检索结果-南通市图书馆

Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2020年第11期33卷 2907-2920页

作者： Wenqiang ZHANG Chaoyang DONG maopeng ran Yang LIU School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology.A novel Finite-Time Convergent Extended State Observer(FTCESO)based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked *** adopting the hierarchical control strategy,the multiquadrotor system is separated into two subsystems:the outer-loop cooperative subsystem and the inner-loop attitude *** the outer-loop subsystem,with the estimation of disturbing forces and uncertain dynamics from FTCESOs,an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring *** the inner-loop subsystem,the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite *** on a detailed algorithm to specify the cooperative control protocol,the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is *** numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.

关键词： Directed interaction topology Distributed control Disturbance rejection Finite-time convergent extended state observer(FTCESO) Formation tracking control Multi-agent systems

Backstepping design of missile guidance and control based on adaptive fuzzy sliding mode control

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2014年第3期27卷 634-642页

作者： ran maopeng Wang Qing Hou Delong Dong Chaoyang School of Automation Science and Electrical Engineering Beihang University School of Aeronautic Science and Engineering Beihang University

This paper presents an integrated missile guidance and control law based on adaptive fuzzy sliding mode control. The integrated model is formulated as a block-strict-feedback nonlinear system, in which modeling errors, unmodeled nonlinearities, target maneuvers, etc. are viewed as unknown uncertainties. The adaptive nonlinear control law is designed based on backstepping and sliding mode control techniques. An adaptive fuzzy system is adopted to approximate the coupling nonlinear functions of the system, and for the uncertainties, we utilize an online-adaptive control law to estimate the unknown parameters. The stability analysis of the closed-loop system is also conducted. Simulation results show that, with the application of the adaptive fuzzy sliding mode control, small miss distances and smooth missile trajectories are achieved, and the system is robust against system uncertainties and external disturbances.

关键词： Adaptive fuzzy system Backstepping Integrated guidance and control Nonlinear Sliding mode control

Simultaneous anti-windup synthesis for linear systems subject to actuator saturation

在线全文

学校读者我要写书评

暂无评论

Journal of Systems Engineering and Electronics 2015年第1期26卷 119-126页

作者： maopeng ran Qing Wang Chaoyang Dong Maolin Ni School of Automation Science and Electrical Engineering Beihang University School of Aeronautic Science and Engineering Beihang University Chinese Society of Astronautics

A synthesis method for global stability and performance of input constrained linear systems, which uses a linear outputfeedback controller and a static anti-windup compensator is investigated. Different from the traditional two-step anti-windup design procedure, the proposed method synthesizes all controller parameters simultaneously. Sufficient conditions for global stability and minimizing the induced L2 gain are formulated and solved as a linear matrix inequalities（LMIs） optimization problem, which also provides an opportunity to search for a better performance tradeoff between the linear controller and the anti-windup *** well-posedness of the close-loop system is also *** results show the effectiveness of the proposed method.

关键词： actuator saturation anti-windup simultaneous synthesis L2 synthesis linear matrix inequalities(LMIs)

Distributed Output Feedback Consensus of Uncertain Nonlinear Multi-Agent Systems with Limited Data Rate

在线全文

学校读者我要写书评

暂无评论

Distributed Output Feedback Consensus of Uncertain Nonlinear...

第三十九届中国控制会议

作者： maopeng ran Lihua Xie Nanyang Technological University

This paper considers the distributed output feedback consensus problem of uncertain nonlinear multi-agent systems with limited data rate. Each agent is modeled by an nth order integrator with unmeasurable states and unknown nonlinear dynamics. An（n+2）th order extended state observer（ESO） is first designed to estimate the unmeasurable agent states and the unknown nonlinear dynamics. Based on the output of the ESO, a distributed consensus protocol based on dynamic encoding and decoding is proposed. It is shown that, for a connected undirected network with nth order uncertain nonlinear agents, consensus can be guaranteed with merely one bit information exchange between each pair of adjacent agents at each time step.

关键词：

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

基于预测校正法的高超声速飞行器再入制导

北京航空航天大学学报 2013年第12期39卷 1563-1567页

作者：王青冉茂鹏赵洋北京航空航天大学自动化科学与电气工程学院北京100191

针对新一代高超声速飞行器在制导方法的精度及抗干扰能力上的要求,提出了一种基于能量的预测校正制导方法.建立了以能量为自变量的三自由度运动学方程,给出再入过程中的主要约束条件,在此基础上分别设计纵向制导律和侧向制导律.在纵向... 详细信息

针对新一代高超声速飞行器在制导方法的精度及抗干扰能力上的要求,提出了一种基于能量的预测校正制导方法.建立了以能量为自变量的三自由度运动学方程,给出再入过程中的主要约束条件,在此基础上分别设计纵向制导律和侧向制导律.在纵向制导律中,不断预测剩余航程相对理论目标点之间的偏差,并以此偏差作为模糊校正器的输入,输出合适的侧倾角更新值,从而达到校正效果,保证纵向制导精度;在侧向制导律中,设计了一种基于横程偏差的侧倾角反转逻辑,当横程偏差超过所设定的边界条件时,侧倾角便进行一次反转,从而保证侧向制导精度.分别在标准初始条件下和存在偏差条件下进行了数值仿真,仿真结果验证了所设计的制导律的有效性.

