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Prescribed-time leader-following consensus of linear multi-agent systems by bounded linear time-varying protocols

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Science China(Information Sciences) 2024年第1期67卷 140-153页

作者： Kai ZHANG Bin ZHOU Xuefei YANG guangren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology

This paper considers the prescribed-time leader-following consensus problem of input-constrained linear multi-agent systems under generally directed communication topology in two cases:the Laplacian matrix related to the entire communication topology between agents is either known or *** particular,the consensus problem for the former case is solved by a novel bounded linear time-varying(LTV) protocol,where the feedback gain is formulated by the parametric Lyapunov equation and the knowledge of the Laplacian ***,by utilizing a distributed observer,a fully bounded LTV protocol is proposed for the latter *** should be noted that,compared with the existing results,the system under consideration is more general,the designed protocols are linear,and the consensus problem is accomplished even in a fully distributed ***,the effectiveness of the proposed approach is verified by a numerical example.

关键词： leader-following consensus time-vary feedback prescribed-time control fully distributed consensus

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亚严反馈系统镇定的全驱系统方法

航空学报 2024年第1期45卷 1-12页

作者：段广仁哈尔滨工业大学控制理论与制导技术研究中心哈尔滨150001 南方科技大学深圳市控制理论与智能系统重点实验室深圳518055

针对一类增益函数存在奇异值的严反馈系统,提出了一种亚严反馈系统(sub-SFS)镇定的全驱系统(FAS)方法。首先,给出了亚严反馈系统的定义,并定义了这一类系统的可行集和奇异集。然后,揭示了亚严反馈系统可以在一定条件下通过模型变换转化... 详细信息

针对一类增益函数存在奇异值的严反馈系统,提出了一种亚严反馈系统(sub-SFS)镇定的全驱系统(FAS)方法。首先,给出了亚严反馈系统的定义,并定义了这一类系统的可行集和奇异集。然后,揭示了亚严反馈系统可以在一定条件下通过模型变换转化为高阶的亚全驱系统,并利用全驱系统亚稳定性和亚镇定性的概念精确地描述了相应的吸引区。进一步,根据全驱系统的控制特性,可以极其容易地求得亚严反馈系统镇定的显式化控制律,得到线性定常的闭环控制系统。该方法不仅极大地降低了控制器设计的复杂性,解决了计算膨胀的问题,而且还可以利用可行性条件,有效地避免控制器奇异值问题。最后,进行了稳定性分析和案例仿真,其结果验证了本文所提控制方法的有效性。

关键词：亚严反馈系统全驱系统方法亚稳定亚镇定奇异值

Multiobjective Control Synthesis for a Class of Systems with Linear Fractional Uncertainty

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Multiobjective Control Synthesis for a Class of Systems with...

基于干扰观测器的一类组合航天器高阶全驱抗干扰控制

第二十四届中国控制会议

作者： he liang, duan guangren (Center for Control Theory and Guidance Technology Harbin Institute of technology. P. O. Box 416, Harbin. 150001. China)

In this paper, multiobjective control synthesis based on Hdisturbance attenuation blended with D -stability constraints on the closed-loop pole location is addressed for a class of systems containing linear fractional uncertainties. A state feedback controller is designed to achieve a compromise between the H-norm bound and pole constraints. Solutions to the problem are derived in terms of a family of linear matrix inequalities and are numerically tractable via LMI techniques. A numerical example demonstrates the effect of the proposed design approach.

关键词： multiobjective control H∞ performance D-stability linear fractional uncertainty

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航空学报 2024年第1期45卷 66-78页

作者：崔凯鑫段广仁哈尔滨工业大学控制理论与制导技术研究中心哈尔滨150001 南方科技大学控制科学与技术研究中心深圳518055

研究了一类组合航天器的高阶全驱(HOFA)抗干扰控制,其干扰包括具有未知参数的输入端干扰和常值外部干扰。首先,引入一种一般化的离散时间高阶全驱后向差分模型,并对其中的2种干扰分别进行了干扰估计。其次,基于HOFA系统框架,设计了基于... 详细信息

