Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification

This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.

Study on the clogging mechanism of punching screen in sand control by the punching structure parameters

As an independent sand control unit or a common protective shell of a high-quality screen,the punching screen is the outermost sand retaining unit of the sand control pipe which is used in geothermal well or oil and gas well.However,most screens only consider the influence of the internal sand retaining medium parameters in the sand control performance design while ignoring the influence of the plugging of the punching screen on the overall sand retaining performance of the screen.To explore the clogging mechanism of the punching screen,this paper established the clogging mechanism calculation model of a single punching screen sand control unit by using the computational fluid mechanics-discrete element method(CFD-DEM)combined method.According to the combined motion of particles and fluids,the influence of the internal flow state on particle motion and accumulation was analyzed.The results showed that(1)the clogging process of the punching sand control unit is divided into three stages:initial clogging,aggravation of clogging and stability of clogging.In the initial stage of blockage,coarse particles form a loose bridge structure,and blockage often occurs preferentially at the streamline gathering place below chamfering inside the sand control unit.In the stage of blockage intensification,the particle mass develops into a relatively complete sand bridge,which develops from both ends of the opening to the center of the opening.In the stable plugging stage,the sand deposits show a“fan shape”and form a“V-shaped”gully inside the punching slot element.(2)Under a certain reservoir particle-size distribution,The slit length and opening height have a large influence on the permeability and blockage rate,while the slit width size has little influence on the permeability and blockage rate.The microscopic clogging mechanism and its law of the punching screen prevention unit are proposed in this study,which has some field guidance significance for the design of punching screen and sand prevention selection.

Observer-based dynamic event-triggered control for distributed parameter systems over mobile sensor-plus-actuator networks

We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.

Time-varying parameters estimation with adaptive neural network EKF for missile-dual control system

In this paper, a filtering method is presented to estimate time-varying parameters of a missile dual control system with tail fins and reaction jets as control variables. In this method, the long-short-term memory(LSTM) neural network is nested into the extended Kalman filter(EKF) to modify the Kalman gain such that the filtering performance is improved in the presence of large model uncertainties. To avoid the unstable network output caused by the abrupt changes of system states,an adaptive correction factor is introduced to correct the network output online. In the process of training the network, a multi-gradient descent learning mode is proposed to better fit the internal state of the system, and a rolling training is used to implement an online prediction logic. Based on the Lyapunov second method, we discuss the stability of the system, the result shows that when the training error of neural network is sufficiently small, the system is asymptotically stable. With its application to the estimation of time-varying parameters of a missile dual control system, the LSTM-EKF shows better filtering performance than the EKF and adaptive EKF(AEKF) when there exist large uncertainties in the system model.

System Identification and Parameter Self-Tuning Controller on Deep-Sea Mining Vehicle

System identification is a quintessential measure for real-time analysis on kinematic characteristics for deep-sea mining vehicle, and thus to enhance the control performance and testing efficiency. In this study, the system identification algorithm, recursive least square method with instrumental variables(IV-RLS), is tailored to model ‘Pioneer I’, a deep-sea mining vehicle which recently completed a 1305-meter-deep sea trial in the Xisha area of the South China Sea in August, 2021. The algorithm operates on the sensor data collected from the trial to obtain the vehicle’s kinematic model and accordingly design the parameter self-tuning controller. The performances demonstrate the accuracy of the model, and prove its generalization capability. With this model, the optimal controller has been designed, the control parameters have been self-tuned, and the response time and robustness of the system have been optimized,which validates the high efficiency on digital modelling for precision control of deep-sea mining vehicles.

Optimization of Control Loops and Operating Parameters for Three-Phase Separators Used in Oilfield Central Processing Facilities

In this study,the Stokes formula is used to analyze the separation effect of three-phase separators used in a Oilfield Central Processing Facility.The considered main influencing factors include(but are not limited to)the typical size of oil and water droplets,the residence time and temperature of fluid and the dosage of demulsifier.Using the“Specification for Oil and Gas Separators”as a basis,the control loops and operating parameters of each separator are optimized Considering the Halfaya Oilfield as a testbed,it is shown that the proposed approach can lead to good results in the production stage.

