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Sliding-mode-disturbance-observer-based adaptive neural control of uncertain discrete-time systems

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Science China(Information Sciences) 2020年第4期63卷 227-229页

作者： shuyi shao Mou CHEN College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Dear editor,For real-world control systems, there are often system uncertainties caused by modeling errors, disturbances caused by external unknown environments, and saturation caused by physical limitations of the actuator. The above-mentioned problems can not only degrade the performance of the controlled object, but also result in system insta-

关键词： Sliding-mode-disturbance-observer-based adaptive neural control of uncertain discrete-time systems

Polynomial networks based adaptive attitude tracking control for NSVs with input constraints and stochastic noises

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Chinese Journal of Aeronautics 2021年第7期34卷 124-134页

作者： Xiaohui YAN Mou CHEN shuyi shao Qingxian WU College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China School of Artificial Intelligence and Big Data Hefei UniversityHefei 230601China

This paper proposes a backstepping technique and Multi-dimensional Taylor Polynomial Networks(MTPN)based adaptive attitude tracking control strategy for Near Space Vehicles(NSVs)subjected to input constraints and stochastic input ***,considering the control input has stochastic noises,and the attitude motion dynamical model of the NSVs is actually modeled as the Multi-Input Multi-Output(MIMO)stochastic nonlinear system ***,the MTPN is used to estimate the unknown system uncertainties,and an auxiliary system is designed to compensate the influence of the saturation control ***,by using backstepping method and the output of the auxiliary system,a MTPN-based robust adaptive attitude control approach is proposed for the NSVs with saturation input nonlinearity,stochastic input noises,and system *** Lyapunov stability theory is utilized to analysis the stability in the sense of probability of the entire closed-loop ***,by selecting appropriate parameters,the tracking errors will converge to a small neighborhood with a tunable ***,the numerical simulation results of the NSVs attitude motion show the satisfactory flight control performance under the proposed tracking control strategy.

关键词： Backstepping control Input constraints Multi-dimensional Taylor Polynomial Networks(MTPN) Near Space Vehicles(NSVs) Stochastic input noises

Dynamic event-triggered fault-tolerant cooperative resilient tracking control with prescribed performance for UAVs

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Science China(Information Sciences) 2024年第8期67卷 67-84页

作者： Rong YUAN Zhengcai AN shuyi shao Mou CHEN Mihai LUNGU College of Automation Engineering Nanjing University of Aeronautics and Astronautics Science and Technology on Electro-optic Control Laboratory Faculty of Electrical Engineering University of Craiova Aerospace Engineering Doctoral School University Politehnica of Bucharest

In this paper, a resilient tracking control scheme with cooperative collision avoidance performance is studied for the fixed-wing unmanned aerial vehicle(UAV) leader-follower formation in the presence of actuator failures and external disturbances. Firstly, based on the control objectives of UAV formation tracking and collision avoidance, the transformation tracking errors are obtained using the prescribed performance control technique. Next, a fault detection mechanism is introduced to determine if there is the actuator fault. Subsequently, the event-triggered resilient fault observers are designed based on a dynamic eventtriggered mechanism to estimate actuator faults. Furthermore, the prescribed performance functions and the H∞ performance index are employed to ensure the UAV formation collision-free and mitigate the impact of disturbances. Moreover, the resilient controller is designed to minimize the effect of the perturbations for the control gain and the fault observer gain on the system. The stability of the system is also proven through the Lyapunov stability analysis, and the controller gains are calculated by solving the linear matrix ***, the validity of the proposed control strategy is demonstrated by the simulation analysis.

关键词： UAV formation cooperative collision avoidance event-triggered fault observer prescribed performance resilient control

The Analysis of Projective Synchronization for two Dynamical Gyros

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The Analysis of Projective Synchronization for two Dynamical...

Robust Anti⁃swing Control for Unmanned Helicopter Slung⁃Load System with Prescribed Performance

第25届中国控制与决策会议

作者： Fuhong Min shuyi shao Enrong Wang Xuehong Wu School of Electric and Automation Engineering Nanjing Normal University

ISBN: (纸本)9781467355339

In this paper, the projective synchronization for two gyros with different motions is investigated based on a discontinuous feedback contoller. From the theory of discontinuous dynamical systems, the analytical conditions of such synchronization are developed, and the synchronization invariant domain is also presented. The full synchronizations for a noised chaotic gyro with an expected period-5 motion are presented to demonstrate the feasibility of the proposed method.

关键词： Projective Synchronization Gyros Discontinuous dynamical systems Full synchronization

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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第2期38卷 193-205页

作者： shao shuyi LIU Nan LI Chunru CHEN Mou College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106P.R.China College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016P.R.China

A robust anti-swing control method based on the error transformation function is proposed,and the problem is handled for the unmanned helicopter slung-load system(HSLS)deviating from the equilibrium state due to the disturbances in the lifting ***,the nonlinear model of unmanned HSLS is ***,the errors of swing angles are constructed by using the two ideal swing angle values and the actual swing angle values for the unmanned HSLS under flat flight,and the error transformation functions are investigated to guarantee that the errors of swing angles satisfy the prescribed ***,the nonlinear disturbance observers are introduced to estimate the bounded disturbances,and the robust controllers of the unmanned HSLS,the velocity and the attitude subsystems are designed based on the prescribed performance method,the output of disturbance observer and the sliding mode backstepping strategy,***,the Lyapunov function is developed to prove the stability of the closed-loop ***,the simulation studies are shown to demonstrate the effectiveness of the control strategy.

