A novel gain-scheduled switching control method for the longitudinal motion of a flexible air-breathing hypersonic vehicle (FAHV) is proposed. Firstly, velocity and altitude are selected as scheduling variables, a p...A novel gain-scheduled switching control method for the longitudinal motion of a flexible air-breathing hypersonic vehicle (FAHV) is proposed. Firstly, velocity and altitude are selected as scheduling variables, a polytopic linear parameter varying (LPV) model is developed to represent the complex nonlinear longitudinal dynamics of the FAHV. Secondly, based on the obtained polytopic LPV model, the flight envelope is divided into four smaller subregions, and four gain-scheduled controllers are designed for these parameter subregions. Then, by the defined switching characteristic function, these gain-scheduled controllers are switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a given tracking error performance criterion. The condition of gain-scheduled switching controller synthesis is given in terms of linear matrix inequalities (LMIs) which can be easily solved by using standard software packages. Finally, simulation results show the effectiveness of the presented method.展开更多
This paper proposes an adaptive augmentation control design approach of the gain-scheduled controller.This extension is motivated by the need for augmentation of the baseline gainscheduled controller.The proposed appr...This paper proposes an adaptive augmentation control design approach of the gain-scheduled controller.This extension is motivated by the need for augmentation of the baseline gainscheduled controller.The proposed approach can be utilized to design flight control systems for advanced aerospace vehicles with a large parameter variation.The flight dynamics within the flight envelope is described by a switched nonlinear system,which is essentially a switched polytopic system with uncertainties.The flight control system consists of a baseline gain-scheduled controller and a model reference adaptive augmentation controller,while the latter can recover the nominal performance of the gainscheduled controlled system under large uncertainties.By the multiple Lyapunov functions method,it is proved that the switched nonlinear system is uniformly ultimately bounded.To validate the effectiveness of the proposed approach,this approach is applied to a generic hypersonic vehicle,and the simulation results show that the system output tracks the command signal well even when large uncertainties exist.展开更多
This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a sing...This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a single control input.First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points,an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled backstepping control(GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes.展开更多
The large-scale morphing aircraft can change its shape dramatically to perform high flight performance.To ensure the transient stability of aircraft in the morphing process,a novel gain-scheduled control method is inv...The large-scale morphing aircraft can change its shape dramatically to perform high flight performance.To ensure the transient stability of aircraft in the morphing process,a novel gain-scheduled control method is investigated numerically in this paper.Based on quasi-steady assumption,the linear parameter varying (LPV) model of the morphing vehicle is derived from its nonlinear equation.Afterwards,by solving a set of linear matrix inequalities along with the bound of the morphing rate via slowly varying system theory,the designed controller which considers the transition stability during the morphing process is obtained.Finally,the transition process simulations of the morphing aircraft are performed via the changes simultaneously in both span and sweep,and the results demonstrate the effectiveness of the proposed controller.展开更多
This paper investigates the recoil control of the deepwater drilling riser system with nonlinear tension force and energy-bounded friction force under the circumstances of limited network resources and unreliable comm...This paper investigates the recoil control of the deepwater drilling riser system with nonlinear tension force and energy-bounded friction force under the circumstances of limited network resources and unreliable communication.Different from the existing linearization modeling method,a triangle-based polytope modeling method is applied to the nonlinear riser system.Based on the polytope model,to improve resource utilization and accommodate random data loss and communication delay,an asynchronous gain-scheduled control strategy under a hybrid event-triggered scheme is proposed.An asynchronous linear parameter-varying system that blends input delay and impulsive update equation is presented to model the nonlinear networked recoil control system,where the asynchronous deviation bounds of scheduling parameters are calculated.Resorting to the Lyapunov-Krasovskii functional method,some solvable conditions of disturbance attenuation analysis and recoil control design are derived such that the resulting networked system is exponentially mean-square stable with prescribed H∞performance.The obtained numerical results verified that the proposed nonlinear networked control method can achieve a better recoil response of the riser system with less transmission data compared with the linear control method.展开更多