关键词：高超声速飞行器再入制导预测校正

在线全文

学校读者我要写书评

暂无评论

动态抗饱和平滑切换控制器设计方法

系统工程与电子技术 2017年第7期39卷 1555-1563页

作者：刘晨董朝阳王青冉茂鹏北京航空航天大学航空科学与工程学院北京100191 北京航空航天大学自动化科学与电气工程学院北京100191

针对一类受饱和约束的切换系统,提出了一种动态抗饱和平滑切换控制器的设计方法。首先,基于模型依赖平均驻留时间的方法设计了平滑切换控制器,能够确保系统全局一致渐进稳定并具有一定的鲁棒性能。同时,通过引入链式切换律降低控制器设... 详细信息

针对一类受饱和约束的切换系统,提出了一种动态抗饱和平滑切换控制器的设计方法。首先,基于模型依赖平均驻留时间的方法设计了平滑切换控制器,能够确保系统全局一致渐进稳定并具有一定的鲁棒性能。同时,通过引入链式切换律降低控制器设计的保守性。在此基础上,给出动态抗饱和补偿器的设计方法。将动态抗饱和补偿器设计问题转化为受线性矩阵不等式组约束的优化问题。以航天器在轨加注过程姿态控制系统为例,建立了该系统的链式平滑切换模型,上述模型能够更加准确地反映系统转动惯量的渐变特性。最后,数值仿真算例表明了所提出的控制器设计方法的有效性。

关键词：抗饱和切换系统模型依赖平均驻留时间链式切换律

考虑执行机构故障的运载火箭自适应滑模容错控制

在线全文

学校读者我要写书评

暂无评论

宇航学报 2023年第8期44卷 1160-1170页

作者：王培生屈东扬冉茂鹏董朝阳北京航空航天大学航空科学与工程学院北京100191 北京航空航天大学自动化科学与电气工程学院北京100191 中关村实验室北京100094

针对执行机构故障下的运载火箭姿态指令跟踪问题,在考虑内部未建模动态、外部不确定干扰等因素的影响下,设计了一种基于新型扩张状态观测器(ESO)的自适应滑模容错控制器。首先,基于一种新型级联降阶扩张状态观测器,对系统的未建模动态... 详细信息

针对执行机构故障下的运载火箭姿态指令跟踪问题,在考虑内部未建模动态、外部不确定干扰等因素的影响下,设计了一种基于新型扩张状态观测器(ESO)的自适应滑模容错控制器。首先,基于一种新型级联降阶扩张状态观测器,对系统的未建模动态、外部干扰等不确定性进行估计。在此基础上,结合滑模控制理论,设计了一种固定时间收敛的自适应滑模控制律,能够获得观测器干扰估计误差的上界信息,同时消除滑模控制的抖振现象。通过李雅普诺夫方法证明了闭环系统的稳定性。仿真结果表明,所提出的基于新型扩张状态观测器的自适应滑模容错控制器在执行机构故障情况下仍具有较好的跟踪性能和抗扰能力。

关键词：运载火箭执行器故障滑模控制容错控制扩张状态观测器(ESO)

在线全文

学校读者我要写书评

暂无评论

导弹滑模抗干扰自动驾驶仪设计

宇航学报 2022年第6期43卷 743-750页

作者：熊佳富李君龙张锐刘雨昂冉茂鹏北京航空航天大学自动化科学与电气工程学院北京100191 北京电子工程总体研究所北京100854

针对拦截弹的抗干扰控制问题,设计了一种基于扩张状态观测器和快速滑模控制的三通道自动驾驶仪。首先建立考虑有界未知不确定性和外界干扰的拦截弹系统模型,构建扩张状态观测器对有界未知不确定性和外界干扰进行估计;在此基础上,根据自... 详细信息

针对拦截弹的抗干扰控制问题,设计了一种基于扩张状态观测器和快速滑模控制的三通道自动驾驶仪。首先建立考虑有界未知不确定性和外界干扰的拦截弹系统模型,构建扩张状态观测器对有界未知不确定性和外界干扰进行估计;在此基础上,根据自动驾驶仪系统特性,设计了一种快速滑模控制算法使得系统在受到有界未知不确定性和外界干扰的情况下仍然能精准快速跟踪指令信号,并基于李雅普诺夫函数证明了其稳定性。仿真结果验证了所设计控制算法的有效性。

关键词：自动驾驶仪扩张状态观测器滑模控制快速趋近律

Tracked robot with underactuated tension-driven RRP transformable mechanism:ideas and design

在线全文

学校读者我要写书评

暂无评论

Frontiers of Mechanical Engineering 2024年第1期19卷 85-104页

作者： ran XU Chao LIU School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control Technology(Ministry of Education)Beijing Jiaotong UniversityBeijing 100044China

Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability,and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher *** underactuated transformable mechanisms for tracked robots could decrease the number of actuators used while maintaining the flexibility and obstacle-crossing capability of these robots,and increasing their cost ***,the underactuated tracked robots have appreciable research *** this paper,a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismatic(RRP)transformable mechanism,which is inspired by the sit-up actions of humans,was *** newly proposed tracked robot has only two actuators installed on the track pulleys for moving and does not need extra actuators for ***,it could concentrate the track belt’s tension toward one side,and the unbalanced tension would drive the linkage mechanisms to change its *** this method,the proposed underactuated design could change its external shape to create support points with the terrain and move its center of mass actively at the same time while climbing obstacles or crossing other kinds of terrains,thus greatly improving the climbing capability of the *** geometry and kinematic relationships of the robot and the crossing strategies for three kinds of typical obstacles are *** the basis of such crossing motions,the parameters of links in the robot are designed to make sure the robot has sufficient stability while climbing ***-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.A prototype was built and *** show that the proposed robot could climb platforms with heights up to 33.3%of the robot’s length or cross gaps with widths up to 43.5%of the robot’s length.

关键词： mechanical design tracked robot underactuated mechanisms RRP mechanism obstacle crossing strategy