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Improved backstepping control for large angle maneuvers of spacecraft

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控制理论与应用（英文版） 2013年第3期11卷 483-488页

作者： kemao ma Jiawei ZHANG Yafei YANG Control and Simulation Center Harbin Institute of Technology

For the control of large angle maneuvers of a spacecraft, variable gain backstepping control is proposed. The controller can make the states of the system converge to the commanded position along the input vector field orientation. The controller stabilizes the system with the amplitude of the commanded torques decreased. Considering the uncertainty of the disturbance torques and the estimation error of the inertia matrix, the control design is improved to provide strong self-adaptability and robustness of the system. Simulation is conducted, and the results show that the design has good tracking performance and convergence, consistent with the theoretical analysis.

关键词： Large angle maneuvers Backstepping control Self-adaptive Robustness Torque amplitude

Research on semi-active control method of a building structure based on non-smooth control

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Earthquake Engineering and Engineering Vibration 2019年第2期18卷 425-432页

作者： Wang Qing Wang Jianhui ma kemao School of Mechanical and Electric Engineering Guangzhou University School of Astronautics Harbin Institute of Technology

This study investigates the effectiveness of the non-smooth semi-active control algorithm on suppressing the vibration performance of a building structure subjected to seismic waves. According to the Lyapunov stability theory, it has bene proven that the non-smooth semi-active control algorithm can achieve a finite-time stability of the vibration relative to the isolation layer of a building structure. Through numerical simulation of two buildings with different parameters subjected to the input of a seismic wave, the vibration conditions of passive control, LQR semi-active control and non-smooth semiactive control are compared and analyzed. The simulation results show that the non-smooth semi-active control algorithm has a better robustness and effectiveness in restraining the impact of earthquakes on the structure.

关键词： building structure isolation layer semi-active control non-smooth control vibration

Design and Implementation of Guidance Laws for Intercepting Targets with Towed Decoys

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Design and Implementation of Guidance Laws for Intercepting ...

第37届中国控制会议

作者： Zhihong Zhang kemao ma manjun Lu Xiangzhen Yu Harbin Institute of Technology Shanghai Radio Equipment Research Institute

To attack non-maneuvering targets with towed decoys, a new compound guidance concept for head-on interception is proposed. Considering the conical blind area in front of decoy, we formulate a head-on engagement scenario: where the attacking missile enters the blind area of the decoy to avoid the radar jamming from the towed decoy and then attacks the target directly. Based on some common assumptions, the guidance laws for the missile inside and outside the blind area is presented respectively. Moreover, a sufficient condition for the existence of head-on engagement geometry is derived. Finally, numerical simulation is conducted, and the results show satisfactory performance of the compound guidance strategy.

关键词： Guidance Law Towed Decoy Head-on Interception Conical Blind Area

Mixed H_2/H_∞ filtering for a class of high-speed sampling uncertain systems

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Science in China(Series F) 2008年第5期51卷 560-570页

作者： ZHANG Rui YAO Yu ma kemao CHEN SongLin Control and Simulation Center Harbin Institute of Technology Harbin 150001 China

The problem of mixed H2/H∞ filtering for polytopic Delta operator systems is investigated. The aim is to design a linear asymptotically stable filter which guarantees that the filtering error system has different performances in different filtering channels. Based on a parameter-dependent Lyapunov function, a new mixed H2/H∞ performance criterion is presented. Upon this performance criterion, a sufficient condition for the full-order mixed H2/H∞ filter is derived in terms of linear matrix inequalities. The filter can be obtained from the solution of a convex optimization problem. The proposed filter design procedure is less conservative than the strategy based on the quadratic stability notion. A numerical example is given to illustrate the feasibility of the proposed approach.

关键词： H2/H∞ filtering linear matrix inequality polytopic uncertainty

Autopilot Design of Missile with Input Delay Based on Self-Stable Region Approach

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Autopilot Design of Missile with Input Delay Based on Self-S...

第36届中国控制会议

作者： Jiping Peng Xin Huo kemao ma Jipeng Dong Jinpeng Zhang Control and Simulation Center Harbin Institute of Technology China Airborne Missile Academy

ISBN: (纸本)9781538629185

In this paper,the synthesis method,self-stable region(SSR) approach,is applied to uncertain and time delay system.The chattering phenomenon is the main drawback of sliding mode control(SMC),and the response delay of actuators is a primary cause.However,the existence of time delay is common in real world.The SSR approach is an improvement for SMC method.A simple second order system with input delay is taken as example to show the superiority of the SSR approach dealing with uncertainties and time delay.In contrast to the SMC method,the SSR approach avoids chattering essentially,and shows great tolerance for time delay.Considering the response delay of lateral thrusters,the SSR approach is applied to missile’s autopilot design.The numerical simulation verifies that the SSR approach can succeed in tracking pitch angle command and decreasing the switching of lateral forces.

