PD-like finite time controller with simple structure for satellite attitude control

A finite time controller with PD-like structure for satellite attitude control is proposed in this paper.The controller is constructed with simple structure based on standard PD controller.The fractional order term is designed hence system could both have strong robustness and finite time convergence rate,and the advantage of finite time control and PD control is combined in this paper.System convergence rate is discussed by Lyapunov method,and the constraint on control parameters is given by implementing the coupled term of angular velocity and attitude quaternion.Moreover,the accuracy at steady stage depending on control parameters is given hence system could converge to this field within finite time.System stability and performance is demonstrated by numerical simulation results.

Practical Prescribed Time Tracking Control With Bounded Time-Varying Gain Under Non-Vanishing Uncertainties

This paper investigates the prescribed-time control(PTC) problem for a class of strict-feedback systems subject to non-vanishing uncertainties. The coexistence of mismatched uncertainties and non-vanishing disturbances makes PTC synthesis nontrivial. In this work, a control method that does not involve infinite time-varying gain is proposed, leading to a practical and global prescribed time tracking control solution for the strict-feedback systems, in spite of both the mismatched and nonvanishing uncertainties. Different from methods based on control switching to avoid the issue of infinite control gain that involves control discontinuity at the switching point, in our method a softening unit is exclusively included to ensure the continuity of the control action. Furthermore, in contrast to most existing prescribed-time control works where the control scheme is only valid on a finite time interval, in this work, the proposed control scheme is valid on the entire time interval. In addition, the prior information on the upper or lower bound of gi is not in need,enlarging the applicability of the proposed method. Both the theoretical analysis and numerical simulation confirm the effectiveness of the proposed control algorithm.

INDIRECT ACCELERATED ADAPTIVE FUZZY CONTROLLER

According to a type of normal nonlinear system, an indirect adaptive fuzzy （IAF） controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To satisfy with system performance, an indirect accelerated adaptive fuzzy （IAAF） controller is proposed, and its general form is presented. The general form IAAF controller ensures necessary control criteria and system＇s global stability using Lyapunov Theorem. It has been proved that the close-loop system error converges to a small neighborhood of equilibrium point. The optimal IAAF controller is derived to guarantee the process＇s shortest settling time. Simulation results indicate the IAAF controller make the system more stable, accurate, and fast.

Robust H_∞ Stabilization of Uncertain Linear Time-Delay System with Delayed/Undelayed State Feedback Controllers

This paper focuses on the H∞ controller design for linear systems with time-varying delays and norm-bounded parameter perturbations in the system state and control/disturbance. On the existence of delayed/undelayed full state feedback controllers, we present a sufficient condition and give a design method in the form of Riccati equation. The controller can not only stabilize the time-delay system, but also make the H∞ norm of the closed-loop system be less than a given bound. This result practically generalizes the related results in current literature.

Design of Robust Controller for LFC of Interconnected Power System Considering Communication Delays

The usage of open communication infrastructure for transmitting the control signals in the Load Frequency Control (LFC) scheme of power system introduces time delays. These time delays may degrade the dynamic performance of the power system. This paper proposes a robust method to design a controller for multi-area LFC schemes considering communication delays. In existing literature, the controller values of LFC are designed using time domain approach which is less accurate than the proposed method. In proposed method, the controller values are determined by moving the rightmosteigenvalues of the system to the left half plane in a quasi-continuous way for a preset upper bound of time delay. Then the robustness of the proposed controller is assessed by estimating the maximumtolerable value of time delay for maintaining system stability. Simulation studies are carried out for multi-area LFC scheme equipped with the proposed controller using Matlab/simulink. From the results, it has been concluded that the proposed controller guarantees the tolerance for all time delays smaller than the preset upper bound and provides a bigger delay margin than the existing controllers.

Reinforcement⁃Learning⁃Based Appointed⁃Time Prescribed Performance Attitude Control for Rigid Spacecraft

This paper addresses a geometric control algorithm for the attitude tracking problem of the rigid spacecraft modeled on SO(3).Considering the topological and geometric properties of SO(3),we introduced a smooth positive attitude error function to convert the attitude tracking issue on SO(3)into the stabilization counterpart on its Lie algebra.The error transformation technique was further utilized to ensure the assigned transient and steady state performance of the attitude tracking error with the aid of a well⁃designed assigned⁃time performance function.Then,using the actor⁃critic(AC)neural architecture,an adaptive reinforcement learning approximator was constructed,in which the actor neural network(NN)was utilized to approximate the unknown nonlinearity online.A critic function was introduced to tune the next phase of the actor neural network operation for performance improvement via supervising the system performance.A rigorous stability analysis was presented to show that the assigned system performance can be achieved.Finally,the effectiveness and feasibility of the constructed control strategy was verified by the numerical simulation.

Seam Tracking and Visual Control for Robotic Arc Welding Based on Structured Light Stereovision

A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.