This paper deals with the problem of gain-scheduled L-one control for linear parameter-varying (LPV) systems with parameter-dependent delays. The attention is focused on the design of a gain-scheduled L-one controll...This paper deals with the problem of gain-scheduled L-one control for linear parameter-varying (LPV) systems with parameter-dependent delays. The attention is focused on the design of a gain-scheduled L-one controller that guarantees being an asymptotically stable closed-loop system and satisfying peak-to-peak performance constraints for LPV systems with respect to all amplitude-bounded input signals. In particular, concentrating on the delay-dependent case, we utilize parameter-dependent Lyapunov functions (PDLF) to establish peak-to-peak performance criteria for the first time where there exists a coupling between a Lyapunov function matrix and system matrices. By introducing a slack matrix, the decoupling for the parameter-dependent time-delay LPV system is realized. In this way, the sufficient conditions for the existence of a gain-scheduled L-one controller are proposed in terms of the Lyapunov stability theory and the linear matrix inequality (LMI) method. Based on approximate basis function and the gridding technique, the corresponding controller design is cast into a feasible solution problem of the finite parameter linear matrix inequalities. A numerical example is given to show the effectiveness of the proposed approach.展开更多
The design of the gain-scheduled H_(2)/H_(∞)filter for polytopic discrete-time systems is investigated.By introducing additional slack variables,a new mixed H_(2)/H_(∞)performance criterion is proposed,which provide...The design of the gain-scheduled H_(2)/H_(∞)filter for polytopic discrete-time systems is investigated.By introducing additional slack variables,a new mixed H_(2)/H_(∞)performance criterion is proposed,which provides a decoupling between the Lyapunov matrix and system matrices.Based on the new performance criterion,a sufficient condition for the existence of the gain-scheduled H_(2)/H_(∞)filter is derived.Furthermore,the filter design problem is converted into a convex optimization problem with linear matrix inequality(LMI)constraints.Simulation results show the effectiveness of the proposed approach.展开更多
A new approach to gain-scheduling of H∞controllers is proposed for a cruise missile with variableswept wings( VSW) in bank-to-turn( BTT) mode. A nonlinear dynamic model is established and anticipant performance crite...A new approach to gain-scheduling of H∞controllers is proposed for a cruise missile with variableswept wings( VSW) in bank-to-turn( BTT) mode. A nonlinear dynamic model is established and anticipant performance criterions are given at first. For the selected operating points,feedback robust controllers of threechannels are designed independently to restrain cross-channel couple disturbances and aerodynamic perturbations. Then,the sweepback and Ma number are selected to schedule controller gains iteratively to ensure all closed-loop poles locating inside the desired region. The proposed method here attempts to extend the performance of initial design obtained for a single arbitrary point to the whole linearized domain while maintaining the expected stability over the entire range of sweepback and full flight envelope. Some time-domain analysis procedures based on the proposed method are carried out and assessed,while the performance of tracking and robustness to aerodynamic perturbations in different situations are contrasted by some nonlinear simulations. Finally,the numerical simulations demonstrate that the proposed autopilot design method has better tracking performance and is robust,effective and feasible.展开更多
A parametric method for the gain-scheduled controller design of a linear time-varying system is given. According to the proposed scheduling method, the performance between adjacent characteristic points is preserved b...A parametric method for the gain-scheduled controller design of a linear time-varying system is given. According to the proposed scheduling method, the performance between adjacent characteristic points is preserved by the invariant eigenvalues and the gradually varying eigenvectors. A sufficient stability criterion is given by constructing a series of Lyapunov functions based on the selected discrete characteristic points. An important contribution is that it provides a simple and feasible approach for the design of gain-scheduled controllers for linear time-varying systems, which can guarantee both the global stability and the desired closed-loop performance of the resulted system. The method is applied to the design of a BTT missile autopilot and the simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.展开更多
On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine...On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.展开更多
This paper presents an application of gain-scheduling(GS) control techniques to a floating offshore wind turbine on a barge platform for above rated wind speed cases. Special emphasis is placed on the dynamics variati...This paper presents an application of gain-scheduling(GS) control techniques to a floating offshore wind turbine on a barge platform for above rated wind speed cases. Special emphasis is placed on the dynamics variation of the wind turbine system caused by plant nonlinearity with respect to wind speed. The turbine system with the dynamics variation is represented by a linear parameter-varying(LPV) model, which is derived by interpolating linearized models at various operating wind speeds. To achieve control objectives of regulating power capture and minimizing platform motions, both linear quadratic regulator(LQR) GS and LPV GS controller design techniques are explored. The designed controllers are evaluated in simulations with the NREL 5 MW wind turbine model, and compared with the baseline proportional-integral(PI) GS controller and non-GS controllers. The simulation results demonstrate the performance superiority of LQR GS and LPV GS controllers, as well as the performance trade-off between power regulation and platform movement reduction.展开更多
