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Switching Control System Based on Robust Model Reference Adaptive Control

Journal of Systems Science & Complexity 2016年第4期29卷 897-932页

作者： HU Qiong FEI Qing MA Hongbin WU Qinghe geng qingbo School of Automation Beijing Institute of Technology Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control(RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

关键词： Longitudinal control of F-16 aircraft switching control switching law. nonlinear systems RMRAC switched systems

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A Kind of Route Planning Method for UAV Based on Improved PSO Algorithm 25th

A Kind of Route Planning Method for UAV Based on Improved PS...

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第25届中国控制与决策会议

作者： qingbo geng Zheng Zhao School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467355322

This paper studies the basic model of the UAV track planning. As basic Particle Swarm Optimization （PSO） algorithm is easy to fall into local minimum and its searching accuracy is not ideal, the author puts forward an improved hybrid particle swarm UAV route planning method with contraction factor. This method is used to change algorithm in the balance of performance by introducing contraction factor and learning factor, in order to get a better convergence speed and convergence rate. At the same time using MATLAB as the development tool for simulation, the results show that this method is simple and effective, and can meet the requirements of the UAV path planning.

关键词： UAV path planning Improved hybrid particle swarm

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Obstacle avoidance approaches for quadrotor UAV based on backstepping technique 25th

Obstacle avoidance approaches for quadrotor UAV based on bac...

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第25届中国控制与决策会议

作者： qingbo geng Huan Shuai Qiong Hu School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467355322

Due to their distinct advantages and great potential, quadrotor UAV has attracted more and more attentions. The ability to avoid obstacles automatically is the essential criterion of the intellectualization of UAV. In order to decouple the dynamic system and realize desired flight, backstepping technique is employed in this paper, which has great performance in terms of transient and steady response. On this basis, the paper also proposes two kinds of obstacle avoidance approaches, Safety-ball model and Mass point model. In the process of obstacle avoidance, the stable flight is realized from start point to aiming point which was calculated by different obstacle avoidance approaches. And then, it will fly to the next aiming point until it reaches the target point, where the vehicle would keep hovering. Finally, comparison of safety-ball model with mass point model in 3D simulation is carried out briefly to evaluate respective performance.

关键词： Obstacle Avoidance Quadrotor UAV Backstepping Safety-ball Model Mass point Model

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Distributed Adaptive Integral Sliding Mode Attitude Consensus Control for Multiple Autonomous Underwater Vehicles

Distributed Adaptive Integral Sliding Mode Attitude Consensu...

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第37届中国控制会议

作者： Sichen Liu Qing Fei Bo Wang qingbo geng Beijing Institute of Technology

This paper investigates the attitude consensus problem of multiple Autonomous Underwater Vehicles（AUVs） in the case of communication delay with the directed communication network. A distributed adaptive integral sliding mode controller is designed for each vehicle to track the desired attitude. The inertia uncertainty and external disturbance in the dynamics of AUV are considered in designing the control law. The stability of the multi-AUV system is proved by Lyapunov theory. Finally, the simulation results are given to confirm the effectiveness of the proposed control law.

关键词： Multiple Autonomous Underwater Vehicles attitude consensus adaptive control integral sliding mode control

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Trajectory tracking control of UAV based on non-singular fixed-time terminal sliding mode

Trajectory tracking control of UAV based on non-singular fix...

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第40届中国控制会议

作者： Renjie Liu qingbo geng Qing Fei Qian Yin School of Automation Beijing Institute of Technology

A improved non-singular fixed-time terminal sliding mode controller（INFTSMC） is proposed in this paper to speed up the response during UAV trajectory tracking. Based on a kind of fixed-time convergence system with variable parameters and shorter convergence time, a new sliding mode surface and INFTSMC are designed to drive the system’s state converge in a fixed time, and the settling time’s upper bound is better than the existing results. Simultaneously, a switching saturation function is used in the controller to avoid singularity. The Lyapunov stability theory proves that the designed controller can realize the stable tracking of the UAV. The simulation results verify the performance of the INFTSMC given in this paper.

关键词： UAV terminal sliding mode non-singular fixed time

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Leader-following consensus control for complex heterogeneous multi-agent systems without velocity measurements

Leader-following consensus control for complex heterogeneous...

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第37届中国控制会议

作者： Jiaxiang Zhang Qing Fei Bo Wang qingbo geng Beijing Institute of Technology School of Automation

This paper considers a leader-following consensus problem for complex heterogeneous multi-agent systems composed of the first-order linear, the second-order linear and the nonlinear Euler-Lagrange agents. First, we design a leader-following consensus control protocol with the active leader for multi-agent systems where the followers cannot obtain the velocity measurements. Then, according to the actual situation, the actuator saturation problem is solved as the special practical nonlinear problem by designing the actuator nonlinear consensus protocol. Based on Graph theory, Lyapunov theory and Barbalat’s Lemma, the effectiveness of controller is proved with a second-order dynamic of the leader under the undirected communication topological graph. Some simulation examples verify the validity of the conclusion.

关键词： heterogeneous multi-agent systems consensus control nonlinear Euler-Lagrange agents leader-following without velocity measurements

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Mixed Dead-time Effect Suppression Strategy for Modular Multilevel Converters

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CSEE Journal of Power and Energy Systems 2024年第3期10卷 1075-1084页

作者： Zhi geng Minxiao Han School of Electrical and Electronic Engineering North China Electric Power UniversityBeijing 102206China IEEE

Dead time is necessary for the coupled power switches to prevent shoot-through,especially in the modular multilevel converters(MMCs)with a large number of power *** paper proposes a dead-time effect suppression strategy for MMCs with nearest level *** operational principles of MMCs are first *** to the operational features of MMCs,the method that removes a switching signal from the coupled switches and the reduced switching frequency voltage balancing algorithms(RSFVBAs)are mixed in the proposed *** the intervals that are furthest away from the zerocrossing points(ZCP)of arm currents,the single switching signal method can completely eliminate the dead-time effect(DTE).Alternatively,the DTE is suppressed by the RSFVBA in intervals that are close to the *** the combination of the two methods,the dependence of the DTE suppression method on currents is reduced and the influences of ZCP are also released without degrading the normal operation performance of ***,the output performance of MMCs is improved and the voltage stress on the arm inductor dramatically ***,the validation of the method is verified by the simulation results with the professional tool Matlab/Simulink.