Impact angle control over composite guidance law based on feedback linearization and finite time control

The impact angle control over guidance(IACG) law against stationary targets is proposed by using feedback linearization control(FLC) and finite time control(FTC). First, this paper transforms the kinematics equation of guidance systems into the feedbackable linearization model, in which the guidance law is obtained without considering the impact angle via FLC. For the purpose of the line of sight(LOS) angle and its rate converging to the desired values, the second-order LOS angle is considered as a double-integral system. Then, this paper utilizes FTC to design a controller which can guarantee the states of the double-integral system converging to the desired values. Numerical simulation illustrates the performance of the IACG, in contrast to the existing guidance law.

Optimal Formation Reconfiguration Control of Multiple UCAVs Using Improved Particle Swarm Optimization

Optimal formation reconfiguration control of multiple Uninhabited Combat Air Vehicles （UCAVs） is a complicated global optimum problem. Particle Swarm Optimization （PSO） is a population based stochastic optimization technique inspired by social behaviour of bird flocking or fish schooling. PSO can achieve better results in a faster, cheaper way compared with other bio-inspired computational methods, and there are few parameters to adjust in PSO. In this paper, we propose an improved PSO model for solving the optimal formation reconfiguration control problem for multiple UCAVs. Firstly, the Control Parameterization and Time Diseretization （CPTD） method is designed in detail. Then, the mutation strategy and a special mutation-escape operator are adopted in the improved PSO model to make particles explore the search space more efficiently. The proposed strategy can produce a large speed value dynamically according to the variation of the speed, which makes the algorithm explore the local and global minima thoroughly at the same time. Series experimental results demonstrate the feasibility and effectiveness of the proposed method in solving the optimal formation reconfiguration control problem for multiple UCAVs.

Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode

For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.

Chaos detection and control in a typical power system

In this paper, a new chaotic system is introduced. The proposed system is a conventional power network that demonstrates a chaotic behavior under special operating conditions. Some features such as Lyapunov exponents and a strange attractor show the chaotic behavior of the system, which decreases the system performance. Two different controllers are proposed to control the chaotic system. The first one is a nonlinear conventional controller that is simple and easy to construct, but the second one is developed based on the finite time control theory and optimized for faster control. A MATLAB-based simulation verifies the results.

On String Stable Control of Platoon of Automated Vehicles with Predecessor-successor Information Framework

For the constant distance spacing policy,the existing researches of the string stability focus on the single-predecessor information framework（SPIF） and predecessor-successor information framework（PSIF）.The research results demonstrated that the string stability could not be guaranteed with the SPIF,and then the PSIF was proposed to resolve this string instability.But the issue,whether the string stability can be guaranteed when applying the PSIF,is still controversial.Meanwhile,most of the previous researches on the string stability were conducted without consideration of the parasitic time delays and lags.In this paper,the practical longitudinal vehicle dynamics model is built with consideration of the parasitic time delays and lags existing in the actuators,sensors or the communication systems.Secondly,the detailed theoretical analysis of string stability in frequency domain is conducted to demonstrate that the classical linear control laws can not ensure the string stability when applying both the symmetrical PSIF（SPSIF） and asymmetrical PSIF（APSIF）.Thirdly,a control law,which adds the position and velocity information of the leading vehicle,is proposed to guarantee string stability for small/medium platoon,and the other control law,which adds the acceleration information of the controlled vehicle,is proposed to guarantee string stability for large platoon as well as small/medium platoon.Finally,the comparative simulation is conducted to confirm the conducted analysis and the proposed control laws.The conducted research completes the means to analyze the string stability in frequency domain,provides the parameters＇ reference for the design and implementation of the practical automatic following controllers,and improves the reliability and stability of the platoon of automatic vehicles.

A Novel Computerized Water Level Control System of PWR Steam Generator of Nuclear Power Plant

This paper presents a novel method to solve old problem of water level control system of pressurized water reactor (PWR) steam generator (SG) of nuclear power plant (NPP) .The level control system of SG plays an important role which effects the reliablity,safty,cost of SG and its mathematical models have been solved.A model of the conventional controller is presented and the existing problems are discussed. A novel rule based realtime control technique is designed with a computerized water level control (CWLC) system for SG of PWR NPP.The performance of this is evaluated for full power reactor operating conditions by applying different transient conditions of SG′s data of Qinshan Nuclear Power Plant (QNPP).

Trajectory optimization and applications using high performance solar sails

The high performance solar sail can enable fast missions to the outer solar system and produce exotic non-Keplerian orbits.As there is no fuel consumption,mission trajectories for solar sail spacecraft are typically optimized with respect to flight time.Several investigations focused on interstellar probe missions have been made,including optimal methods and new objective functions. Two modes of interstellar mission trajectories,namely 'direct flyby' and 'angular momentum reversal trajectory',are compared and discussed.As a foundation,a 3D non-dimensional dynamic model for an ideal plane solar sail is introduced as well as an optimal control framework.A newly found periodic double angular momentum reversal trajectory is presented,and some properties and potential applications of this kind of inverse orbits are illustrated.The method how to achieve the minimum periodic inverse orbit is also briefly elucidated.