This article develops a polytopic linear pa- rameter varying (LPV) model and presents a non-fragile H2 gain-scheduled control for a flexible air-breathing hypersonic vehicle (FAHV). First, the polytopic LPV model ...This article develops a polytopic linear pa- rameter varying (LPV) model and presents a non-fragile H2 gain-scheduled control for a flexible air-breathing hypersonic vehicle (FAHV). First, the polytopic LPV model of the FAHV can be obtained by using Jacobian linearization and tensor-product (TP) model transfor- mation approach, simulation verification illustrates that the polytopic LPV model captures the local nonlinear- ities of the original nonlinear system. Second, based on the developed polytopic LPV model, a non-fragile gain- scheduled control method is proposed in order to reduce the fragility encountered in controller implementation, a convex optimisation problem with linear matrix in- equalities (LMIs) constraints is formulated for designing a velocity and altitude tracking controller, which guar- antees//2 control performance index. Finally, numerical simulations have demonstrated the effectiveness of the proposed approach.展开更多
This paper investigates the boost phase's longitudinal autopilot of a ballistic missile equipped with thrust vector control. The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capaci...This paper investigates the boost phase's longitudinal autopilot of a ballistic missile equipped with thrust vector control. The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capacitor (RLC) network compensator as a control strategy, which does not take into account the time-varying missile dynamics. This may cause the closed-loop system instability in the presence of large disturbance and dynamics uncertainty. Therefore, the existing controller should be redesigned to achieve more stable vehicle response. In this paper, based on gain-scheduling adaptive control strategy, two different types of optimal controllers are proposed. The first controller is gain-scheduled optimal tuning-proportional-integral-derivative (PID) with actuator constraints, which supplies better response but requires a priori knowledge of the system dynamics. Moreover, the controller has oscillatory response in the presence of dynamic uncertainty. Taking this into account, gain-scheduled optimal linear quadratic (LQ) in conjunction with optimal tuning-compensator offers the greatest scope for controller improvement in the presence of dynamic uncertainty and large disturbance. The latter controller is tested through various scenarios for the validated nonlinear dynamic flight model of the real ballistic missile system with autopilot exposed to external disturbances.展开更多
基金supported by the National Outstanding Youth Science Foundation(61125306)the National Natural Science Foundation of Major Research Plan(91016004+2 种基金61034002)the Specialized Research Fund for the Doctoral Program of Higher Education of China (20110092110020)the Scientific Research Foundation of Graduate School of Southeast University(YBJJ1103)
文摘A novel gain-scheduled switching control method for the longitudinal motion of a flexible air-breathing hypersonic vehicle (FAHV) is proposed. Firstly, velocity and altitude are selected as scheduling variables, a polytopic linear parameter varying (LPV) model is developed to represent the complex nonlinear longitudinal dynamics of the FAHV. Secondly, based on the obtained polytopic LPV model, the flight envelope is divided into four smaller subregions, and four gain-scheduled controllers are designed for these parameter subregions. Then, by the defined switching characteristic function, these gain-scheduled controllers are switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a given tracking error performance criterion. The condition of gain-scheduled switching controller synthesis is given in terms of linear matrix inequalities (LMIs) which can be easily solved by using standard software packages. Finally, simulation results show the effectiveness of the presented method.
基金supported by the National Natural Science Fundation of China(6097401461273083)
文摘This paper proposes an adaptive augmentation control design approach of the gain-scheduled controller.This extension is motivated by the need for augmentation of the baseline gainscheduled controller.The proposed approach can be utilized to design flight control systems for advanced aerospace vehicles with a large parameter variation.The flight dynamics within the flight envelope is described by a switched nonlinear system,which is essentially a switched polytopic system with uncertainties.The flight control system consists of a baseline gain-scheduled controller and a model reference adaptive augmentation controller,while the latter can recover the nominal performance of the gainscheduled controlled system under large uncertainties.By the multiple Lyapunov functions method,it is proved that the switched nonlinear system is uniformly ultimately bounded.To validate the effectiveness of the proposed approach,this approach is applied to a generic hypersonic vehicle,and the simulation results show that the system output tracks the command signal well even when large uncertainties exist.
文摘This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a single control input.First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points,an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled backstepping control(GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes.
