variable Parameters for Spray...

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2014 International Conference on Electrical,control and Automation(ICECA 2014)

作者： Liuhao Ge Zhengda Meng School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

Current paint deposition modeling approaches did not consider the influence of variable spraying parameters. As spray painting robot has been widely used in paint application, there is a great need to be able to generate paint deposition model efficiently for robot path planning and simulation. In this paper, a layered framework for paint deposition modeling system is proposed, which uses the Back-Propagation（BP） neural network to model the relationship between spraying parameters（flow rate and atomizing pressure） and the paint deposition model. By using this modeling system, it isn’t necessary for users to conduct extra experiments when flow rate and atomizing pressure change. According to results of experiment and simulation, this method can predict paint deposition rate effectively.

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Adaptive fault-tolerant controller design for airbreathing hypersonic vehicle with input saturation

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Journal of systems engineering and Electronics 2013年第3期24卷 488-499页

作者： Haibin Sun Shihua Li Changyin Sun Key Laboratory of Measurement and Control of Complex Systems of Engineering(Ministry of Education) School of AutomationSoutheast University

The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle （AHV） with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is presented for the longitudinal model of an AHV, which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate. However, this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances, which makes it not easy to implement. Then an improved adaptive fault-tolerant control scheme is proposed, where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor, respectively. Secondly, the problem of designing a control scheme with control constraints is further considered, and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories. Finally, simulation results are given to show the effectiveness of the proposed methods.

关键词： airbreathing hypersonic vehicle （AHV） fault-tolerant control （FTC） adaptive control input saturation.

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Periodic behaviors of a discretized twisting algorithm based sliding mode control system

Periodic behaviors of a discretized twisting algorithm based...

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International Workshop on Variable Structure systems, VSS

作者： Yan Yan Xinghuo Yu Changyin Sun Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China RMIT School of Electrical and Computer Engineering Melbourne VIC AU

In this paper, we show that Euler discretization of the sliding mode control system with twisting algorithm can lead to periodic behaviors. Bounds for periodic orbits are derived, which allow one to estimate the maximum chattering amplitude for a given value of the time step. It is shown that for certain parameter values, there exist arbitrarily long periodic orbits. Theoretical results are illustrated with simulation examples.

关键词： Orbits Trajectory Switches Sliding mode control Extraterrestrial measurements edu.ational institutions Clocks

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Attitude synchronization for multiple flexible spacecraft based on non-smooth control

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IFAC Proceedings Volumes 2014年第3期47卷 9968-9972页

作者： Haibo Du Yigang He Shihua Li Yingying Cheng Xisong Chen School of Electrical Engineering and Automation Hefei University of Technology Hefei 230009 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China

This paper considers the problem of attitude synchronization for a group of flexible spacecraft based on distributed attitude cooperative control strategy. Based on the backstepping design, non-smooth control, and the neighbor-based design rule, a distributed attitude control law is constructed step by step. Under the proposed control law, it is shown that the attitude synchronization is achieved asymptotically and the induced vibration by flexible appendages is simultaneously suppressed.

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Finite-time saturated controller design for straight line navigation of an agricultural tractor 33

Finite-time saturated controller design for straight line na...

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Proceedings of the 33rd Chinese control Conference, CCC 2014

作者： Jiang, Yuexia Ding, Shihong Zhao, Dean Ji, Wei School of Electrical and Information Engineering Jiangsu University Zhenjiang212013 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9789881563842

Finite-time control systems usually have better disturbance rejection property and faster convergence performance. For the linearized dynamics of the linear navigation system of an agricultural tractor, a novel control algorithm based on finite-time control technique and saturation method is proposed. Based upon the presented method, the finite-time saturated controller is designed for the linear navigation of an agricultural tractor, and the global stability for the closed loop system is proved. Meanwhile, the selection of parameters in saturated controller just requires some simple mathematical relationships, and the control method has some potential practical applications. Simulation results also verify the effectiveness of the proposed method. © 2014 TCCT, CAA.

关键词： Tractors (agricultural)

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Mars entry trajectory tracking via constrained multi-model predictive control

Mars entry trajectory tracking via constrained multi-model p...

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Chinese control Conference (CCC)

作者： Chao Wu Shihua Li Jun Yang Lei Guo Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing Jiangsu CN School of Automation Science and Electrical Engineering Beihang University & Institute of Instrument Science and Opto-Electronics Engineering Beijing CN

Tracking law designed for future Mars entry missions is investigated in this article. For precision landing, the nonlinear entry dynamics, complex uncertainties and input saturation constraints are unavoidable problems. Facing these challenges, the Mars entry trajectory tracking scheme via constrained multi-model predictive control (CMPC) is employed. The CMPC is made up of some constrained predictive control (CPC) in different time domain during the Mars entry mission. Each constrained predictive controller consists of a linearized prediction model (obtained by linearizing at different operating point), feedback correction for active model mismatch rejection caused by the complex uncertainties, and constrained rolling optimization for a smooth control input under a saturation constraint. Monte Carlo simulations demonstrate the effectiveness and excellence of the proposed method under the saturation constraint of input and uncertainties of initial state and aerodynamic parameters such as atmospheric density, ballistic coefficient and lift-to-drag ratio.

关键词： Mars Aerodynamics Uncertainty Trajectory Predictive models Vehicles Predictive control

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Global Stability of Cascaded systems with Non-smooth Continuity

Global Stability of Cascaded Systems with Non-smooth Continu...

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第三十二届中国控制会议

作者： Ma Li Li Xuebing Ding Shihong Zhang Jun School of Electrical and Information Engineering Jiangsu University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781479900305

The local/global Lipschitz continuity is always required when considering the stability of the cascaded systems. Different from the exiting methods proposed in the literature,this paper gives a method to deal with non-smooth cascaded *** using iISS property,some sufficient conditions for global asymptotic stability of the cascaded systems are derived. Then,based upon this,an interesting result of finite-time stability for cascaded systems is further *** proposed methods are verified by some academic examples.

关键词： Cascaded systems Stability Finite-time control

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The design of robust MIMO neural network disturbance observer for multi-variable system

The design of robust MIMO neural network disturbance observe...

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Chinese control Conference (CCC)

作者： Juan Li Shihua Li Shengquan Li Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing Jiangsu CN School of Automation Southeast University Nanjing Jiangsu CN Sch. of Hydraulic Energy & Power Eng. Yangzhou University Yangzhou Jiangsu CN

Multi-variable systems widely exist in the practical engineering control systems whose performances are always severely interrupted by strong disturbances including unmodeled dynamics, parameter variations, couplings and external disturbances. Disturbance observer (DOB) is known as an effective technique to estimate disturbances and has been extensively applied for feed-forward compensation design in the presence of disturbances. Yet many disturbance observer techniques in previous literature are just used for single-input-single-output (SISO) systems or the DOBs can be applied in the multi-variable systems, but the DOBs are still SISO DOBs. A decoupled robust multi-input-multi-output neural network disturbance observer (MNNDOB) is designed for the multi-input-multi-output (MIMO) systems. Simulation results on the mixing tank show that the proposed method has better disturbance estimation performance when there are severe model mismatches compared with the MIMO linear disturbance observer.

关键词： Observers Neural networks MIMO Robustness control systems Adaptation models

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