Optimization of anchorage support parameters for soft rock tunnel based on displacement control theory

In the construction of a soft rock tunnel,it is critical to accurately estimate the pre-stressed anchor support parameters for surrounding rock reinforcement;otherwise,engineering disasters may occur.This paper presents a support parameter selection method that aims to allow deformation as a control objective,which was applied to the tunnel located in Muzailing Highway,Min County,Dingxi City,Gansu Province,China.Through theoretical analysis,we have identified five factors that influence pre-stressing anchorages.The selection of mechanical parameters for the rock mass was carried out using an inverse analysis method.Compared with the measured data,the maximum displacement error of the numerical simulation results was only 0.07 m.The length of anchor cable,circumferential spacing of anchor cable,longitudinal spacing,and pre-stress index are adopted as the input parameters for the support vector machine neural network model based on particle swarm optimization(PSO-LSSVM).Besides,the vault subsidence and the maximum deformation of surrounding rock are considered as output values(performance indices).The goodness of fit between the predicted values and the simulated values exceeds 0.9.Finally,all support parameters within the acceptable deformation range are calculated.The optimal support variables are derived by considering the construction cost and duration.The field application results show that it is feasible to construct the sample database utilizing the numerical simulation approach by taking the displacement as the control target and using the neural network to specify the appropriate support parameters.

Guide and control of thermal conduction with isotropic thermodynamic parameters based on a rotary-concentrating device

A rotary-concentrating device for thermal conduction is constructed to control and guide thermal energy transmitting in elastic plates.The designed device has the ability of concentrating for thermal conduction and controlling the processes of thermal diffusion in a plate.The multilayered isotropic material properties of the rotary-concentrating device are derived based on the transformation and rotary medium method and a rotation parameter to control the thermal diffusion process is introduced.The efficiency of the rotary-concentrating device for thermal conduction is verified.Stability of temperature fields in a plate with the rotary-concentrating device is analyzed to study the performance of rotary-concentrating.Numerical examples show that the constructed rotary-concentrating device for thermal conduction can effectively rotate and focus on the thermal energy into the device for a wide range of diffusion temperatures,which can enhance the thermal conduction.Therefore,this study can provide a theoretical support for potential applications in fields of energy harvesting and thermal conduction control.

Memory-Type Control Charts Through the Lens of Cost Parameters

A memory-type control chart utilizes previous information for chart construction.An example of a memory-type chart is an exponentially-weighted moving average(EWMA)control chart.The EWMA control chart is well-known and widely employed by practitioners for monitoring small and moderate process mean shifts.Meanwhile,the EWMA median chart is robust against outliers.In light of this,the economic model of the EWMA and EWMA median control charts are commonly considered.This study aims to investigate the effect of cost parameters on the out-of-control average run lengthðARL_(1)Þin implementing EWMA and EWMA median control charts.The economic model was used to compute the ARL_(1) parameter.The 14 input parameters were identified and the analysis was carried out based on the one-parameter-at-a-time basis.When the input parameters change based on a predetermined percentage,the ARL_(1) is affected.According to the results of the EWMA chart,nine input parameters had an effect andfive input parameters had no effect on the ARL_(1) parameter.Further,only seven of the 14 input parameters had an effect on the ARL_(1) of the EWMA median chart.However,the effect of each input parameter on the ARL_(1) was different.Moreover,the ARL_(1) for the EWMA median chart was smaller than the EWMA chart.This analysis is crucial to observe and determine the input parameters that have a significant impact on the ARL_(1) of the EMWA and EWMA median control charts.Hence,practitioners can obtain an overview of the influence of the input parameters on the ARL_(1) when implementing the EWMA and EWMA median control charts.

