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Control of systems with sector-bounded nonlinearities： robust stability and command effort minimization by disturbance rejection

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Control Theory and Technology 2016年第3期14卷 209-223页

作者： Carlo NOVARA enrico canuto Donato CARLUCCI Politecnico di Torino Italy

The paper shows that a control strategy with disturbance rejection is able to reduce the control effort to a minimum, ensuring at the same time a desired performance level. The disturbance to be rejected is completely unknown, except for a sectorial bound. The control unit is endowed with an extended state observer which includes a disturbance dynamics, whose state tracks the unknown disturbance to be rejected. In summary, the novel contributions of the paper are the following. First, we derive a robust stability condition for the proposed control scheme, holding for all the nonlinearities that are bounded by a known （or estimated） maximum slope. Second, we propose a novel approach for designing the observer and state feedback gains, which guarantee robust closed-loop stability. Third, we show that the designed control system yields, with a minimum control effort, the same control performance as a robust state feedback control, which on the contrary may require a larger command activity. Two simulated case studies are presented to show the effectiveness of the proposed approach.

关键词： Disturbance rejection extended observer robust stability sector-bounded nonlinear systems

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Embedded model control:Reconciling modern control theory and error-based control design

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Control Theory and Technology 2018年第4期16卷 261-283页

作者： enrico canuto Carlo NOVARA Luigi COLANGELO Politecnico di Torino Italy

The paper addresses the problem of reconciling the modern control paradigm developed by R. Kalman in the sixties of the past century, and the centenary error-based design of the proportional, integrative and derivative （PID） controllers. This is done with the help of the error loop whose stability is proved to be necessary and sufficient for the close-loop plant stability. The error loop is built by cascading the uncertain plant-to-model discrepancies （causal, parametric, initial state, neglected dynamics）, which are driven by the design model output and by arbitrary bounded signals, with the control unit transfer functions. The embedded model control takes advantage of the error loop and its equations to design appropriate algorithms of the modern control theory （state predictor, control law, reference generator）, which guarantee the error loop stability and performance. A simulated multivariate case study shows modeling and control design steps and the coherence of the predicted and simulated performance.

关键词： Modern control theory error-based design embedded model control error loop disturbance rejection

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具有不确定参数的温度传感器的动态相对校准(英文)

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中国科学技术大学学报 2012年第5期42卷 345-356页

作者： canuto enrico Ospina José A Acuna-Bravo Wilber 都灵理工大学自动化与电子信息科学系意大利都灵10129

存在动态偏差情况下的传感器校准,与多个传感器的相对校准类似.实现相对校准对许多控制问题都很重要,比如需要产生精确温度梯度的问题、保持均匀与稳定温度场的问题.本文以温度传感器为例,对静态(稳态)校准与动态校准从理论和实验两个... 详细信息

存在动态偏差情况下的传感器校准,与多个传感器的相对校准类似.实现相对校准对许多控制问题都很重要,比如需要产生精确温度梯度的问题、保持均匀与稳定温度场的问题.本文以温度传感器为例,对静态(稳态)校准与动态校准从理论和实验两个角度进行了对比.动态校准的一个优势是其适用于任何测量数据,但其需要建立一个测量仪器的动态模型.尽管本文只研究了一个由三个传感器构成的简单设备,但其结果也适用于更复杂的情况.这正是因为动态校准的另一个显著优势,即其能在任何设备上进行校准,校准的一个前提是所用的动态模型与传感器具有相同的阶次.本文证明了可辨识性(可校准性)条件,并通过以迭代方式求解一个非线性加权最小二乘问题,实现了校准.对解的收敛性、一致性和渐近效率,不但给予了理论证明,且通过蒙特卡罗模拟实验进行了验证.

关键词：相对校准系统辨识加权最小二乘温度传感器

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Disturbance Rejection in Space Applications:Problems and Solutions 30th

Disturbance Rejection in Space Applications:Problems and Sol...

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第三十届中国控制会议

作者： enrico canuto Andrés Molano-Jimenez Carlos Perez-Montenegro Politecnico di Torino Dipartimento di Automatica e Informatica Corso Duca degli Abruzzi 2410129 TorinoItaly

ISBN: (纸本)9781457706776

＜正＞In the propulsive phase of planetary landing like Mars or Moon when only soft landing is the target,guidance, navigation and control are driven by an Inertial Measurement Unit and a radar altimeter/*** measurements are affected by bias and scale（factor） errors,which are aggravated by the vehicle axis to be tilted with respect to the local vertical for most of the descent trajectory,and by the attitude navigation error cumulated during the ballistic（and aerodynamic） flight after the orbiter *** complementing the Centre-of-Mass dynamics with appropriate disturbance state equations driven by noise vectors,and by estimating noise from the model error,scale errors and bias can be real-time retrieved as disturbance state variables,then eliminated from the tracking errors through disturbance rejection, under convergence conditions and sensor *** same result is proved cannot be achieved under pure feedback control. The result shows a well known fact:bias can only be eliminated by disposing of different sensors.A typical case study is the attitude control of drag-free satellites where fine accelerometers allow to reject wide-band drag torques at the price of the attitude drifting because of the accelerometer *** is cancelled by treating it a disturbance to be estimated by attitude sensors like star *** runs illustrate the results.

