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Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 270-282页

作者： Xiaodong He zhiyong Sun zhiyong geng Anders Robertsson State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking UniversityBeijing 100871China IEEE Department of Electrical Engineering Eindhoven University of Technology(TU/e)5600 MB Eindhoventhe Netherlands Department of Automatic Control LTHLund University22100 LundSweden

This paper investigates the stabilization of underactuated vehicles moving in a three-dimensional vector *** vehicle’s model is established on the matrix Lie group SE(3),which describes the configuration of rigid bodies globally and *** focus on the kinematic model of the underactuated vehicle,which features an underactuation form that has no sway and heave *** compensate for the lack of these two velocities,we construct additional rotation matrices to generate a motion of rotation coupled with ***,the state feedback is designed with the help of the logarithmic map,and we prove that the proposed control law can exponentially stabilize the underactuated vehicle to the identity group element with an almost global domain of ***,the presented control strategy is extended to set-point stabilization in the sense that the underactuated vehicle can be stabilized to an arbitrary desired configuration specified in ***,simulation examples are provided to verify the effectiveness of the stabilization controller.

关键词： Exponential stabilization logarithmic feedback matrix Lie group underactuated vehicle

Exponentially convergent angular velocity estimator design for rigid body motion:a singular perturbation approach

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Science China(Information Sciences) 2020年第2期63卷 224-226页

作者： Xiuhui PENG zhiyong geng State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University

Dear editor,The exponentially convergent angular velocity estimator on SO(3) is of great importance for the control of rigid body [1]. Based on the idea of adaptive technique, the angular velocity observer on SO(3) was firstly proposed in [2]. Refs.[3, 4]and references therein mainly focus on constructing different attitude error functions to improve convergence rate. In those studies, based on

关键词： Exponentially convergent angular velocity estimator design for rigid body motion:a singular perturbation approach Lyapunov

Near-optimal cumulative longitude low-thrust orbit transfer

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Journal of Systems Engineering and Electronics 2009年第6期20卷 1271-1277页

作者： Yue Xincheng Yang Ying geng zhiyong State Key Lab. for Turbulence and Complex System Dept. of Mechanics and Aerospace Engineering Coll. of Engineering Peking Univ. Beijing 100871 P. R. China

The indirect method for the continuous low-thrust near minimum cumulative longitude orbit transfer problem is *** movement of the satellite is described by the Gauss equation using the modified equinoctial elements and replacing time as the system independent variable by the cumulative *** maximum principle is adapted to design the optimal control in order to minimize the final cumulative longitude, and the twopoint-boundary-value problem is derived from the orbit transfer *** single shooting method is applied in a numerical experiment, and the simulations demonstrate that the orbit transfer mission is fulfilled and the product of the maximal thrust and the minimum cumulative longitude is near constant.

关键词： minimum cumulative longitude orbit transfer continuous thrust maximum principle shooting method.

Leader-follower formation control of underactuated surface vessels

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Science China(Information Sciences) 2022年第10期65卷 297-298页

作者： Xiaodong HE zhiyong geng State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University

Dear editor,Leader-follower formation control of underactuated surface vessels has attracted much attention in past decades. The challenge arises from the second-order nonholonomic constraint on acceleration. To overcome the difficulty, plenty of nonlinear techniques are applied, such as robust adaptive control [1], dynamic surface control [2],

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Finite-time Attitude Control: A Finite-time Passivity Approach

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 102-108页

作者： Shuochen Liu zhiyong geng Junyong Sun the State Key Laboratory of Turbulence and Complex System

This paper studies the finite-time attitude control problem for a rigid body. It is known that linear asymptotically stabilizing control laws can be derived from passivity properties for the system which describes the kinematic and dynamic motion of the attitude. Our approach expands this framework by defining finite-time passivity and exploring the corresponding properties. For a rigid body, the desired attitude can be tracked in finite time using the designed finite-time attitude control law. Some finitetime passivity properties for the feedback connection systems are also shown. Numerical simulations are provided to demonstrate the effectiveness of the proposed control law. © 2014 Chinese Association of Automation.

关键词： Control theory Rigid structures

Robust stabilization of the system family

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Chinese Science Bulletin 2000年第9期45卷 802-806页

作者： WANG Enping HUANG Lin geng zhiyong Institute of System Science Chinese Academy of SciencesBeijing 100080China Department of Mechanics and Engineering Science Peking UniversityBeijing 100871China 不详

The problem of robust stabilization of a system family is studied here. A sufficient condition for the existence of a robust controller is presented under the assumption that there are perturbations both in the numerator and in the denominator of the nominal system. This condition can be given by an inequality that is satisfied by the coefficient vectors of the perturbed polynomials. Based on this, the robust controller family stabilizing the system family can be obtained. Therefore, the condition has the advantages of easy computing and further satisfying other required properties.

关键词： system family robust stabilization robust controller.

Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence 36

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Adaptive Sliding Mode Tracking Control for Nonholonomic Whee...

Stabilization of a relative equilibrium of an underactuated AUV in three-dimensional space 36

第36届中国控制会议

作者： Li Xue geng zhiyong The State Key Laboratory for Turbulence and Complex Systems of Peking University Department of Mechanics and Engineering Science College of Engineering.Peking University

ISBN: (纸本)9781538629185

This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot’s moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability analysis, it can be showed the finite time convergence in both reaching and sliding phase is achieved, and all closedloop signals are uniformly ultimately bounded. Finally simulation results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： nonholonomic wheeled mobile robots sliding mode control adaptive control finite time convergence trajectory tracking

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Stabilization of a relative equilibrium of an underactuated ...

Exponential attitude and gyro-bias estimation on the Special orthogonal group SO（3） 36

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作者： NIU Hongjiao geng zhiyong State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking University

ISBN: (纸本)9781538629185

This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle（AUV） with three independent control inputs:moment of pitch,moment of yaw and thrust,in three-dimensional *** dynamics of an AUV can be described by the Kirchhoff’s equations which couples actuated variables and underactuated variables together and which is helpful to control underactuated variables via actuated ***,relative equilibria correspond to trim trajectories,which can save *** this study,the relative equilibrium corresponds to a marine vehicle translation along the longitudinal axis and rotation around the same axis with a desired *** on the interconnection and damping assignment（IDA） method,a new desired Hamiltonian function,in which translational and rotational velocities are coupled together,is constructed and served as a Lyapunov *** there’s no control inputs for the underactuated variables,the coupling between translational and rotational velocities in the new desired Hamiltonian function plays an essential role to stabilize the desired relative *** results complete the work.

关键词： Underactued AUV relative equilibrium energy shaping and damping assignment

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Exponential attitude and gyro-bias estimation on the Special...