This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater ve...This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.展开更多
This paper proposes an electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device to achieve relative pose control in satellite docking.The target satellit...This paper proposes an electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device to achieve relative pose control in satellite docking.The target satellite has a main coil;the chaser satellite possesses a main coil of the same size accompanied by six and four evenly arranged secondary coils inside and outside the main coil,respectively.The coil on the target satellite is DC energized,while the currents in the coils of the chaser satellite are regulated.To remove the coupling between the pitch/yaw torque and translational force,the internal and external secondary coils of the chaser satellite interact with the main coil of the target satellite to perform the control of relative pitch/yaw and relative translation,respectively,so relative pose control can be achieved.The torque and force vectors exerted by the secondary coils of the chaser satellite are synthesized onto the pitch and yaw axes of the body frame.According to their spatial composition relationship,the formulas are proposed,which obtain the magnetic moment vectors of the coils from the set torques and forces.The controllers regulating pitch/yaw,translation,and distance utilize a three-loop cascaded structure that consists of an outer position loop,a middle velocity loop and an inner current loop.The control strategy is verified by dynamics simulation.展开更多
基金supported by the National Natural Science Foundation of China (6197317561973172)Tianjin Natural Science Foundation (19JCZDJC32800)。
文摘This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.
基金the Beijing Institute of Spacecraft System Engineering for providing topics,putting forward requirements and granting project funding。
文摘This paper proposes an electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device to achieve relative pose control in satellite docking.The target satellite has a main coil;the chaser satellite possesses a main coil of the same size accompanied by six and four evenly arranged secondary coils inside and outside the main coil,respectively.The coil on the target satellite is DC energized,while the currents in the coils of the chaser satellite are regulated.To remove the coupling between the pitch/yaw torque and translational force,the internal and external secondary coils of the chaser satellite interact with the main coil of the target satellite to perform the control of relative pitch/yaw and relative translation,respectively,so relative pose control can be achieved.The torque and force vectors exerted by the secondary coils of the chaser satellite are synthesized onto the pitch and yaw axes of the body frame.According to their spatial composition relationship,the formulas are proposed,which obtain the magnetic moment vectors of the coils from the set torques and forces.The controllers regulating pitch/yaw,translation,and distance utilize a three-loop cascaded structure that consists of an outer position loop,a middle velocity loop and an inner current loop.The control strategy is verified by dynamics simulation.