基金supported by the Fundamental Research Funds for the Central Universities (No. 2662018QD029)the National Natural Science Foundation of China(Nos.91016022,61503354)in part by the Priority Academic Program of Jiangsu Higher Education Institutions
文摘The large-scale morphing aircraft can change its shape dramatically to perform high flight performance.To ensure the transient stability of aircraft in the morphing process,a novel gain-scheduled control method is investigated numerically in this paper.Based on quasi-steady assumption,the linear parameter varying (LPV) model of the morphing vehicle is derived from its nonlinear equation.Afterwards,by solving a set of linear matrix inequalities along with the bound of the morphing rate via slowly varying system theory,the designed controller which considers the transition stability during the morphing process is obtained.Finally,the transition process simulations of the morphing aircraft are performed via the changes simultaneously in both span and sweep,and the results demonstrate the effectiveness of the proposed controller.
基金Project supported by the National Natural Science Foundation of China(Nos.62373220 and 62173209)the Shandong Provincial Natural Science Foundation of China(No.ZR2023MF011)。
文摘This paper investigates the recoil control of the deepwater drilling riser system with nonlinear tension force and energy-bounded friction force under the circumstances of limited network resources and unreliable communication.Different from the existing linearization modeling method,a triangle-based polytope modeling method is applied to the nonlinear riser system.Based on the polytope model,to improve resource utilization and accommodate random data loss and communication delay,an asynchronous gain-scheduled control strategy under a hybrid event-triggered scheme is proposed.An asynchronous linear parameter-varying system that blends input delay and impulsive update equation is presented to model the nonlinear networked recoil control system,where the asynchronous deviation bounds of scheduling parameters are calculated.Resorting to the Lyapunov-Krasovskii functional method,some solvable conditions of disturbance attenuation analysis and recoil control design are derived such that the resulting networked system is exponentially mean-square stable with prescribed H∞performance.The obtained numerical results verified that the proposed nonlinear networked control method can achieve a better recoil response of the riser system with less transmission data compared with the linear control method.
基金partly supported by the Natural Science Foundation of Heilongjiang Province (No. F200504)the Scientific and Technical Research Project of the Education Department of Heilongjiang Province (No. 12511002)
文摘This paper deals with the problem of gain-scheduled L-one control for linear parameter-varying (LPV) systems with parameter-dependent delays. The attention is focused on the design of a gain-scheduled L-one controller that guarantees being an asymptotically stable closed-loop system and satisfying peak-to-peak performance constraints for LPV systems with respect to all amplitude-bounded input signals. In particular, concentrating on the delay-dependent case, we utilize parameter-dependent Lyapunov functions (PDLF) to establish peak-to-peak performance criteria for the first time where there exists a coupling between a Lyapunov function matrix and system matrices. By introducing a slack matrix, the decoupling for the parameter-dependent time-delay LPV system is realized. In this way, the sufficient conditions for the existence of a gain-scheduled L-one controller are proposed in terms of the Lyapunov stability theory and the linear matrix inequality (LMI) method. Based on approximate basis function and the gridding technique, the corresponding controller design is cast into a feasible solution problem of the finite parameter linear matrix inequalities. A numerical example is given to show the effectiveness of the proposed approach.
基金supported by the National Natural Science Foundation of China (Grant No.60736026).
文摘The design of the gain-scheduled H_(2)/H_(∞)filter for polytopic discrete-time systems is investigated.By introducing additional slack variables,a new mixed H_(2)/H_(∞)performance criterion is proposed,which provides a decoupling between the Lyapunov matrix and system matrices.Based on the new performance criterion,a sufficient condition for the existence of the gain-scheduled H_(2)/H_(∞)filter is derived.Furthermore,the filter design problem is converted into a convex optimization problem with linear matrix inequality(LMI)constraints.Simulation results show the effectiveness of the proposed approach.