Experimental study on temperature stress calculation and temperature control optimization of concrete based on early age parameters

Temperature control curve is the key to achieving temperature control and crack prevention of high concrete dam during construction,and its rationality depends on the accurate measurement of temperature stress.With the simulation testing machine for the temperature stress,in the present study,we carried out the deformation process tests of concrete under three temperature curves:convex,straight and concave.Besides,we not only measured the early-age elastic modulus,creep parameters and stress process,but also proposed the preferred type.The results show that at early age,higher temperature always leads to greater elastic modulus and smaller creep.However,the traditional indoor experiments have underestimated the elastic modulus and creep development at early age,which makes the calculated value of temperature stress too small,thus increasing the cracking risk.In this study,the stress values of the three curves calculated based on the strain and early-age parameters are in good agreement with the temperature stress measured by the temperature stress testing machine,which verifies the method accuracy.When the temperature changes along the concave curve,the law of stress development is in consistent with that of strength.Under this condition,the stress fluctuation is small and the crack prevention safety of the concave type is higher,so the concave type is better.The test results provide a reliable basis and support for temperature control curve design and optimization of concrete dams.

Transient elastography(Fibro Scan~?) with controlled attenuation parameter in the assessment of liver steatosis and fibrosis in patients with nonalcoholic fatty liver disease- Where do we stand?

Non-alcoholic fatty liver disease(NAFLD) is the most common cause of chronic liver disease worldwide. Currently, the routinely used modalities are unable to adequately determine the levels of steatosis and fibrosis(laboratory tests and ultrasonography) or cannot be applied as a screening procedure(liver biopsy). Among the non-invasive tests, transient elastography(Fibro Scan?, TE) with controlled attenuation parameter(CAP) has demonstrated good accuracy in quantifying the levels of liver steatosis and fibrosis in patients with NAFLD, the factors associated with the diagnosis and NAFLD progression. The method is fast, reliable and reproducible, with good intra- and interobserver levels of agreement, thus allowing for population-wide screening and disease follow-up. The initial inability of the procedure to accurately determine fibrosis and steatosis in obese patients has been addressed with the development of the obese-specific XL probe. TE with CAP is a viable alternative to ultrasonography, both as an initial assessment and during follow-up of patients with NAFLD. Its ability to exclude patients with advanced fibrosis may be used to identify low-risk NAFLD patients in whom liver biopsy is not needed, therefore reducing the risk of complications and the financial costs.

Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.

Self-adapting control parameters modifieddifferential evolution for trajectoryplanning of manipulators

Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.

High value of controlled attenuation parameter predicts a poor antiviral response in patients with chronic hepatits B

BACKGROUND: Controlled attenuation parameter (CAP) is a non-invasive method for diagnosing hepatic steatosis based on vibration-controlled transient elastography. The objective of this study was to investigate the effect of high value of CAP on antiviral therapy in patients with chronic hepatitis B (CHB). METHODS: Patients with CHB receiving enticavir for initial antiviral therapy were studied; they were divided into the high CAP group and normal CAP group at baseline according to the CAP values. The effect of the antiviral therapy between the two groups were compared at week 12, 24 and 48. Patients with high CAP value at baseline were divided into three subgroups, mild, moderate and severe elevation; the therapeutic response were compared among patients with normal CAP and subgroups of patients with elevated CAP. RESULTS: A total of 153 patients were enrolled. Among them, 63 were in the high CAP group and 90 in the normal CAP group. Patients with high CAP had lower rates of ALT normalization and HBV DNA clearance in response to antiviral therapy compared with those with normal CAP at week 12, 24 and 48. Further analysis showed that the rate of ALT normalization in patients with mildly and moderately elevated CAP were significant lower than those with normal CAP at week 12 and 24; while the difference was not significant between the patients with normal CAP and those with severely elevated CAP. The rate of HBV DNA clearance was significantly lower in patients with severely elevated CAP compared with those with normal CAP at week 12, 24 and 48. CONCLUSION: CHB patients with high CAP had poor response to antiviral therapy.

Impulsive control of permanent magnet synchronous motors with parameters uncertainties

The permanent magnet synchronous motors （PMSMs） may have chaotic behaviours for the uncertain values of parameters or under certain working conditions, which threatens the secure and stable operation of motor-driven. It is important to study methods of controlling or suppressing chaos in PMSMs. In this paper, robust stabilities of PMSM with parameter uncertainties are investigated. After the uncertain matrices which represent the variable system parameters are formulated through matrix analysis, a novel asymptotical stability criterion is established. Some illustrated examples are also given to show the effectiveness of the obtained results.

