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A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

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Science China(Information Sciences) 2024年第2期67卷 118-143页

作者： guang-ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett’s two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system(FAS)approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关键词： nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems

A model reduction approach for discrete-time linear time-variant systems with delayed inputs

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Science China(Information Sciences) 2024年第4期67卷 197-217页

作者： Ai-Guo WU guang-ren duan Yu WANG Jie ZHANG School of Mechanical Engineering and Automation Harbin Institute of Technology(Shenzhen) HIT Wuhu Robot Technology Research Institute Center for Control Science and Technology Southern University of Science and Technology

A model reduction approach is presented for discrete-time linear time-variant input-delayed systems. According to this proposed approach, a dynamical variable is constructed by taking advantage of the current state and historical information of input. It is revealed that the behavior of this dynamical variable is governed by a discrete-time linear delay-free system. It is worth noting that the presented variable transformation does not require the system matrix to be invertible. Based on the reduced delay-free models,stabilizing control laws can be easily obtained for the original delayed system. For the case with a single input delay, the constructed variable is an exact prediction for the future state, and thus the stabilizing control law could be designed by replacing the future state with its prediction. Finally, three discrete-time periodic systems with delayed input are employed to illustrate how to utilize the presented model reduction approaches.

关键词： reduction approach predictor-based feedback time-varying systems delayed input periodic system

Prescribed time control based on the periodic delayed sliding mode surface without singularities

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Science China(Information Sciences) 2024年第7期67卷 256-270页

作者： Bin ZHOU Yi DING Kang-Kang ZHANG guang-ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, nonsingular prescribed-time control is studied based on periodic delayed sliding mode surfaces. Different from the existing sliding mode control, where either singularity problems may appear or the convergence time depends on the initial state, the proposed sliding mode control approaches can achieve prescribed-time convergence without singularity. The proposed nonsingular sliding mode control approaches can be applied to both second-order and high-order nonlinear systems with prescribed-time convergence. As applications of the proposed sliding mode control approaches, the control of hypersonic vehicle systems is revisited. Numerical simulations on the nonlinear model of the hypersonic vehicle system show the effectiveness of the proposed methods.

关键词： prescribed-time control smooth periodic delayed feedback sliding mode control high-order nonlinear systems hypersonic vehicle systems

Fully actuated system approach to attitude control of flexible spacecraft with nonlinear time-varying inertia

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Science China(Information Sciences) 2022年第11期65卷 148-162页

作者： Tianyi ZHAO guang-ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology

A high-order fully actuated(HOFA) system approach is proposed for the attitude control problem of a flexible spacecraft with nonlinear and time-varying inertia. Different from most existing results,the proposed method guarantees a linear time-invariant closed-loop system with arbitrarily assignable eigenvalues. Firstly, the HOFA model for the attitude system is derived from the original dynamic equations of the system by using state transformation and variable elimination. Then, by using the full-actuation characteristics of the obtained HOFA system, the nonlinearity in the system is completely canceled and a linear time-invariant system with arbitrarily assignable eigenvalues is derived. Finally, the control laws are designed for both problems of attitude stabilization and attitude maneuvering, and simulations are carried out based on practical engineering parameters, which demonstrate the effects of the proposed method.

关键词： high-order fully actuated system flexible spacecraft time-varying nonlinear systems attitude stabilization attitude maneuvering

Observer-based multi-objective parametric design for spacecraft with super flexible netted antennas

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Science China(Information Sciences) 2020年第7期63卷 161-181页

作者： guang-ren duan Tian-Yi ZHAO Center for Control Theory and Guidance Technology Harbin Institute of Technology

A multi-objective parametric design method that based on the robust observer is proposed for the attitude control of satellites with super flexible netted antennas. First, a parametric observer-based controller is obtained based on the eigen-structure assignment theory. The closed-loop poles are assigned to desired positions or regions, and full degrees of freedom of the design, which are characterized by a set of parameters, are preserved under the proposed control law. Second, the obtained parameters are comprehensively optimized to make the closed-loop system have lower eigenvalue sensitivity, a smaller control gain, and stronger tolerance to high-order unmodeled dynamics and external disturbances. Finally, comparative simulations are carried out based on practical engineering parameters of a satellite in order to verify the effect of the proposed method, and also to show their superiority over the traditional proportional-integral-derivative(PID) controller with filters and the traditional dynamic compensators.

