A simple parametric approach to design a full-order observer for matrix second-order linear systems with uncertain disturbance input in the matrixsecond-order framework is proposed. The basic idea is to minimize the H...A simple parametric approach to design a full-order observer for matrix second-order linear systems with uncertain disturbance input in the matrixsecond-order framework is proposed. The basic idea is to minimize the H2 norm of the transfer function from disturbance to estimation error using the design degrees of freedom provided by a parametric approach in the observer design. Besides the design parameters, the eigenvalues of the closed-loop system are also optimized within desired regions on the left-half of the complex plane. Using the proposed approach, additional specifications can be easily achieved. A spring-mass system is using to show the effect of the proposed approaches.展开更多
A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space represe...A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space representation is formulated by local linearization. A parametric approach is applied by using the eigenstructure assignment theory and the model reference method. A feedback stabilizing controller and a feedforward compensation controller are built based on the approach. Then an optimization procedure is followed after that to obtain the desired requirement and characteristics. Simulation results are presented to show the effectiveness of the proposed method.展开更多
A parametric approach to robust fault detection in linear systems with unknown disturbances is presented. The residual is generated using full-order state observers (FSO). Based on an analytical solution to a type o...A parametric approach to robust fault detection in linear systems with unknown disturbances is presented. The residual is generated using full-order state observers (FSO). Based on an analytical solution to a type of Sylvester matrix equations, the parameterization of the observer gain matrix is given. In terms of the design degrees of freedom provided by the parametric observer design and a group of introduced parameter vectors, a sufficient and necessary condition for fullorder state observer design with disturbance decoupling is then established. By properly constraining the design parameters according to this proposed condition, the effect of the disturbance on the residual signal is also decoupled, and a simple algorithm is developed. The presented approach offers all the degrees of design freedom. Finally, a numerical example illustrates the effect of the proposed approach.展开更多
The nonlinear Kortewege-de Varies(KdV)equation is a functional description for modelling ion-acoustic waves in plasma,long internal waves in a density-stratified ocean,shallow-water waves and acoustic waves on a cryst...The nonlinear Kortewege-de Varies(KdV)equation is a functional description for modelling ion-acoustic waves in plasma,long internal waves in a density-stratified ocean,shallow-water waves and acoustic waves on a crystal lattice.This paper focuses on developing and analysing a resilient double parametric analytical approach for the nonlinear fuzzy fractional KdV equation(FFKdVE)under gH-differentiability of Caputo fractional order,namely the q-Homotopy analysis method with the Shehu transform(q-HASTM).A triangular fuzzy number describes the Caputo fractional derivative of orderα,0<α≤1,for modelling problem.The fuzzy velocity profiles with crisp and fuzzy conditions at different spatial positions are in-vestigated using a robust double parametric form-based q-HASTM with its convergence analysis.The ob-tained results are compared with existing works in the literature to confirm the efficacy and effectiveness of the method.展开更多
In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constr...In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constraint are all considered,which make the problem challenging.Inspired by the active disturbance rejection control(ADRC),tracking di®erentiator(TD)and extended state observer(ESO)are introduced for handling the uncertainties and generating the feedback signals.With the proposed feedback control law,the performance of the resulted closed loop system is related to its eigenstructure-eigenvalue and eigenvectors.Based on a type of control parametrization method,the parametrized eigenstructure of the closed loop system are optimized.A better performance is observed by comparative numerical simulation.展开更多
Through the direct parameter approach, a solution for spacecraft attitude tracking is presented. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonli...Through the direct parameter approach, a solution for spacecraft attitude tracking is presented. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. Based on the control model, a suitable controller is designed by the direct parameter approach. Compared with other control strategies, the direct parameter approach can offer all degrees of freedom for the controller to satisfy the requirements for system properties and turn the original nonlinear system into closed-loop linear system. Furthermore, this paper optimizes the controller according to the robustness, limitation of controller output and closed-loop eigenvalue sensitivity. Putting the controller into the original system, the state response of the closed-loop system and the output of controller are plotted in Matlab to verify the availability and robustness of the controller. Therefore, the controlled spacecraft can achieve the goal of tracking on the mobile target with the external disturbance torque.展开更多