研究了一类组合航天器的高阶全驱(HOFA)抗干扰控制,其干扰包括具有未知参数的输入端干扰和常值外部干扰。首先,引入一种一般化的离散时间高阶全驱后向差分模型,并对其中的2种干扰分别进行了干扰估计。其次,基于HOFA系统框架,设计了基于干扰观测器的复合控制器,不仅可以有效抑制干扰,而且能够得到一个可任意配置特征结构的闭环系统。然后,利用参数化方法,分别建立了观测器增益矩阵和反馈控制矩阵的完全参数化形式。最后,所提方法被应用于一类实际组合航天器模拟器,仿真和试验结果验证了所提方法的有效性。

关键词：组合航天器离散时间高阶全驱后向差分模型干扰观测器抗干扰控制参数化设计

Adaptive block dynamic surface control for integrated missile guidance and autopilot

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Chinese Journal of Aeronautics 2013年第3期26卷 741-750页

作者： Hou Mingzhe liang Xiaoling duan guangren Center for Control Theory and Guidance Technology Harbin Institute of Technology

A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.

关键词： Adaptive control Block dynamic surface control Integrated guidance and autopilot Missile control Nonlinear control

Fully actuated system approaches for continuous-time delay systems: part 1. Systems with state delays only

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Science China(Information Sciences) 2023年第2期66卷 158-187页

作者： guangren duan Center for Control Science and Technology Southern University of Science and Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, the fully actuated system(FAS) approaches for continuous-time systems with time-varying state delays are proposed. Two types of continuous-time high-order FAS models with time delays: single-order time-delay FAS models and multi-order time-delay FASs, are proposed. Particularly, the type of sub-FASs that do not completely but partially satisfy the full actuation is investigated, and the sets of feasible points are defined. When the system states are constrained to the feasible set, a controller can be easily constructed for the sub-FAS such that the closed-loop system is a constant linear system with an arbitrarily assignable eigenstructure. In addition, it is demonstrated that the feasibility constraint can be transformed into a constraint on the initial values of the system, which vanishes when the system is a(global)FAS. Based on the unique control characteristic of the type of FAS models, the concepts of controllability and stabilizability of general dynamical time-delay systems are also proposed. The effect of the proposed theories is illustrated with examples.

关键词： time-delay systems fully actuated systems controller designs controllability stabilizability

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Discrete-time delay systems: part 1. Global fully actuated case

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Science China(Information Sciences) 2022年第8期65卷 87-104页

作者： guangren duan Center for Control Science and Technology Southern University of Science and Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

A basic introduction to the fully actuated system(FAS) approaches for discrete-time systems with delays is given. Firstly, general dynamical discrete-time FAS models with time-varying state delays and constant input delays are proposed. The FAS models are classified into affine ones and non-affine ones,and also ones with and without interconnections. Secondly, controllers for such FASs are designed, which result in constant linear closed-loop systems with arbitrarily assignable eigenstructure. Different from the case of FAS with state delays only, the controller for a discrete-time FAS with an input delay involves a prediction scheme which is constructed based on the open-loop system. The contribution of this paper has laid a fundamental basis for FAS approaches to discrete-time delay systems, and further specific analysis and design problems can be established similar to the continuous-time system case.

关键词： discrete-time systems time-delay systems time-varying delays fully actuated systems control designs

Parametric output regulation using observer-based PI controllers with applications in flexible spacecraft attitude control

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Science China(Information Sciences) 2021年第7期64卷 148-164页

作者： guangren duan Tianyi ZHAO Center for Control Theory and Guidance Technology Harbin Institute of Technology

A parametric multiobjective design approach based on a proportional-integral(PI) controller and a full-state observer is proposed for output regulation in a multivariable linear system. First, a complete parametric form of the observer-based PI control law is established, which yields a closed-loop system with the desired eigenstructure and ensures that the regulated output asymptotically tracks a given constant signal in the presence of constant but unknown disturbances. All design degrees of freedom are preserved and characterized using a set of parameter vectors. Second, a separation principle of eigenvalue sensitivities is proven, and based on this result, the parameters of the closed-loop system are comprehensively optimized to reduce the eigenvalue sensitivity and the control gain, and also to enhance the tolerance to time-varying disturbances. Finally, the proposed method is applied to attitude control of a flexible spacecraft. Moreover,numerical simulations based on practical engineering parameters are performed to verify the superiority of the proposed method over traditional proportional-integral-derivative(PID) control methods.

关键词： parametric control system design multiobjective design observer-based control separation principle PI regulator constant signal tracking disturbance decoupling and attenuation

Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

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