关键词： parametric design of control systems multi-objective designs robust observers super flexible spacecraft parameter perturbations high-order flexible modes

Output Feedback Stabilization of Spacecraft Autonomous rendezvous Subject to Actuator Saturation

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International Journal of Automation and computing 2016年第5期13卷 428-437页

作者： Qian Wang guang-ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology

This paper studies the output feedback dynamic gain scheduled control for stabilizing a spacecraft rendezvous system subject to actuator saturation. By using the parametric Lyapunov equation and the gain scheduling technique, a new observer-based output feedback controller is proposed to solve the semi-global stabilization problem for spacecraft rendezvous system with actuator saturation. By scheduling the design parameter online, the convergence rates of the closed-loop system are improved. Numerical simulations show the effectiveness of the proposed approaches.

关键词： Dynamic gain scheduling output feedback parametric Lyapunov equation input saturation spacecraft rendezvous.

Robust Global Stabilization of Spacecraft rendezvous System via Gain Scheduling

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International Journal of Automation and computing 2014年第4期11卷 426-433页

作者： Qian Wang guang-ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology

The problem of robust global stabilization of a spacecraft circular orbit rendezvous system with input saturation and inputadditive uncertainties is studied in this paper. The relative models with saturation nonlinearity are established based on ClohesseyWiltshire equation. Considering the advantages of the recently developed parametric Lyapunov equation-based low gain feedback design method and an existing high gain scheduling technique, a new robust gain scheduling controller is proposed to solve the robust global stabilization problem. To apply the proposed gain scheduling approaches, only a scalar nonlinear equation is required to be *** from the controller design, simulations have been carried out directly on the nonlinear model of the spacecraft rendezvous operation instead of a linearized one. The effectiveness of the proposed approach is shown.

关键词： Robust global stabilization spacecraft rendezvous system parametric Lyapunov equation input saturation input-additive uncertainties gain scheduling

A Direct Parametric Approach to Spacecraft Attitude Tracking Control

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International Journal of Automation and computing 2017年第5期14卷 626-636页

作者： Xiao-Yi Wang guang-ren duan Center for Control Theory and Cuidance Technology Harbin Institute of TechnologyHarbin 150001China

Through the direct parameter approach, a solution for spacecraft attitude tracking is presented. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. Based on the control model, a suitable controller is designed by the direct parameter approach. Compared with other control strategies, the direct parameter approach can offer all degrees of freedom for the controller to satisfy the requirements for system properties and turn the original nonlinear system into closed-loop linear system. Furthermore, this paper optimizes the controller according to the robustness, limitation of controller output and closed-loop eigenvalue sensitivity. Putting the controller into the original system, the state response of the closed-loop system and the output of controller are plotted in Matlab to verify the availability and robustness of the controller. Therefore, the controlled spacecraft can achieve the goal of tracking on the mobile target with the external disturbance torque.

关键词： Nonlinear systems attitude control spacecraft attitude tracking quaternion representation direct parametric approach.

Adaptive Dynamic Surface Control for Integrated Missile Guidance and Autopilot

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International Journal of Automation and computing 2011年第1期8卷 122-127页

作者： Ming-Zhe Hou guang-ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 PRC

Integrated guidance and control for homing missiles utilizing adaptive dynamic surface control approach is considered based on the three channels independence design idea. A time-varying integrated guidance and control model with unmatched uncertainties is first formulated for the pitch channel, and an adaptive dynamic surface control algorithm is further developed to deal with these unmatched uncertainties. It is proved that the proposed feedback controller can ensure not only the accuracy of target interception, but also the stability of the missile dynamics. Then, the same control approach is further applied to the control design of the yaw and roll channels. The 6-degree-of-freedom （6-DOF） nonlinear missile simulation results demonstrate the feasibility and advantage of the proposed integrated guidance and control design scheme.

关键词： Integrated guidance and control unmatched uncertainty adaptive control dynamic surface control homing missiles.