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Finite-time model-assisted active disturbance rejection control with a novel parameters optimizer for hypersonic reentry vehicle subject to multiple disturbances

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Aerospace Science and Technology 2018年 79卷 588-600页

作者： Yue Yu Honglun Wang Na Li Huiping Zhang Zikang Su Xingling Shao School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Unmanned System Research Institute Beihang University Beijing 100191 China School of Automation Beijing Institute of Technology Beijing 100081 China Beijing Aerospace Automatic Control Institute Beijing 100854 China Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education North University of China Taiyuan 030051 China National Key Laboratory for Electronic Measurement Technology School of Instrument and Electronics North University of China Taiyuan 030051 China

In this paper, a scheme which combines finite-time model-assisted active disturbance rejection control and novel greedy criterion-based salp swarm algorithm is developed for attitude tracking problem of hypersonic reentry vehicle with multiple disturbances. To simplify control structure, the control scheme is designed within the framework of active disturbance rejection control completely. To lessen tuning parameters, a sigmoid function-based tracking differentiator is employed to generate a more realizable attitude transient profile instead of utilizing conventional nonlinear tracking differentiator. Taking known model information as model-assisted term, finite-time model-assisted extended state observers are constructed to estimate the lumped disturbance in attitude and angular rate loop with employment of function fal . To achieve rapid response and strong robustness, finite-time model-assisted control laws are derived by utilizing function fhan . Finally, a novel greedy criterion-based salp swarm algorithm is used to optimize control parameters in finite-time model-assisted control laws to achieve optimal solution that minimizes the tracking error and energy consumption. Comparative simulations are conducted to illustrate the effectiveness of the proposed scheme.

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Finite-Time decoupling direct control for hypersonic reentry vehicle with multiple disturbances via second-order ADRC

Finite-Time decoupling direct control for hypersonic reentry...

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2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

作者： Yu, Yue Wang, Honglun Li, Na Zhang, Huiping Liu, Chang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Unmanned System Research Institute Beihang University Beijing 100191 China School of Automation Beijing Institute of Technology and Beijing Aerospace Automatic Control Institute Beijing 100081 China

ISBN: (纸本)9781538637432;9781538637425

In this paper, a novel finite-Time decoupling direct control (FDDC) scheme is proposed for attitude tracking problem of hypersonic reentry vehicle (HRV) based on second-order active disturbance rejection control (SADRC). Unlike traditional control method which separates control system into outer-loop attitude control and inner-loop angular rate control, attitude is controlled by control actuator straightforward with single loop. Firstly, the attitude tracking problem is converted to the decoupling control problem of a three-input and three-output cross coupling system. In each channel, a SADRC controller, which is composed of tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (NLSEF), is designed to track attitude command of the corresponding channel in a finite-Time sense. Finally, the obtained virtual control input is transformed into actual control input, which acts on the HRV model. Simulations are conducted to verify the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： decoupling control extended state observer (ESO) finite-Time second-order active disturbance rejection control (SADRC)

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Nonlinear filtering with adaptive estimation of state transfer matrix for nonlinear systems with multiplicative noise

Nonlinear filtering with adaptive estimation of state transf...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jianwen Meng Quanbo Ge Rui Wang Zhuyun Niu Logistics Engineering College Shanghai Maritime University Shanghai China Institute of System Science and Control Engineering School of Automation Hangzhou Dianzi University Hangzhou China North Automatic Control Technology Institute Taiyuan Shanxi China

ISBN: (纸本)9781538629024

State estimation for systems with unknown state transfer matrix and multiplicative noise is very classical and important in signal processing and target tracking. Aiming at the problem, an adaptive estimation algorithm which can deal with unknown state transfer matrix and multiplicative noise has been presented by Dongsheng Chu for linear systems under without considering multiplicative noise in [1]. This work is very interesting and significative. A direct problem is how to design the adaptive estimation algorithm for nonlinear systems based on the current work. For this, this paper considers the estimator design of nonlinear systems with unknown state transfer matrix and multiplicative noise by using the extended Kalman filter (EKF). The purpose is to want to make clear the difference of estimators design between the linear system and the nonlinear system. Accordingly, it can provide the base to design adaptive unscented Kalman filter with unknown state transfer matrix and multiplicative noise. The result shows that there is difference between adaptive algorithms for linear and nonlinear systems, but the derive processes are similar.

关键词： Mathematical model Algorithm design and analysis Estimation Noise measurement Nonlinear systems Kalman filters Heuristic algorithms

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An Improved Registration Algorithm based on Geometric Feature for the Calibration of Workpiece Coordinate 35

An Improved Registration Algorithm based on Geometric Featur...

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第35届中国控制会议

作者： LV Liang SUN Lei Institute of Robotics and Automatic Information System College of Computer and Control engineeringNankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781509009107

Since target points could be generated quickly and accurately by off-line programming in the industrial robot machining,it is used widely in industrial *** to installation error and mismachining tolerance which causes the offset of processing paths in the actual machining process,the registration algorithms for path calibration would be *** the traditional approach would converge to local optimal solution,an improved registration algorithm based on geometric properties of point clouds is proposed in the ***,feature point sets are acquired by the curvature of point clouds and matched by traditional PCA algorithm,an initial value for precise registration is ***,the improved ICP algorithm by curvature is utilized to modify the former result and reduce the execution time of precise registration,the path calibration can be *** experimental result of the approach is validated in this paper which is significative for calibration of processing paths.

关键词： Registration Curvature Feature Point Sets Path Calibration

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Non-parametric modeling of double-link flexible robot manipulator based on NNARX model structure 19th

Non-parametric modeling of double-link flexible robot manipu...