关键词： unmanned helicopter slung-load system prescribed performance anti-swing control disturbance observer sliding mode controller

基于干扰观测器的四旋翼无人机离散时间容错控制

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航空学报 2020年第S2期41卷 89-97页

作者：邵书义陈谋招启军南京航空航天大学自动化学院南京211106 南京航空航天大学航空学院南京210016

为了飞行控制方案便于在计算机上实现,针对具有外部干扰和执行器加性故障的四旋翼无人机(UAV)角度运动方程,给出一种基于干扰观测器的离散时间跟踪控制方案。通过设计离散时间干扰观测器抑制外部干扰和执行器故障的不利影响,并结合干扰... 详细信息

为了飞行控制方案便于在计算机上实现,针对具有外部干扰和执行器加性故障的四旋翼无人机(UAV)角度运动方程,给出一种基于干扰观测器的离散时间跟踪控制方案。通过设计离散时间干扰观测器抑制外部干扰和执行器故障的不利影响,并结合干扰观测器设计离散时间控制器。通过数值仿真验证了基于干扰观测器的离散时间容错控制方案的有效性。仿真结果表明,设计的离散控制器能够保证外部干扰和执行器故障综合作用下的四旋翼UAV系统跟踪控制性能。

关键词：四旋翼无人机干扰观测器离散时间控制容错控制反演控制

Approximation-based Finite-time Adaptive Control for MIMO Stochastic Nonlinear Systems and Its Application to NSVs

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Approximation-based Finite-time Adaptive Control for MIMO St...

第三十九届中国控制会议

作者： Xiaohui Yan shuyi shao Guiwei shao Qingyun Yang School of Artificial Intelligence and Big Data Hefei University College of Automation Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical and Electrical Engineering Zaozhuang University

In this paper, based on exponential Chebyshev（EC） polynomials, an approximation-based finite-time robust tracking control approach is proposed for MIMO stochastic nonlinear systems. To handle the unknown continuous functions, EC polynomials are utilized to estimate the unknown nonlinear functions with arbitrary precision. Combining with backstepping method,the finite-time robust stochastic controller is designed, and the designed control approach can ensure that all the closed-loop system signals are semi-global finite-time stable in probability（SGFSP）. Consider the near space vehicles（NSVs） with stochastic input noise, the simulation results of the NSVs attitude motion show the effectiveness of the proposed approach.

关键词： EC polynomials Stochastic nonlinear systems Finite-time control Adaptive control NSVs

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输入饱和情形下战斗机大机动动态面控制

北京航空航天大学学报 2021年第2期47卷 247-254页

作者：周章勇邵书义胡伟南京航空航天大学自动化学院南京211106 国营芜湖机械厂芜湖241007

针对战斗机大机动飞行输入饱和问题,提出了一种自适应神经网络动态面控制方法。采用径向基(RBF)神经网络逼近飞机系统的不确定性,利用双曲正切函数处理系统的输入饱和问题,根据饱和受限后的实际控制输入与期望控制输入之差定义新误差变... 详细信息

针对战斗机大机动飞行输入饱和问题,提出了一种自适应神经网络动态面控制方法。采用径向基(RBF)神经网络逼近飞机系统的不确定性,利用双曲正切函数处理系统的输入饱和问题,根据饱和受限后的实际控制输入与期望控制输入之差定义新误差变量,结合该误差变量设计大机动飞行控制律,并构造鲁棒项抵消神经网络逼近误差、外部干扰和建模误差的影响,利用动态面控制技术避免对虚拟控制器的复杂求导并减小计算量。根据Lyapunov稳定性定理证明了闭环控制系统所有信号有界,且通过选择合适的设计参数能够使姿态角跟踪误差收敛到原点的任意小邻域内。通过仿真结果的分析,验证了所提方法具有较好的鲁棒性和稳定性。

关键词：飞行控制大机动输入饱和神经网络鲁棒性

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基于制导与控制系统的导弹虚拟仿真实验分析

电子技术（上海） 2023年第3期52卷 34-36页

作者：邵书义南京航空航天大学自动化学院江苏211106

阐述制导与控制系统课程的教学与仿真实验,包括自动控制原理、飞行动力学、制导与控制系统基本原理和设计方法,探讨理论知识与实践创新融合,构建制导与控制系统课程的导弹虚拟仿真实验开发平台架构,形成课程实践、实验环境与课程理论相... 详细信息

阐述制导与控制系统课程的教学与仿真实验,包括自动控制原理、飞行动力学、制导与控制系统基本原理和设计方法,探讨理论知识与实践创新融合,构建制导与控制系统课程的导弹虚拟仿真实验开发平台架构,形成课程实践、实验环境与课程理论相结合的教学模式。

关键词：控制技术制导与控制虚拟仿真