检索结果-南通市图书馆

Anti-Disturbance Control for Tethered Aircraft System With Deferred Output Constraints

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 474-485页

作者： Mengshi Song Fan Zhang Bingxiao huang panfeng huang the Research Center of Intelligent Robotics the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072China IEEE

In this paper,we investigate the peaking issue of extended state observers and the anti-disturbance control problem of tethered aircraft systems subject to the unstable flight of the main aircraft,airflow disturbances and deferred output *** of exact initial values,a modified extended state observer is constructed from a shifting function such that not only the peaking issue inherently in the observer is circumvented completely but also the accurate estimation of the lumped disturbance is ***,to deal with deferred output constraints,an improved output constrained controller is employed by integrating the shifting function into the barrier Lyapunov ***,by combining the modified observer and the improved controller,an anti-disturbance control scheme is presented,which ensures that the outputs with any bounded initial conditions satisfy the constraints after a pre-specified finite time,and the tethered aircraft tracks the desired trajectory ***,both a theoretical proof and simulation results verify the effectiveness of the proposed control scheme.

关键词： Anti-disturbance control deferred output constraint extended state observer shifting function tethered aircraft system(TAS)

在线全文

学校读者我要写书评

暂无评论

失效航天器接管控制技术发展综述

上海航天（中英文） 2024年第3期41卷 47-62,109页

作者：黄攀峰鲁迎波张帆刘亚西北工业大学航天学院陕西西安710072 郑州轻工业大学电气信息工程学院河南郑州450002 上海交通大学电子信息与电气工程学院上海200241

失效航天器接管控制对于实现航天器的在轨延寿、避免有效载荷的浪费、实现有限轨道资源的占位再生和维护太空安全意义重大。本文在系统分析各类失效航天器接管控制手段特征的基础上,按照接管控制过程中是否发生接触现象,将接管控制分为... 详细信息

失效航天器接管控制对于实现航天器的在轨延寿、避免有效载荷的浪费、实现有限轨道资源的占位再生和维护太空安全意义重大。本文在系统分析各类失效航天器接管控制手段特征的基础上,按照接管控制过程中是否发生接触现象,将接管控制分为接触式和非接触式两类。随后介绍了各类接管控制手段的特点,归纳了航天器接管控制任务中涉及的关键技术,给出了未来航天器接管控制的智能化和自主化发展方向。本文有望为未来开展失效航天器接管控制任务提供技术参考和依据。

关键词：失效航天器接管控制接触式非接触式智能化自主化

Capture and detumbling control for active debris removal by a dual-arm space robot

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2022年第9期35卷 342-353页

作者： Dong HAN Gangqi DONG panfeng huang Zhiqing MA National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical UniversityXi'an 710072China Research Center for Intelligent Robotics School of AstronauticsNorthwestern Polytechnical UniversityXi'an 710072China

Active debris removal(ADR) technology is an effective approach to remediate the proliferation of space debris, which seriously threatens the operational safety of orbital spacecraft. This study aims to design a controller for a dual-arm space robot to capture tumbling debris, including capture control and detumbling control. Typical space debris is considered as a non-cooperative target, which has no specific capture points and unknown dynamic parameters. Compliant clamping control and the adaptive backstepping-based prescribed trajectory tracking control(PTTC)method are proposed in this paper. First, the differential geometry theory is utilized to establish the constraint equations, the dynamic model of the chaser-target system is obtained by applying the Hamilton variational principle, and the compliance clamping controller is further designed to capture the non-cooperative target without contact force feedback. Next, in the post-capture phase,an adaptive backstepping-based PTTC is proposed to detumble the combined spacecraft in the presence of model uncertainties. Finally, numerical simulations are carried out to validate the feasibility of the proposed capture and detumbling control method. Simulation results indicate that the target detumbling achieved by the PTTC method can reduce propellant consumption by up to24.11%.

