A new scheme of adaptive control is proposed for a class of linear time-invariant( LTI) dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and c...A new scheme of adaptive control is proposed for a class of linear time-invariant( LTI) dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and conventional direct model reference adaptive control scheme,various modifications have been employed to achieve the goal. "C omposite model reference adaptive control"of higher performance is seam-lessly combined with "positive μ-mod",which consequently results in a smooth tracking trajectory despite of the input constraints. In addition,bounded-gain forgetting is utilized to facilitate faster convergence of parameter estimates. The stability of the closed-loop systemcan be guaranteed by using Lyapunov theory.The merits and effectiveness of the proposed method are illustrated by a numerical example of the longitudinal dynamical systems of a fixed-wing airplane.展开更多
In this paper,an active fault accommodate strategy is proposed for the plant in the presence of actuator fault and input constraints,which is a combination of a direct adaptive control algorithm with multiple model sw...In this paper,an active fault accommodate strategy is proposed for the plant in the presence of actuator fault and input constraints,which is a combination of a direct adaptive control algorithm with multiple model switching.The μ-modification is introduced in the model reference architecture to construct the adaptive controller.The proof of stability is based on the candidate Lyapunov function,while appropriate switching of multiple models guarantees asymptotic tracking of the system states and the boundedness of all signals.Simulation results illustrate the efficiency of the proposed method.展开更多
A decentralized model reference adaptive control (MRAC) scheme is proposed and applied to design a multivariable control system of a dual-spool turbofan engine.Simulation studies show good static and dynamic performan...A decentralized model reference adaptive control (MRAC) scheme is proposed and applied to design a multivariable control system of a dual-spool turbofan engine.Simulation studies show good static and dynamic performance of the system over the fullflight envelope. Simulation results also show the good effectiveness of reducing interactionin the multivariable system with significant coupling. The control system developed has awide frequency band to satisfy the strict engineering requirement and is practical for engineering applications.展开更多
A novel robust fault diagnosis scheme, which possesses fault estimate capability as well as fault diagnosis property, is proposed. The scheme is developed based on a suitable combination of the adaptive multiple model...A novel robust fault diagnosis scheme, which possesses fault estimate capability as well as fault diagnosis property, is proposed. The scheme is developed based on a suitable combination of the adaptive multiple model (AMM) and unknown input observer (UIO). The main idea of the proposed scheme stems from the fact that the actuator Lock-in-Place fault is unknown (when and where the actuator gets locked are unknown), and multiple models are used to describe different fault scenarios, then a bank of unknown input observers are designed to implement the disturbance de-coupling. According to Lyapunov theory, proof of the robustness of the newly developed scheme in the presence of faults and disturbances is derived. Numerical simulation results on an aircraft example show satisfactory performance of the proposed algorithm.展开更多
Currently most of control methods are of one degree of freedom(1-DOF) control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect dist...Currently most of control methods are of one degree of freedom(1-DOF) control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be increased.In practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available torques.This paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking controller.The parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown frequencies.The tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired trajectories.In the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is avoided.The Lyapunov stability of closed loop systems is analyzed.To validate proposed control scheme,simulation results are provided for a two link horizontal robot manipulator.The simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the system.An important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1 -DOF control structure framework.展开更多
To solve the rapid transient control problem of Flight Environment Simulation System(FESS) of Altitude Ground Test Facilities(AGTF) with large heat transfer uncertainty and disturbance, a new adaptive control structur...To solve the rapid transient control problem of Flight Environment Simulation System(FESS) of Altitude Ground Test Facilities(AGTF) with large heat transfer uncertainty and disturbance, a new adaptive control structure of modified robust optimal adaptive control is presented.The mathematic modeling of FESS is given and the influence of heat transfer is analyzed through energy view. To consider the influence of heat transfer in controller design, we introduce a matched uncertainty that represents heat transfer influence in the linearized system of FESS. Based on this linear system, we deduce the design of modified robust optimal adaptive control law in a general way. Meanwhile, the robust stability of the modified robust optimal adaptive control law is proved through using Lyapunov stability theory. Then, a typical aero-engine test condition with Mach Dash and Zoom-Climb is used to verify the effectiveness of the devised adaptive controller. The simulation results show that the designed controller has servo tracking and disturbance rejection performance under heat transfer uncertainty and disturbance;the relative steady-state and dynamic errors of pressure and temperature are both smaller than 1% and 0.2% respectively. Furthermore,the influence of the modification parameter c is analyzed through simulation. Finally, comparing with the standard ideal model reference adaptive controller, the modified robust optimal adaptive controller obviously provides better control performance than the ideal model reference adaptive controller does.展开更多
基金Supported by Deep Exploration Technology and Experimentation Project(201311194-04)
文摘A new scheme of adaptive control is proposed for a class of linear time-invariant( LTI) dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and conventional direct model reference adaptive control scheme,various modifications have been employed to achieve the goal. "C omposite model reference adaptive control"of higher performance is seam-lessly combined with "positive μ-mod",which consequently results in a smooth tracking trajectory despite of the input constraints. In addition,bounded-gain forgetting is utilized to facilitate faster convergence of parameter estimates. The stability of the closed-loop systemcan be guaranteed by using Lyapunov theory.The merits and effectiveness of the proposed method are illustrated by a numerical example of the longitudinal dynamical systems of a fixed-wing airplane.