关键词： Self-Stable Region Sliding Mode Control Time Delay System Autopilot Design Blended Control

Control Design for Current Loop of PMSM Using A Modified Model-Compensation ADRC Controller

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Control Design for Current Loop of PMSM Using A Modified Mod...

第三十九届中国控制会议

作者： Yingning Gao Hui Zhao kemao ma Xin Huo Control and Simulation Center Harbin Institute of Technology

Active disturbance rejection control（ADRC） is now widely applied in motor drives due to its advantages like independence of system models and better disturbance rejection ability. For the current loop of PMSM, the uncertainties like model coupling and parameter variation can be estimated and compensated by ADRC. Considering that the total disturbance of current loop can be partially compensated for by available plant characteristics, the idea of model compensation can be applied to ADRC controller. However, the filter link in current feedback loop is usually ignored in conventional model compensation approach. Therefore, a modified model-compensation ADRC current control strategy considering the filter link effect is proposed in this paper, with simulation results show that better current tracking performance is achieved by the proposed control strategy.

关键词： Model-Compensation ADRC Total disturbance Filter link Current loop

Integral-backstepping-based Attitude Control for UAH with Immeasurable States

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Integral-backstepping-based Attitude Control for UAH with Im...

第40届中国控制会议

作者： Chao Wang Xin Huo kemao ma Ruiqiang Xie Qingquan Liu Control and Simulation Center Harbin Institute of Technology

In this paper, a new control scheme is proposed for the attitude control of unmanned autonomous helicopter（UAH）with immeasurable states. For the design of the control scheme, the attitude model of UAH considering flapping dynamics which is used to illustrate the change of flapping angles is established firstly. However, it is unpractical to install a sensor on the rotor to measure the flapping angles in actual system. In order to get the flapping angles in real time, a high-gain observer is applied.Meanwhile, the integral-backstepping algorithm is adopted to design the controller. By using Lyapunov theory, the stability of the closed-loop system is illustrated. Besides, the effectiveness of the proposed method is verified by numerical simulations,compared with the results obtained by the linear extend state observer.

关键词： UAH Flapping dynamics Integral-backstepping High-gain observer

Kinematics analysis of a novel all-attitude flight simulator

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Science China(Information Sciences) 2010年第2期53卷 236-247页

作者： WANG XiaoChen , ZHAO Hui, ma kemao, HUO Xin & YAO Yu Control and Simulation Center, Harbin Institute of Technology, Harbin 150080, China Control and Simulation Center Harbin Institute of Technology Harbin China

To overcome the kinematic singularity limitation of simulator, which is unavoidable in a three-axis architecture, an all-attitude flight simulator in a four-axis architecture is proposed. The simulator can always provide 3DOF motion by applying redundant manipulator mechanism. For direct kinematics of the manipulator, a dual-Euler method is adopted to solve the expressions of attitude angles; thus computation singularity of all- attitude angles is overcome. For inverse kinematics of the manipulator, pseudo-inverse gradient projection method is used to obtain optimal velocity solution. Then, based on dynamic control method, optimal position solution is obtained. The proposed inverse kinematics algorithm can achieve desired attitudes, as well as can avoid kinematics singularity and axis angle limits. The simulation results show that the kinematic performance of the four-axis all-attitude flight simulator is superior to that of a three-axis simulator.

关键词： all-attitude flight simulator kinematic singularity direct kinematics inverse kinematics

Estimation-Based Guidance of Missiles against Targets with Towed Decoys

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Estimation-Based Guidance of Missiles against Targets with T...

第36届中国控制会议

作者： ma kemao Zhang Zhihong Lu manjun Yu Xiangzhen Harbin Institute of Technology Shanghai Radio Equipment Research Institute

ISBN: (纸本)9781538629185

To attack targets withtowed decoys,a method of estimation of line-of-sight angle rate in precision guidance process is prop osed.The motion model of the target and the towed decoy is established as thebasis of estimation of the line-of-sight angle.Then the estimate of line-of-sight angle rate is obtained by means of observation from the high-gain observer for a second-order system.Finally,a simulation using the guidance law of proportional navigation is given,and the result proves the feasibility of the method of guidance information estimation in attacking a non-maneuvering target with a towed decoy.

关键词： towed decoy information estimation Lagrange equation high-gain observer