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19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016

作者： Jamali, Annisa Mat Darus, Intan Zaurah Abdulhussain, Ali Tokhi, M.O. Automation and Control Laboratory Faculty of Mechanical Engineering Universiti Teknologi Malaysia SkudaiJohor81300 Malaysia Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9789813149120

The double-link flexible robot manipulator (DLFR) is a highly non-linear system. The development of existing linear models involves a lot of assumptions and approximations in order to reduce the complex calculation. Due to that, this paper presents a non-linear Auto Regressive model with eXogenous inputs (NARX) for DLFR and neural network is used to predict the non-linear segment. Thus, NNARX structure is used to develop four separate model of double link flexible manipulator from torque input to hub angle and from torque input to end point accelerations of each link. The performance of NNARX models are validated via One Step Ahead, Mean Squared Error and correlation tests. © 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved.

关键词： Flexible manipulators

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Methodological basis for constructing a method for compressing of transformants bit representation, based on non-equilibrium positional encoding

Methodological basis for constructing a method for compressi...

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International Conference on Advanced Information and Communication Technologies (AICT)

作者： V. V. Barannik Yu. N Ryabukha V. V. Tverdokhleb D. V. Barannik Department of combat use automatic control system Kharkiv University of Air Force named I. Kozhedub Kharkiv Ukraine Department of information and network engineering Kharkiv National University of Radio Electronics Kharkiv Ukraine

ISBN: (纸本)9781538606384

For more effective use of the bandwidth of the infocommunication network channels, compression methods are used, which make it possible to present information in a compact form. This is most relevant in the face of a constant increase in the volume of transmitted video data sensitive to transmission delays. However, in addition to reducing the intensity of the transmitted video, it is also necessary to provide a given error level to ensure the quality of the received data on the receiver side.

关键词： Encoding

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Evaluation of the cost of using power plant reject heat in low-temperature district heating and cooling networks

Evaluation of the cost of using power plant reject heat in l...

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2016 World Congress on Sustainable Technologies, WCST 2016

作者： Santos, Antonio Colmenar Diez, David Borge Asensio, Enrique Rosales Sánchez, Patricia Sánchez Department of Electric Electronic and Control Engineering UNED Madrid28040 Spain Department of Electric System and Automatic Engineering Universidad de León León Spain

ISBN: (纸本)9781908320704

The purpose of this paper is to assess the economic impact following as a result of the conversion of conventional stations to cogeneration plants connected to a system for distributing heat and refrigeration. The analysis will be carried out through a financial evaluation in order to assess yearly variations of the whole scheme expenditure. In particular, yearly capital and operating costs of supplying cold and heat to urban areas that represent weather conditions in northern, central, and southern Europe were studied. In the base case scenario, today conditions are represented;they will be compared with alternative scenarios in which existing conventional thermal power stations will be converted into cogeneration plants. This research work contributes to the pool of existing knowledge by giving a (so far not addressed) weather centered system perspective. From the conducted evaluation, it was found that, in the case of deciding to convert the studied conventional thermal plants into cogeneration plants, investing in the necessary infrastructure associated means that yearly expenses for the power plants located in Oldenburg-Wilhelmshaven, Bristol, and Cartagena would decrease by 215, 89, and 192 million euros respectively, making this technology a highly attractive option from economic, energetic, and environmental perspectives. © 2016 Infonomics Society.

关键词： Cogeneration plants

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Cogeneration and district heating networks: Measures to remove institutional and financial barriers that restrict their joint use in the EU-28

Cogeneration and district heating networks: Measures to remo...

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2016 World Congress on Sustainable Technologies, WCST 2016

ISBN: (纸本)9781908320704

The aim of this research is to identify actions that dissipate the institutional and financial barriers that are faced by those energy projects which comprise the joint use of district heating networks and cogeneration in the EU-28. From this evaluation, institutional and financial barriers were identified, which included: distinctive competence, fuel price volatility, and much of the current regulatory framework. In order to achieve an effective removal of these barriers, and apart from generic and common actions to all the schemes, such as creating anchor loads, adopting an active marketing strategy by the local authorities, or the proposition of updating some communitarian directives on energy issues;it is also necessary to adopt those actions that respond to the casuistry of each Member State. Such actions will ultimately represent the most effective way to get a generalised implementation of energy projects that include a joint use of district heating networks and cogeneration. © 2016 Infonomics Society.

关键词： District heating

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Tracking human upper-limb movements with sliding mode control type-II fuzzy logic

Tracking human upper-limb movements with sliding mode contro...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Siti Khadijah Ali Ahmad Riyad Firdaus M. O. Tokhi Ghasaq Al-Rezage Department of Automatic Control and System Engineering University of Sheffield

A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired motion and it is also able to eliminate the chattering problem as well as deal with uncertainties.

关键词： Mathematical model Exoskeletons Trajectory Sliding mode control Fuzzy logic Time factors

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Robust Adaptive Tracking control for Uncertain Nonlinear systems with External Disturbances

Robust Adaptive Tracking Control for Uncertain Nonlinear Sys...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Yashun Zhang Hui Wang Chao Yang department of System Engineering Beijing Aerospace Automatic Control Institute department of System Scheme Beijing Aerospace Automatic Control Institute

ISBN: (纸本)9781467383196

This paper is concerned with the tracking control problem for nonlinear systems with unknown time-varying parameter uncertainties and unknown external *** problem addressed is to design robust adaptive controllers that guarantee the tracking of a given reference signal.A robust adaptive control scheme is firstly proposed for the case the external disturbance is *** the design scheme is extend to the asymptotically tracking control of the nonlinear system with bounded ***,the effectiveness of the proposed design method is demonstrated by an application example.

关键词： Lyapunov Robust Adaptive Tracking control for Uncertain Nonlinear systems with External Disturbances

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