In this paper, we present a linear matrix inequality (LMI)-based solution to implement H-two and H- infinity decentralized robust control strategies. Appropriate parametrization of optimal H-two and H-infinity contr...In this paper, we present a linear matrix inequality (LMI)-based solution to implement H-two and H- infinity decentralized robust control strategies. Appropriate parametrization of optimal H-two and H-infinity controllers is used. The general formulation of the decentralized control design leads to the optimal determination of both the state feedback gains and the observer gains of the decentralized controllers. This formulation is two folds: first, a centralized controller is obtained, and then, a simplified decentralized solution is derived by optimizing only the observer gains. The mathematical determination of these gains is formulated as an LMI optimization problem that can be easily solved using LMI solvers. As an experimental evaluation of these controllers, a real time application to an aerothermic process is carried out. A continuous-time model of the process obtained with a suitable direct continuous-time identification approach is elaborated. Results illustrating the real performance obtained from the H-two and H-infinity decentralized controllers are di^cu^ge.d and comnare, d with th~ ce^ntraliTed nn^g展开更多
The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)man...The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)manipulator based on fully-actuated system models and a direct parametric method is investigated.The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg(DH)notation and Euler-Lagrange dynamics.A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances.Then,a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy.After that,a switching control strategy is developed to suppress the peak value belonging to the controller.Simulation results reveal the effect of the proposed control approach.展开更多
This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback. By employing general parametric solutions to a type of so-called high-order Sylvester matrix e...This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback. By employing general parametric solutions to a type of so-called high-order Sylvester matrix equations, complete parametric control approaches for high-order linear systems are presented. The proposed approaches give simple complete parametric expressions for the feedback gains and the closed-loop eigenvector matrices, and produce all the design degrees of freedom. Fur-thermore, important special cases are particularly treated. Based on the proposed parametric design approaches, a parametric method for the gain-scheduling controller design of a linear time-varying system is proposed and the design of a BTT missile autopilot is carried out. 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
基金This project was supported by the Chinese National Natural Science Foundation under Grant (10372015).
文摘A simple parametric approach to design a full-order observer for matrix second-order linear systems with uncertain disturbance input in the matrixsecond-order framework is proposed. The basic idea is to minimize the H2 norm of the transfer function from disturbance to estimation error using the design degrees of freedom provided by a parametric approach in the observer design. Besides the design parameters, the eigenvalues of the closed-loop system are also optimized within desired regions on the left-half of the complex plane. Using the proposed approach, additional specifications can be easily achieved. A spring-mass system is using to show the effect of the proposed approaches.
基金supported by the National Natural Science Foundation of China (61074111)the Innovative Team Program of the National Natural Science Foundation of China (61021002)
文摘A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space representation is formulated by local linearization. A parametric approach is applied by using the eigenstructure assignment theory and the model reference method. A feedback stabilizing controller and a feedforward compensation controller are built based on the approach. Then an optimization procedure is followed after that to obtain the desired requirement and characteristics. Simulation results are presented to show the effectiveness of the proposed method.
基金This work was supported by the National Natural Science Foundation of China (No. 60374024)the Program for Changjiang Scholars andInnovative Research Team in University.
文摘A parametric approach to robust fault detection in linear systems with unknown disturbances is presented. The residual is generated using full-order state observers (FSO). Based on an analytical solution to a type of Sylvester matrix equations, the parameterization of the observer gain matrix is given. In terms of the design degrees of freedom provided by the parametric observer design and a group of introduced parameter vectors, a sufficient and necessary condition for fullorder state observer design with disturbance decoupling is then established. By properly constraining the design parameters according to this proposed condition, the effect of the disturbance on the residual signal is also decoupled, and a simple algorithm is developed. The presented approach offers all the degrees of design freedom. Finally, a numerical example illustrates the effect of the proposed approach.