关键词： Active debris removal Adaptive backstepping control Compliant clamping control Prescribed trajectory tracking Space robot

A modified forward and backward reaching inverse kinematics based incremental control for space manipulators

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2022年第12期35卷 287-295页

作者： Gangqi DONG panfeng huang Yongjie WANG Rongsheng LI National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical UniversityXi’an 710072China Research Center for Intelligent Robotics School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072China

Forward and backward reaching inverse kinematics(FABRIK)is an efficient two-stage iterative solver for inverse kinematics of spherical-joint manipulator without the calculation of Jacobian *** on FABRIK,this paper presents an incremental control scheme for a free-floating space manipulator consists of revolute joints and rigid links with the consideration of joint constraints and dynamic coupling *** to the characteristics of FABRIK,it can induce large angular movements on specific *** from that,FABRIK maps three dimensional(3D)problem into two dimensional(2D)problem by a simple geometric *** operation can cause infinite loops in some *** order to overcome these issues and apply FABRIK on space manipulators,an increments allocation method is developed to constrain the angular movements as well as to re-orient the *** manipulator is re-positioned based on the momentum conservation *** of pure target position tracking,the orientation control of the end-effector is also *** simulation is performed to testify and demonstrate the effectiveness and reliability of the proposed incremental control approach.

关键词： Forward and backward reaching inverse kinematics(FABRIK) Incremental control Inverse kinematics Manipulator control Robotic capture

Proportional-derivative Control of Second-order Tethered Satellites System Based on Extended State Observer and Feed-forward Compensation

在线全文

学校读者我要写书评

暂无评论

Guidance, Navigation and Control 2023年第3期3卷 65-88页

作者： Bowen Su Fan Zhang panfeng huang Research Center for Intelligent Robotics School of Astronautics Northwestern Polytechnical University Xi'an P.R.China National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical University Xi'an P.R.China

This paper researches the proportional-derivative(PD)feedback control with feed-forward compensations from input for a triangular tethered satellite system(TTSS),and the extended state observer(ESO)design which is further incorporated in control to estimate the structural uncertainties in *** expanding Lagrangian equations under chosen variables,the dynamic equations of TTSS are derived which is the second-order nonlinear *** the feedback control under typical feed-forward compensations is discussed as the nonlinear functions in system are counteracted,and the controlled outputs are computed by deriving the transfer functions of the transformed ***,in case of the uncertain structures in system which may constrain the control e®ect,ESO-based PD control is further proposed,and the observed error and controlled accuracy are analyzed by Lyapunov *** results on the designed controls are presented to validate the theoretic analyses.

关键词： PD control extended state observer feed-forward compensation transfer function tethered formation

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

面向冗余机械臂避障运动规划的触控交互技术

系统工程与电子技术 2024年第1期46卷 254-260页

作者：张宝琛惠建江张琦刘正雄黄攀峰西北工业大学航天学院陕西西安710072 北京跟踪与通信技术研究所北京100094 中国航天空气动力技术研究院北京100074

针对冗余自由度机械臂运动控制中人机交互性不强、避障算法较为复杂且躲避非结构化障碍较为困难的问题,提出一种面向冗余机械臂避障运动规划的触控交互方法。通过坐标系转换的方式将交互设备屏幕坐标进行变换实现触控交互,并通过柱面避... 详细信息

针对冗余自由度机械臂运动控制中人机交互性不强、避障算法较为复杂且躲避非结构化障碍较为困难的问题,提出一种面向冗余机械臂避障运动规划的触控交互方法。通过坐标系转换的方式将交互设备屏幕坐标进行变换实现触控交互,并通过柱面避障运动规划,提高交互效率。基于虚幻引擎设计触控交互演示软件,利用触控交互实现了冗余机械臂的运动避障仿真。与传统方法相比,既兼顾了人机交互的友好性,又提升了机械臂运动规划的操作效率和可理解性。

关键词：冗余机械臂避障运动规划触控交互

基于时变输出约束的机器人遥操作有限时间控制方法

同方期刊数据库博看期刊评论

在线全文

学校读者我要写书评

暂无评论

机器人 2022年第1期44卷 19-34,44页

作者：李陇南黄攀峰马志强西北工业大学航天飞行动力学技术重点实验室陕西西安710072 西北工业大学智能机器人研究中心陕西西安710072

受操作时间窗口和工作空间的限制,空间遥操作任务需要在有限时间内完成,同时确保末端执行器满足物理约束。此外,时延和外部扰动使不确定遥操作系统的稳定性和控制性能受到严重影响。为此,本文提出了一种基于时变输出约束的机器人遥操作... 详细信息

