To reduce the number of the level sets used in algorithm of constrained nonlinear systems via ellipsoidal techniques, according to the analysis of mathematics, searching algorithm is used for choosing the control inpu...To reduce the number of the level sets used in algorithm of constrained nonlinear systems via ellipsoidal techniques, according to the analysis of mathematics, searching algorithm is used for choosing the control input. Simulation shows that the number of level sets used for controlling is almost the same as that used in polytope techniques. Sub time optimal algorithm reduces the number of the level sets used in ellipsoidal techniques.展开更多
A reconfigurable, self-phase quadrifilar helical antenna was designed at BDS/GPS frequency band. The impedance, gain and directivity of the antenna were studied by HFSS based on FEM （finite element method） and exper...A reconfigurable, self-phase quadrifilar helical antenna was designed at BDS/GPS frequency band. The impedance, gain and directivity of the antenna were studied by HFSS based on FEM （finite element method） and experiment. Results show the beam width of the main lobe of the pattern can reach over 160° with the help of the load on the top of the antenna. And the power of the side-lobe level is very low. In addition, the quadrifitar helix antenna has excellent right-hand circular polarization performance with a beam width of 180°. Both single-frequency and double-frequency communications can be carried out by the antenna in the ranges between 1.2 and 1.8 GHz, with the bandwidth of each frequency about 60 MHz, the simulating and experimental results are nearly the same.展开更多
This study proposes an efficient indirect approach for general nonlinear dynamic optimization problems without path constraints. The approach incorporates the virtues both from indirect and direct methods: it solves t...This study proposes an efficient indirect approach for general nonlinear dynamic optimization problems without path constraints. The approach incorporates the virtues both from indirect and direct methods: it solves the optimality conditions like the traditional indirect methods do, but uses a discretization technique inspired from direct methods. Compared with other indirect approaches, the proposed approach has two main advantages: (1) the discretized optimization problem only employs unconstrained nonlinear programming (NLP) algorithms such as BFGS (Broyden-Fletcher-Goldfarb-Shanno), rather than constrained NLP algorithms, therefore the computational efficiency is increased; (2) the relationship between the number of the discretized time intervals and the integration error of the four-step Adams predictor-corrector algorithm is established, thus the minimal number of time intervals that under desired integration tolerance can be estimated. The classic batch reactor problem is tested and compared in detail with literature reports, and the results reveal the effectiveness of the proposed approach. Dealing with path constraints requires extra techniques, and will be studied in the second paper.展开更多
A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi...A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.展开更多
A robust nonlinear control method is presented for spacecraft precise formation flying.With the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the ...A robust nonlinear control method is presented for spacecraft precise formation flying.With the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the Lagrange systems with the holonomic constraints and the differential algebraic equations (DAE).The nonlinear control laws are developed by solving the DAE.Because the traditional numerical solving methods of DAE are very sensitive to the various errors and the resulting con-trol laws are not robust in engineering application,the robust control law designed method is further developed by designing the correct coefficients to correct the errors of the formation array constraints.A numeral study simulated the robustness of this method for the various errors in the formation flying mission,including the initial errors of spacecraft formation,the reference satellite orbit determination errors,the relative perturbation forces model errors,and so on.展开更多
文摘To reduce the number of the level sets used in algorithm of constrained nonlinear systems via ellipsoidal techniques, according to the analysis of mathematics, searching algorithm is used for choosing the control input. Simulation shows that the number of level sets used for controlling is almost the same as that used in polytope techniques. Sub time optimal algorithm reduces the number of the level sets used in ellipsoidal techniques.
基金The research is supported by Shanghai Shuguang Plan Project （No： 15SG44） and NSFC of China （No： 51579143, 51379121 and 61304230） and China Postdoctoral Science Foundation （No： 2015M581585）.
文摘A reconfigurable, self-phase quadrifilar helical antenna was designed at BDS/GPS frequency band. The impedance, gain and directivity of the antenna were studied by HFSS based on FEM （finite element method） and experiment. Results show the beam width of the main lobe of the pattern can reach over 160° with the help of the load on the top of the antenna. And the power of the side-lobe level is very low. In addition, the quadrifitar helix antenna has excellent right-hand circular polarization performance with a beam width of 180°. Both single-frequency and double-frequency communications can be carried out by the antenna in the ranges between 1.2 and 1.8 GHz, with the bandwidth of each frequency about 60 MHz, the simulating and experimental results are nearly the same.
基金Supported by the National Natural Science Foundation of China (U1162130)the National High Technology Research and Development Program of China (2006AA05Z226)the Outstanding Youth Science Foundation,Zhejiang Province (R4100133)
文摘This study proposes an efficient indirect approach for general nonlinear dynamic optimization problems without path constraints. The approach incorporates the virtues both from indirect and direct methods: it solves the optimality conditions like the traditional indirect methods do, but uses a discretization technique inspired from direct methods. Compared with other indirect approaches, the proposed approach has two main advantages: (1) the discretized optimization problem only employs unconstrained nonlinear programming (NLP) algorithms such as BFGS (Broyden-Fletcher-Goldfarb-Shanno), rather than constrained NLP algorithms, therefore the computational efficiency is increased; (2) the relationship between the number of the discretized time intervals and the integration error of the four-step Adams predictor-corrector algorithm is established, thus the minimal number of time intervals that under desired integration tolerance can be estimated. The classic batch reactor problem is tested and compared in detail with literature reports, and the results reveal the effectiveness of the proposed approach. Dealing with path constraints requires extra techniques, and will be studied in the second paper.
基金Project(61473304)supported by the National Natural Science Foundation of ChinaProject(2015AA042202)supported by Hi-tech Research and Development Program of China
文摘A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
基金supported by the China Postdoctoral Foundation (Grant Nos. 20080440217, 200902666)
文摘A robust nonlinear control method is presented for spacecraft precise formation flying.With the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the Lagrange systems with the holonomic constraints and the differential algebraic equations (DAE).The nonlinear control laws are developed by solving the DAE.Because the traditional numerical solving methods of DAE are very sensitive to the various errors and the resulting con-trol laws are not robust in engineering application,the robust control law designed method is further developed by designing the correct coefficients to correct the errors of the formation array constraints.A numeral study simulated the robustness of this method for the various errors in the formation flying mission,including the initial errors of spacecraft formation,the reference satellite orbit determination errors,the relative perturbation forces model errors,and so on.