Parameter design for a vibration absorber with time-delayed feedback control

Traditional passive vibration absorbers are effective only when their natural frequencies are close to those of the excitations. To solve this problem, a vibration absorber with time-delayed feedback control is proposed to suppress vibration of the primary system under excitation with changing frequency. Firstly, the mechanical model of the delay coupled system is established. Then, the displacement transfer ratio of the system is obtained. The stability of the system is analyzed since delay may result in destabilization. Next, in order to design the control parameters, the vibration absorption performances of the proposed time-delayed vibration absorber are studied. The vibration absorption region is shown. The results show that time-delayed feedback control is able to change the response of the system. The effective vibration absorption frequency band is adjustable by tuning the control gain and time delay. The effective frequency band can be widened when choosing appropriate control parameters. The vibration absorption performances can be greatly improved by the time-delayed absorber. In addition, the optimum control parameters are obtained. Finally, the experimental prototype is constructed. Several tests with different control parameters are taken. The experimental and analytical results match quite well.

Adaptive fault-tolerant control based on boundary estimation for space robot under joint actuator faults and uncertain parameters

Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant control algorithm is designed for a space robot system with the uncertain parameters and the PLCE actuator faults.The mathematical model of the system is established based on the Lagrange method,and the PLCE actuator fault is described as an effectiveness factor.The lower bound of the effectiveness factors and the upper bound of the uncertain parameters are estimated by an adaptive strategy,and the estimated value is fed back to the control algorithm.Compared with the traditional fault-tolerant algorithms,the proposed algorithm does not need to predetermine the lower bound of the effectiveness factor,hence it is more in line with the actual engineering application.It is proved that the algorithm can guarantee the stability of the closed-loop system based on the Lyapunov function method.The numerical simulation results show that the proposed algorithm can not only compensate for the uncertain parameters,but also can tolerate the PLCE actuator faults effectively,which verifies the effectiveness and superiority of the control scheme.

SLIDING MODE CONTROL OF A CLASS OF ITO TYPE DISTRIBUTED PARAMETER SYSTEMS WITH DELAY

Sliding mode control problem of a class of Ito^ type partial differential equations with delay is probed. The variable structure controller is designed. The existence of motion of sliding mode is shown. And the character of invariance of sliding control system about uncertainty on the sliding switching surface and stability are analyzed.

Robust H_∞ control for aseismic structures with uncertainties in model parameters

This paper presents a robust H∞ output feedback control approach for structural systems with uncertainties in model parameters by using available acceleration measurements and proposes conditions for the existence of such a robust output feedback controller. The uncertainties of structural stiffness, damping and mass parameters are assumed to be norm-bounded. The proposed control approach is formulated within the framework of linear matrix inequalities, for which existing convex optimization techniques, such as the LM1 toolbox in MATLAB, can be used effectively and conveniently. To illustrate the effectiveness of the proposed robust H∞ strategy, a six-story building was subjected both to the 1940 E1 Centro earthquake record and to a suddenly applied Kanai-Tajimi filtered white noise random excitation. The results show that the proposed robust H∞ controller provides satisfactory results with or without variation of the structural stiffness, damping and mass parameters.

Iterative Learning Control for Distributed Parameter Systems Based on Non-Collocated Sensors and Actuators

In this paper, an open-loop PD-type iterative learning control(ILC) scheme is first proposed for two kinds of distributed parameter systems(DPSs) which are described by parabolic partial differential equations using non-collocated sensors and actuators. Then, a closed-loop PD-type ILC algorithm is extended to a class of distributed parameter systems with a non-collocated single sensor and m actuators when the initial states of the system exist some errors. Under some given assumptions, the convergence conditions of output errors for the systems can be obtained. Finally, one numerical example for a distributed parameter system with a single sensor and two actuators is presented to illustrate the effectiveness of the proposed ILC schemes.