受操作时间窗口和工作空间的限制,空间遥操作任务需要在有限时间内完成,同时确保末端执行器满足物理约束。此外,时延和外部扰动使不确定遥操作系统的稳定性和控制性能受到严重影响。为此,本文提出了一种基于时变输出约束的机器人遥操作有限时间控制方法。首先,利用积分障碍李雅普诺夫函数处理操作空间的时变约束问题,实用有限时间李雅普诺夫稳定定理保证了系统的快速稳定性。然后,利用神经网络估计环境力以及消解模型不确定性带来的影响,利用鲁棒项补偿神经网络的估计偏差和消解未知外部扰动的影响。最后,在Matlab/Simulink环境下同其他算法进行仿真对比,并在地面实验平台上验证了该算法,理论仿真和实验结果表明该方法进一步提高了误差收敛速率和收敛精度,且系统的输出不会超出预先设定的时变边界。

关键词：空间遥操作积分障碍李雅普诺夫函数有限时间时变输出约束神经网络

基于伪测量法的直链式N体空间绳系系统约束状态估计

在线全文

学校读者我要写书评

暂无评论

机器人 2022年第1期44卷 66-76页

作者：方国涛张夷斋黄攀峰西北工业大学航天学院智能机器人研究中心陕西西安710072 西北工业大学航天飞行力学技术重点实验室陕西西安710072

针对直链式N体空间绳系系统(STS),将系绳绳长作为先验信息,在仅使用2个GPS(全球定位系统)传感器的条件下,提出了一种基于伪测量法的约束状态估计方法。首先,基于Udwadia-Kalaba方法建立了一种新颖的直链式N体STS通用动力学模型。然后,针... 详细信息

针对直链式N体空间绳系系统(STS),将系绳绳长作为先验信息,在仅使用2个GPS(全球定位系统)传感器的条件下,提出了一种基于伪测量法的约束状态估计方法。首先,基于Udwadia-Kalaba方法建立了一种新颖的直链式N体STS通用动力学模型。然后,针对GPS传感器更新频率低和非线性系统模型线性化过程中雅可比矩阵计算复杂的问题,开发了一种改进的平方根无迹卡尔曼滤波(IUKF)算法。同时,基于李导数的局部弱可观的秩判据方法严格证明了本文估计方法的可观性。最后,仿真验证了本文方法的有效性。仿真结果表明所提方法能够保证系统状态估计精度和跟踪实时性。

关键词：空间绳系系统 Udwadia-Kalaba方法伪测量法状态估计

在线全文

学校读者我要写书评

暂无评论

安全约束下的空间翻滚目标涡流消旋稳定控制

宇航学报 2022年第5期43卷 628-637页

作者：刘习尧常海涛黄攀峰黄冰潇翟晨萌西北工业大学航天飞行动力学技术重点实验室西安710072 西北工业大学智能机器人研究中心西安710072

针对空间翻滚目标涡流消旋任务执行效率低和抵近安全无保证的问题,首先基于椭球包络法给出了服务星机动轨迹的直接线性凸化安全约束,以确保机动过程的安全性和最优轨迹跟踪问题的有限时间可解性;设计了垂直构型下空间消旋任务的抵近期... 详细信息

针对空间翻滚目标涡流消旋任务执行效率低和抵近安全无保证的问题,首先基于椭球包络法给出了服务星机动轨迹的直接线性凸化安全约束,以确保机动过程的安全性和最优轨迹跟踪问题的有限时间可解性;设计了垂直构型下空间消旋任务的抵近期望轨迹以增强服务星消旋力矩的作用强度,缩短任务周期。在此基础上,提出了一种反馈线性化的收缩模型预测控制(FLC-MPC)算法,有效跟踪所提出的期望轨迹,并严格保证安全约束及控制输入约束下受控系统的稳定性。最后,利用所提出的控制方法对阿丽亚娜-4火箭上面级进行消旋仿真,结果表明该方法能有效提高消旋效率,并保证服务星的安全稳定。

关键词：空间翻滚目标涡流消旋安全约束反馈线性化模型预测控制