关键词： Dead-time effect modular multilevel converters switching frequency voltage balancing algorithm

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Investigation and measurement of old building response to the overlapped shield tunnel of multiple schemes in the sandy cobble stratum

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Underground Space 2024年第2期15卷 260-274页

作者： Xue Li Aopeng geng School of Geoscience and Technology Southwest Petroleum UniversityChengduSichuan 610500China China Railway Construction Bridge Engineering Bureau Group Co. Ltd.Tianjin 300300China

Ground movements due to tunneling are becoming increasingly critical as buildings are located around construction *** study proposes a new combined reinforcement method using a foundation grouting oblique pipe *** former improves the bearing capacity of the subsoil,and the latter blocks the transmission of soil deformation,which weakens the influence of construction during overlapped tunnel *** on this new method,a case study of the shield tunneling response to an old building in Line 6 of China’s Chengdu Metro is ***,three-dimensional numerical models without reinforcement,traditional foundation grouting reinforcement,and the new combined reinforcement schemes were *** numerical simulation performance was verified using a set of field instrumentation data,which demonstrated that the old building response to the overlapped tunnels was under control,and the maximum deformation,angular distortion,and principal tensile strain of the building were 5.25 mm,5.1010–6 rad/m,and 0.0081%,*** with the traditional reinforcement scheme,the deformation,angular distortion,and principal tensile strain in the combined reinforcement scheme were reduced by 54.78%,71.02%,and 70.22%,*** results have important implications for the design and construction of shield tunnels and their response to old buildings.

关键词： Overlapped tunnels Reinforcement schemes Under-crossing Old building Numerical simulation

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Boosting electrocatalytic nitrate reduction to ammonia via Cu_(2)O/Cu(OH)_(2)heterostructures promoting electron transfer

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Nano Research 2024年第6期17卷 4898-4907页

作者： Jing geng Sihan Ji Anhui Province International Research Center on Advanced Building Materials School of Materials Science and Chemical EngineeringAnhui Jianzhu UniversityHefei 230601China Anhui Province Key Laboratory of Advanced Building Materials Anhui Jianzhu UniversityHefei 230601China School of Energy Materials and Chemical Engineering Hefei UniversityHefei 230601China

Electrocatalytic nitrate(NO_(3)^(−))reduction to ammonia(NH_(3))offers a viable approach for sustainable NH_(3)production and environmental ***(Cu)possesses a distinctive electronic structure,which can augment the reaction kinetics of NO_(3)^(−)and impede hydrogen evolution reaction(HER),rendering it a promising contender for the electrosynthesis of NH_(3)from NO_(3)^(−).Nevertheless,the role of Cu_(2)O in copper-based catalysts still requires further investigation for a more comprehensive ***,the Cu_(2)O/Cu(OH)_(2)heterostructures are successfully fabricated through liquid laser irradiation using CuO nanoparticles as a *** and theoretical researches reveal that Cu_(2)O/Cu(OH)_(2)heterostructure exhibits enhanced electrocatalytic performance for NO_(3)^(−)to NH_(3)because Cu(OH)_(2)promotes electron transfer and reduces the valence state of Cu active site in Cu_(2)***−0.6 V(*** hydrogen electrode(RHE)),the NH_(3)yield reaches its maximum at 1630.66±29.72μg·h^(−1)·mgcat^(−1),while the maximum of Faraday efficiency(FE)is 76.95%±5.51%.This study expands the technical scope of copper-based catalyst preparation and enhances the understanding of the electrocatalytic mechanism of NO_(3)^(−)to NH_(3).

关键词： Cu_(2)O/Cu(OH)_(2)heterostructures electron transfer ammonia synthesis electrocatalysts nitrate

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Structural engineered living materials

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Nano Research 2024年第2期17卷 715-733页

作者： Yang geng Zian Jia Ling Li 635 Prices Fork Road Department of Mechanical EngineeringVirginia Polytechnic Institute and State UniversityBlacksburg VA24061USA

Biological structural materials not only exhibit remarkable mechanical properties but also often embody dynamic characteristics such as environmental responsiveness,autonomy,and self-healing,which are difficult to achieve in conventional engineering *** merging materials science,synthetic biology,and other disciplines,engineered living materials(ELMs)provide a promising solution to combine living organisms with abiotic components,thus facilitating the construction of functional“living”*** natural materials,ELMs possess vitality and hold immense application potential in areas such as medicine,electronics,and construction,captivating increasing research attention *** an emerging branch of ELMs,structural ELMs aim to mimic living biological structural materials by achieving desired mechanical performance while maintaining important“living”*** we summarize the recent progress and provide our perspectives for this emerging research *** first summarize the superiority of structural ELMs by reviewing biological structural materials and biomimetic material design ***,we provide a systematic discussion on the definition and classifications of structural ELMs,their mechanical performance,and physiological ***,we summarize some critical challenges faced by structural ELMs and highlight directions of future *** hope this review article can provide a timely summary of the state of the art and relevant perspectives for future development of structural ELMs.

关键词： structural materials engineered living materials(ELMs) structural ELMs composites mechanical properties

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