基金Sponsored by Armament Department Pre-Research Foundation of China(Grant No.9140A31010114JB25465)Natural Science Foundation of Jiangsu Province(Grant No.BK20140795)Chinese Aerospace CAST Innovation Foundation(Grant No.CAST2014-27)
文摘A new approach to gain-scheduling of H∞controllers is proposed for a cruise missile with variableswept wings( VSW) in bank-to-turn( BTT) mode. A nonlinear dynamic model is established and anticipant performance criterions are given at first. For the selected operating points,feedback robust controllers of threechannels are designed independently to restrain cross-channel couple disturbances and aerodynamic perturbations. Then,the sweepback and Ma number are selected to schedule controller gains iteratively to ensure all closed-loop poles locating inside the desired region. The proposed method here attempts to extend the performance of initial design obtained for a single arbitrary point to the whole linearized domain while maintaining the expected stability over the entire range of sweepback and full flight envelope. Some time-domain analysis procedures based on the proposed method are carried out and assessed,while the performance of tracking and robustness to aerodynamic perturbations in different situations are contrasted by some nonlinear simulations. Finally,the numerical simulations demonstrate that the proposed autopilot design method has better tracking performance and is robust,effective and feasible.
基金supported by the National Natural Science Foundation of China (60474015)Program for Changjiang Scholars and Innovative Research Team in University
文摘A parametric method for the gain-scheduled controller design of a linear time-varying system is given. According to the proposed scheduling method, the performance between adjacent characteristic points is preserved by the invariant eigenvalues and the gradually varying eigenvectors. A sufficient stability criterion is given by constructing a series of Lyapunov functions based on the selected discrete characteristic points. An important contribution is that it provides a simple and feasible approach for the design of gain-scheduled controllers for linear time-varying systems, which can guarantee both the global stability and the desired closed-loop performance of the resulted system. The method is applied to the design of a BTT missile autopilot and the simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.
文摘On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.
基金supported by the Natural Sciences and Engineering Research Council of Canada(NSERC)(No.11R82911)the Institute of Computing,Information and Cognitive Systems(ICICS)at the University of British Columbia
文摘This paper presents an application of gain-scheduling(GS) control techniques to a floating offshore wind turbine on a barge platform for above rated wind speed cases. Special emphasis is placed on the dynamics variation of the wind turbine system caused by plant nonlinearity with respect to wind speed. The turbine system with the dynamics variation is represented by a linear parameter-varying(LPV) model, which is derived by interpolating linearized models at various operating wind speeds. To achieve control objectives of regulating power capture and minimizing platform motions, both linear quadratic regulator(LQR) GS and LPV GS controller design techniques are explored. The designed controllers are evaluated in simulations with the NREL 5 MW wind turbine model, and compared with the baseline proportional-integral(PI) GS controller and non-GS controllers. The simulation results demonstrate the performance superiority of LQR GS and LPV GS controllers, as well as the performance trade-off between power regulation and platform movement reduction.
文摘This article develops a polytopic linear pa- rameter varying (LPV) model and presents a non-fragile H2 gain-scheduled control for a flexible air-breathing hypersonic vehicle (FAHV). First, the polytopic LPV model of the FAHV can be obtained by using Jacobian linearization and tensor-product (TP) model transfor- mation approach, simulation verification illustrates that the polytopic LPV model captures the local nonlinear- ities of the original nonlinear system. Second, based on the developed polytopic LPV model, a non-fragile gain- scheduled control method is proposed in order to reduce the fragility encountered in controller implementation, a convex optimisation problem with linear matrix in- equalities (LMIs) constraints is formulated for designing a velocity and altitude tracking controller, which guar- antees//2 control performance index. Finally, numerical simulations have demonstrated the effectiveness of the proposed approach.
基金National Natural Science Foundation of China (60904066)National Basic Research Program of China (2010CB327904)"Weishi" Young Teachers Talent Cultivation Foundation of Beihang University (YWF-11-03-Q-013)
文摘This paper investigates the boost phase's longitudinal autopilot of a ballistic missile equipped with thrust vector control. The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capacitor (RLC) network compensator as a control strategy, which does not take into account the time-varying missile dynamics. This may cause the closed-loop system instability in the presence of large disturbance and dynamics uncertainty. Therefore, the existing controller should be redesigned to achieve more stable vehicle response. In this paper, based on gain-scheduling adaptive control strategy, two different types of optimal controllers are proposed. The first controller is gain-scheduled optimal tuning-proportional-integral-derivative (PID) with actuator constraints, which supplies better response but requires a priori knowledge of the system dynamics. Moreover, the controller has oscillatory response in the presence of dynamic uncertainty. Taking this into account, gain-scheduled optimal linear quadratic (LQ) in conjunction with optimal tuning-compensator offers the greatest scope for controller improvement in the presence of dynamic uncertainty and large disturbance. The latter controller is tested through various scenarios for the validated nonlinear dynamic flight model of the real ballistic missile system with autopilot exposed to external disturbances.