关键词： Disturbance rejection Disturbance model Attitude control Planetary landing

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行星着陆——推进下降过程的建模与控制(英文)

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中国科学技术大学学报 2013年第1期43卷 1-14页

作者： canuto enrico Molano-Jimenez Andres Perez-Montenegro Carlos Malan Stefano Martella Paolo 都灵理工大学自动化与电子信息科学系意大利都灵10129 阿莱尼亚航天公司 Strada Antica di Collegno 253意大利都灵10135

登陆火星或月球时,释放降落伞后进入推进阶段,通过轴向推力倾斜实现水平方向运动,能够与速度矢量(重力)的相反方向一致或与需要的加速度方向保持一致.后一种策略能实现精确着陆,在该策略下,倾斜角(俯仰角和偏转角)与水平加速度成正比.... 详细信息

登陆火星或月球时,释放降落伞后进入推进阶段,通过轴向推力倾斜实现水平方向运动,能够与速度矢量(重力)的相反方向一致或与需要的加速度方向保持一致.后一种策略能实现精确着陆,在该策略下,倾斜角(俯仰角和偏转角)与水平加速度成正比.这种策略并未采用以水平加速度为姿态控制目标的递阶导航与控制方案,而是基于角加速度对位置作用的四阶动力学特性设计了一个独特的控制系统.除去倾斜角的非线性因素(垂直制动规定的轴向推力)后,系统综合动力学方程能够实现(准)输入-状态线性化.论文同时表明:一方面,基于参考轨迹(倾斜角和位置)的控制器设计仅能实现部分输入-状态线性化;另一方面,系统的内部稳定性可以证明.即使存在不可镇定的外部干扰动力学模态时,仍能确保系统稳定性.蒙特卡洛仿真验证了闭环控制策略的有效性.

关键词：行星着陆有动力下降闭环控制姿态控制位置控制

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Drag-free and Attitude Control for Long-distance,Low-Earth-orbit,Gravimetric Satellite Formation

Drag-free and Attitude Control for Long-distance,Low-Earth-o...

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第二十九届中国控制会议

作者： enrico canuto Luca MASSOTTI Andres MOLANO-JIMENEZ Carlos Norberto PEREZ Politecnico di Torino Dipartimento di Automatica e Informatica

Following the launch in Spring 2009 and operations of the GOCE satellite（Gravity field and steady state Ocean Circulation Explorer）,a new mission made bya long-distance（10 km）satellite formation is under study by European Space *** aims at monitoring,during a 6-year mission,Earth’s gravity field fluctuations more or less in the same wavelength band of GOCE（around 100-km Earth surface grid）.As GOCE is the first’truly’drag-free satellite,the envisaged formation is expected to be the first drag-free formation,posing a suite of challenging technology and control problems under study and solution,*** have demonstrated the mission must be *** paper concentrates on a triad of control problems to be solved and coordinated,namely formation,drag-free and attitude,all of them being highly constrained by a long-life low-Earth-orbit mission imposing low propellant mass and therefore electric propulsion,by scarce propulsion throttabilityof electric thrusters and limited electric *** will be presented and how they can be met through Embedded Model Control will be *** simulated results are included.

关键词： Satellite Formation Drag-free Attitude Control Low-Earth-orbit Gravimetry

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Embedded Model Control Urges Disturbance Modelling and Rejection

Embedded Model Control Urges Disturbance Modelling and Rejec...

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第三十届中国控制会议

作者： enrico canuto Wilber Acuna-Bravo Andres Molano-Jimenez Jose Ospina Carlos Perez-Montenegro Politecnico di Torino Dipartimento di Automatica e InformaticaCorso Duca degli Abruzzi 2410129 TorinoItaly

＜正＞Robust control design is devoted to guarantee closed-loop stability of a model-based control law in presence of parametric *** control law is usually a static feedback law which is derived from a *** this view stability can only be guarantee by introducing some ignorance coefficients and restricting the feedback control effort with respect to the model-based *** Model Control shows that under certain conditions,the model-based control law must and can be kept intact under uncertainty,if the controllable dynamics is complemented by a suitable disturbance dynamics capable of real-time encoding the different uncertainties affecting the ’embedded model’,*** model which is both the design source and the core of the control *** be real-time updated the disturbance state is driven by an unpredictable input vector, called noise,which can be only estimated from the model *** uncertainty-based design concerns the noise estimator,as the model error conveys into the embedded model uncertainty components which are command-dependent and thus prone to destabilize the *** of the components in the low and high frequency domain by the noise estimator itself allows to recover and guarantee stability.A simple example will help to understand the key assets of the methodology.

关键词： Embedded Model Control Disturbance Noise estimator Rejection Model error

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