基金supported by the Aeronautics Science Foundation of China(No.2007ZC52039)the National Natural Science Foundation of China(No.90816023)
文摘In this paper,an active fault accommodate strategy is proposed for the plant in the presence of actuator fault and input constraints,which is a combination of a direct adaptive control algorithm with multiple model switching.The μ-modification is introduced in the model reference architecture to construct the adaptive controller.The proof of stability is based on the candidate Lyapunov function,while appropriate switching of multiple models guarantees asymptotic tracking of the system states and the boundedness of all signals.Simulation results illustrate the efficiency of the proposed method.
文摘A decentralized model reference adaptive control (MRAC) scheme is proposed and applied to design a multivariable control system of a dual-spool turbofan engine.Simulation studies show good static and dynamic performance of the system over the fullflight envelope. Simulation results also show the good effectiveness of reducing interactionin the multivariable system with significant coupling. The control system developed has awide frequency band to satisfy the strict engineering requirement and is practical for engineering applications.
基金the National Natural Science Foundation of China (60574083)Aeronautics Science Foun-dation of China (2007ZC52039)
文摘A novel robust fault diagnosis scheme, which possesses fault estimate capability as well as fault diagnosis property, is proposed. The scheme is developed based on a suitable combination of the adaptive multiple model (AMM) and unknown input observer (UIO). The main idea of the proposed scheme stems from the fact that the actuator Lock-in-Place fault is unknown (when and where the actuator gets locked are unknown), and multiple models are used to describe different fault scenarios, then a bank of unknown input observers are designed to implement the disturbance de-coupling. According to Lyapunov theory, proof of the robustness of the newly developed scheme in the presence of faults and disturbances is derived. Numerical simulation results on an aircraft example show satisfactory performance of the proposed algorithm.
基金supported by National Natural Science Foundation of China(Grant No.60736022)
文摘Currently most of control methods are of one degree of freedom(1-DOF) control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be increased.In practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available torques.This paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking controller.The parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown frequencies.The tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired trajectories.In the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is avoided.The Lyapunov stability of closed loop systems is analyzed.To validate proposed control scheme,simulation results are provided for a two link horizontal robot manipulator.The simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the system.An important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1 -DOF control structure framework.
基金funded by China Scholarship Council (CSC)and National Science and Technology Major Project,China(No. 2017-V-0015-0067)。
文摘To solve the rapid transient control problem of Flight Environment Simulation System(FESS) of Altitude Ground Test Facilities(AGTF) with large heat transfer uncertainty and disturbance, a new adaptive control structure of modified robust optimal adaptive control is presented.The mathematic modeling of FESS is given and the influence of heat transfer is analyzed through energy view. To consider the influence of heat transfer in controller design, we introduce a matched uncertainty that represents heat transfer influence in the linearized system of FESS. Based on this linear system, we deduce the design of modified robust optimal adaptive control law in a general way. Meanwhile, the robust stability of the modified robust optimal adaptive control law is proved through using Lyapunov stability theory. Then, a typical aero-engine test condition with Mach Dash and Zoom-Climb is used to verify the effectiveness of the devised adaptive controller. The simulation results show that the designed controller has servo tracking and disturbance rejection performance under heat transfer uncertainty and disturbance;the relative steady-state and dynamic errors of pressure and temperature are both smaller than 1% and 0.2% respectively. Furthermore,the influence of the modification parameter c is analyzed through simulation. Finally, comparing with the standard ideal model reference adaptive controller, the modified robust optimal adaptive controller obviously provides better control performance than the ideal model reference adaptive controller does.