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Global output feedback stabilization of upper-triangular nonlinear time-delay systems

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控制理论与应用（英文版） 2012年第4期10卷 533-538页

作者： Guizhi MENG kemao ma Control and Simulation Center Harbin Institute of Technology Department of Applied mathematics Harbin University of Science and Technology

In this paper, the problem of global output feedback stabilization for a class of upper-triangular nonlinear systems with time-varying time-delay in the state is considered. The uncertain nonlinearities are assumed to be higher-order in the unmeasurable states. Based on the extended homogeneous domination approach, using a low gain observer in combi- nation with controller, the delay-independent output feedback controller makes closed-loop system globally asymptotically stable under a homogeneous growth condition.

关键词： Upper-triangular nonlinear time-delay system Lyapunov-Krasovskii functionals Globally output feed-back stabilization

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

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

Estimation-Based Guidance of Missiles against Targets with Towed Decoys 36

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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 *** motion model of the target and the towed decoy is established as thebasis of estimation of the line-of-sight *** the estimate of line-of-sight angle rate is obtained by means of observation from the high-gain observer for a second-order ***,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

Output Disturbance Decoupling via Disturbance-Dependent State Transformation 36

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Output Disturbance Decoupling via Disturbance-Dependent Stat...

第36届中国控制会议

作者： ma kemao Wang Qing Wang Jianhui Wang Jie Control and Simulation Center Harbin Institute of Technology School of Mechanical and Electric Engineering Guangzhou University Shanghai Radio Equipment Research Institute

ISBN: (纸本)9781538629185

For a class of linear systems with external smooth disturbances, control design is considered to attenuate the effect of the disturbances on the outputs of the systems. To deal with the unmatched disturbances, a disturbance-dependent state transformation is introduced, so that the transformed disturbances satisfy the matching condition in the new state coordinates,and therefore we design controllers to compensate for the disturbances. The controller implementation is also considered. An simple example is given to demonstrate the design procedure and the effectiveness of the design.

关键词： Disturbance Decoupling Output Control Disturbance Estimation High-gain Observer

Autopilot Design of Missile with Input Delay Based on Self-Stable Region Approach 36

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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 *** chattering phenomenon is the main drawback of sliding mode control(SMC),and the response delay of actuators is a primary ***,the existence of time delay is common in real *** 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 *** contrast to the SMC method,the SSR approach avoids chattering essentially,and shows great tolerance for time *** the response delay of lateral thrusters,the SSR approach is applied to missile’s autopilot *** 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

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 1. Control and Simulation Center Harbin Institute of Technology Harbin 150080 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

Parameter Tuning of Sliding Mode Controllers for Second Order Systems with Parasitic Dynamics

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Parameter Tuning of Sliding Mode Controllers for Second Orde...

第43届中国控制会议

作者： Yikai Zhang kemao ma Guojiang Zhang Harbin Institute of Technology

Parameters of sliding mode controllers with linear sliding variables are tuned for a class of second order *** investigation focuses on how the parameters of the closed-loop systems affect the output oscillations in the presence of actuator dynamics and slowly varying external *** the dual input describing function,the amplitude of fast oscillation resulting from nonlinearities,and responses to disturbances,is *** effectiveness of the theoretical analysis is confirmed through numerical simulations conducted on a missile attitude control system.

关键词： Sliding mode control parameter tuning dual input describing function

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