文摘The nonlinear Kortewege-de Varies(KdV)equation is a functional description for modelling ion-acoustic waves in plasma,long internal waves in a density-stratified ocean,shallow-water waves and acoustic waves on a crystal lattice.This paper focuses on developing and analysing a resilient double parametric analytical approach for the nonlinear fuzzy fractional KdV equation(FFKdVE)under gH-differentiability of Caputo fractional order,namely the q-Homotopy analysis method with the Shehu transform(q-HASTM).A triangular fuzzy number describes the Caputo fractional derivative of orderα,0<α≤1,for modelling problem.The fuzzy velocity profiles with crisp and fuzzy conditions at different spatial positions are in-vestigated using a robust double parametric form-based q-HASTM with its convergence analysis.The ob-tained results are compared with existing works in the literature to confirm the efficacy and effectiveness of the method.
基金supported by the National Defense Basic Scientific Research Program of China (Grant No.JCKY2021204B051).
文摘In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constraint are all considered,which make the problem challenging.Inspired by the active disturbance rejection control(ADRC),tracking di®erentiator(TD)and extended state observer(ESO)are introduced for handling the uncertainties and generating the feedback signals.With the proposed feedback control law,the performance of the resulted closed loop system is related to its eigenstructure-eigenvalue and eigenvectors.Based on a type of control parametrization method,the parametrized eigenstructure of the closed loop system are optimized.A better performance is observed by comparative numerical simulation.
基金supported by National Natural Science Foundation of China(No.61321062)
文摘Through the direct parameter approach, a solution for spacecraft attitude tracking is presented. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. Based on the control model, a suitable controller is designed by the direct parameter approach. Compared with other control strategies, the direct parameter approach can offer all degrees of freedom for the controller to satisfy the requirements for system properties and turn the original nonlinear system into closed-loop linear system. Furthermore, this paper optimizes the controller according to the robustness, limitation of controller output and closed-loop eigenvalue sensitivity. Putting the controller into the original system, the state response of the closed-loop system and the output of controller are plotted in Matlab to verify the availability and robustness of the controller. Therefore, the controlled spacecraft can achieve the goal of tracking on the mobile target with the external disturbance torque.
文摘In this paper, we present a linear matrix inequality (LMI)-based solution to implement H-two and H- infinity decentralized robust control strategies. Appropriate parametrization of optimal H-two and H-infinity controllers is used. The general formulation of the decentralized control design leads to the optimal determination of both the state feedback gains and the observer gains of the decentralized controllers. This formulation is two folds: first, a centralized controller is obtained, and then, a simplified decentralized solution is derived by optimizing only the observer gains. The mathematical determination of these gains is formulated as an LMI optimization problem that can be easily solved using LMI solvers. As an experimental evaluation of these controllers, a real time application to an aerothermic process is carried out. A continuous-time model of the process obtained with a suitable direct continuous-time identification approach is elaborated. Results illustrating the real performance obtained from the H-two and H-infinity decentralized controllers are di^cu^ge.d and comnare, d with th~ ce^ntraliTed nn^g
基金This research was supported by the Natural Science Foundation of Heilongjiang Province under Grant No.LH2020F035.
文摘The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)manipulator based on fully-actuated system models and a direct parametric method is investigated.The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg(DH)notation and Euler-Lagrange dynamics.A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances.Then,a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy.After that,a switching control strategy is developed to suppress the peak value belonging to the controller.Simulation results reveal the effect of the proposed control approach.
基金Supported by the Major Program of the National Natural Science Foundation of China (Grant No. 60710002)the Program for Changjiang Scholars and Innovative Research Team in University, Self-planed Task of State Key Laboratory of Robotics and System (Grant No.SKLRS200801A03)and the Key Programs of Heilongjiang Province (Grant No. ZJC603)
文摘This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback. By employing general parametric solutions to a type of so-called high-order Sylvester matrix equations, complete parametric control approaches for high-order linear systems are presented. The proposed approaches give simple complete parametric expressions for the feedback gains and the closed-loop eigenvector matrices, and produce all the design degrees of freedom. Fur-thermore, important special cases are particularly treated. Based on the proposed parametric design approaches, a parametric method for the gain-scheduling controller design of a linear time-varying system is proposed and the design of a BTT missile autopilot is carried out. The simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.