RESPONSE OF PARAMETRICALLY EXCITED DUFFING-VAN DER POL OSCILLATOR WITH DELAYED FEEDBACK

The dynamical behaviour of a parametrically excited Duffing-van der Pol oscillator under linear-plus-nonlinear state feedback control with a time delay is concerned. By means of the method of averaging together with truncation of Taylor expansions, two slow-flow equations on the amplitude and phase of response were derived for the case of principal parametric resonance, it is shown that the stability condition for the trivial solution is only associated with the linear terms in the original systems besides the amplitude and frequency of parametric excitation. And the trivial solution can be stabilized by appreciate choice of gains and time delay in feedback control. Different from the case of the trivial solution, the stability condition for nontrivial solutions is also associated with nonlinear terms besides linear terms in the original system. It is demonstrated that nontrivial steady state responses may lose their stability by saddle-node （SN） or Hopf bifurcation （HB） as parameters vary. The simulations, obtained by numerically integrating the original system, are in good agreement with the analytical results.

Adaptive Control of MIMO Mechanical Systems with Unknown Actuator Nonlinearities Based on the Nussbaum Gain Approach

This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown time-varying control coefficients are tackled. In contrast to existing literatures on continuous-time systems, the newly-developed Nussbaum tool focuses on extending the traditional Nussbaum result from one dimensional case to the multiple one. Specifically,not only the multiple unknown input coefficients are extended to the time-varying, but also the limitation of the prior knowledge of coefficients' upper and lower bounds is removed. Furthermore,an adaptive robust controller associated with the proposed tool is presented. The asymptotic tracking of MIMO mechanical systems is guaranteed with the help of the Lyapunov Theorem. Finally,a simulation example is provided to examine the validity of the proposed scheme.

TIME-SPACE CONCEPT FOR PRECISION MEASUREMENT

The transformation between time and space is discussed. To improve real-time response speed of intelligent measuring system, the concept of exchanging program execution time with more circuitry is presented working in cycle mode. Displacement measuring by magnification is achieved with period measurement by magnification. To change the condition that traditional precision measurement depends on machining precision greatly, the concept of measuring space with time and theory of time-space coordinate transformation are proposed. Guided by the idea of measuring space with time, differential frequency measurement system and time grating displacement sensor are developed based on the proposed novel methods. And high-precision measurement is achieved without high-precision manufacture, which embeds the remarkable characteristics of low cost but high precision to the devices. Experiment and test results conform the validity of the proposed time-space concept.

Origin and controlling factors of chlorite coatings—an example from the reservoir of T_3x Group of the Baojie area,Sichuan Basin,China

The study of the chlorite coatings always attracts scholars in China and other countries because the chlorite coatings play an important role in the preservation of residual primary pores in sandstone reservoirs.At present,the study of the origin and the controlling factors is relatively few.The occurrence,time of formation,genesis,controlling factors,and the mechanism of chlorite coatings inhibiting quartz overgrowths were studied in detail with thin section and SEM analysis.Samples were from the sandstone reservoirs of the T3x Group in the Baojie area,the transitional zone from the middle to the south of Sichuan Basin.The results indicate that the chlorite coatings on the walls of the pore spaces are oriented perpendicular to grain surfaces in the form of isopachous(even-thickness) grain-coating,while the chlorite coatings at the contacts between adjacent detrital grains are arranged with a preferred orientation tangential to the surface of detrital grains.The chlorite coatings were formed in the eogenetic stage.They were formed by recrystallization of Fe-rich clay films during the syndepositional period,and chlorite cements would be recrystallized after the coatings’ formation.The formation of chlorite coatings was mainly controlled by the depositional environment,provenance conditions,and diagenetic environment.The presence of chlorite coatings could result in the preservation of primary pores in deeply buried sandstone reservoirs by effectively inhibiting quartz overgrowths and the development of compaction and pressure solution.

Convergence and Superconvergence of Fully Discrete Finite Element for Time Fractional Optimal Control Problems

In this paper, we consider a fully discrete finite element approximation for time fractional optimal control problems. The state and adjoint state are approximated by triangular linear fi nite elements in space and L1 scheme in time. The control is obtained by the variational discretization technique. The main purpose of this work is to derive the convergence and superconvergence. A numerical example is presented to validate our theoretical results.

e-Automation,an Architecture for Distributed Industrial Automation Systems

Due to the complexity of modern industrial systems, a conventional automation system is not capable of providing sufficient information management and high-level intelligent approaches, as achieving these functionalities requires the support of comprehensive data management and coordination between system devices and heterogenous information. This paper proposes the concept of e-Automation, in which computer networking and distributed intelligence agent technologies are applied to industrial automation systems, and presents a hardware and software architecture that implements this concept. An open infrastructure based on multi-agent systems is employed in the proposed architecture of e-Automation, which aims to allow the implementation of diverse tasks and to permit greater configurability than can be obtained from a traditional system. To evaluate our proposed e-Automation concept, this paper presents a case study of substation information management which adopts the proposed e-Automation architecture in power system domain.