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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 multiobjectivedesign observer-based control separation principle PI regulator constant signaltracking disturbance decoupling and attenuation

Coupled Dynamics and Integrated Control for Position and Attitude Motions of Spacecraft:A Survey

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2187-2208页

作者： Feng Zhang guangren Duan the Research and Development Center China Academy of Launch Vehicle TechnologyBeijing 100076China IEEE the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 the Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space *** paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and *** this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of ***,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital *** on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and *** the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and *** the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation ***,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.

关键词： Coupled position and attitude dynamic modeling integrated position and attitude control position and attitude coupling analysis spacecraft space missions

Robust passive control for discrete-time T-S fuzzy systems with delays

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Journal of Systems Engineering and Electronics 2009年第5期20卷 1045-1051页

作者： Duan guangren Li Yanjiang Center for Control Theory and Guidance Technology Harbin Inst. of Technology Harbin 150001 P. R. China

This article deals with the robust stability analysis and passivity of uncertain discrete-time Takagi- Sugeno （T-S） fuzzy systems with time delays. The T-S fuzzy model with parametric uncertainties can approximate nonlinear uncertain systems at any precision. A sufficient condition on the existence of robust passive controller is established based on the Lyapunov stability theory. With the help of linear matrix inequality （LMI） method, robust passive controllers are designed so that the closed-loop system is robust stable and strictly passive. Furthermore, a convex optimization problem with LMI constraints is formulated to design robust passive controllers with the maximum dissipation rate. A numerical example illustrates the validity of the proposed method.

关键词： discrete-time T-S fuzzy systems time delays robust control passive performance linear matrix inequality.

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

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang guangren Duan School of Engineering Qufu Normal UniversityRizhao 276826China Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

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2017年中国油气管道行业发展及展望

国际石油经济 2018年第3期26卷 21-27页

作者：高鹏高振宇杜东刘广仁中国石油规划总院中国石油大学(北京)机械与储运学院中国石油勘探开发研究院中国石油管道局工程有限公司

截至2017年底,中国境内在役油气管道总里程累计约13.31万千米。2017年,油气市场消费超预期增长,天然气资源供应偏紧;国家多项规划政策密集发布,推动油气管道加快建设;中缅原油管道、中俄原油管道二线与中卫-靖边联络线、陕京四线建成投... 详细信息

截至2017年底,中国境内在役油气管道总里程累计约13.31万千米。2017年,油气市场消费超预期增长,天然气资源供应偏紧;国家多项规划政策密集发布,推动油气管道加快建设;中缅原油管道、中俄原油管道二线与中卫-靖边联络线、陕京四线建成投产;天然气管网互联互通工程正加快建设;跨省天然气管道运输价格明确核定,部分省区天然气管道运价管理办法出台;省管网建设进入发展"瓶颈期",发展方向须理性定位;成功探索上海油气交易中心线上竞价交易新模式,不断驱动油气交易价格与行为走向市场化。2018年,天然气基础设施建设将再次驶入快车道;中国石油以外的其他管道企业和省管网公司将逐步推进"运销分离";智能管道、智慧管网建设是大势所趋,将为油气管道运营管理注入新动能。

关键词：中国油气管道管道建设进展管道行业发展管道运输价格运销分离发展趋势

Design of Luenberger function observer with disturbance decoupling for matrix second-order linear systems-a parametric approach

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Journal of Systems Engineering and Electronics 2006年第1期17卷 156-162页

作者： Wu Yunli Duan guangren Center for Control Theory and Guidance Technology Harbin Inst. of Technology Harbin 150001 P. R. China

A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure assignment. By introducing the H2 norm of the transfer function from disturbance to estimation error, sufficient and necessary conditions for disturbance decoupling in matrix second-order linear systems are established and are arranged into constraints on the design parameters via Luenberger function observers in terms of the closed-loop eigenvalues and the group of design parameters provided by the eigenstructure assignment approach. Therefore, the disturbance decoupling problem is converted into an eigenstructure assignment problem with extra parameter constraints. A simple example is investigated to show the effect and simplicity of the approach.

关键词： matrix second-order linear systems Luenberger function observers eigenstructure assignment disturbance decoupling

Parametric approach to track following control of FFSM

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Journal of Systems Engineering and Electronics 2011年第5期22卷 810-815页

作者： Shi Li guangren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 P. R. China

A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space representation is formulated by local linearization. A parametric approach is applied by using the eigenstructure assignment theory and the model reference method. A feedback stabilizing controller and a feedforward compensation controller are built based on the approach. Then an optimization procedure is followed after that to obtain the desired requirement and characteristics. Simulation results are presented to show the effectiveness of the proposed method.

关键词： free-flying space manipulator (FFSM) model reference tracking control parametric approach.

Analysis of finite-time practical stability for time-varying polytopic systems

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Journal of Systems Engineering and Electronics 2009年第1期20卷 112-119页

作者： Zhong Zhen Duan guangren Harbin Inst. of Technology Harbin 150001 P. R. China

The problem of finite-time practical stability （FTPS） for time-varying polytopic systems is discussed. Three equivalent conditions for FTPS are first proposed. To facilitate the system analysis, a sufficient linear matrix inequality （LMI） criterion on the FTPS is further provided. The definition of finite-time practical boundedness and a sufficient LMI criterion are also provided to overcome the exogenous disturbance. A numerical example is used to illustrate the effect of the proposed approach.

关键词： polytopic systems linear matrix inequality finite-time control practical stability.

Integrated guidance and control with input saturation and disturbance observer

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Journal of Control and Decision 2018年第3期5卷 277-299页

作者： Wangkui liu Yiyin Wei guangren Duan Mingzhe Hou Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbinChina ChinaAerospace Science and Industry Corporation BeijingChina

In presence of input saturation,a novel integrated guidance and control(IGC)law based on the backstepping technique is proposed for missiles attacking manoeuvring target in this paper.A modified saturation function and an auxiliary system are proposed to deal with the input *** state of the auxiliary system is used in the IGC law design process and stability *** the uncertainties caused by target manoeuvres,model errors and variation of the aerodynamic parameters,disturbance observers which converge in finite time are introduced to estimate and compensate *** on the Lyapunov theory,the detailed stability analysis of the closedloop system is *** non-linear numerical simulations are presented to illustrate the effectiveness of the proposed IGC law.

关键词： Integrated guidance and control(IGC) input saturation backstepping disturbance observer manoeuvring target