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The Dynamics Characteristics of Flexible Spacecraft and Its closed-loop stability with Passive Control

Journal of Systems Science & Complexity 2021年第3期34卷 860-872页

作者： MENG Bin ZHAO Yunbo Beijing Institute of Control Engineering Beijing 100094China Science and Technology on Space Intelligent Control Laboratory Beijing 100094China Zhejiang University of Technology Hangzhou 310014China

Passive control is the most popular methodology for flexible spacecraft while it remains an open problem whether the closed-loop performance can be achieved only with passive control subject to the coupling modes of rigid and flexibility.Also,the closed-loop performance of passive PD control based on the dynamics of the Euler angle parameterization of spacecraft,which has been widely used in practice,is yet to be addressed.Towards these challenges,by introducing the input-output exact linearization theory and Lyapunov theory,the authors show that the closed-loop performance for flexible spacecraft with rigid and flexible modes can be achieved by adjusting the parameters of the passive controllers sufficiently large.This is done by firstly transforming the flexible spacecraft dynamics into an exact feedback linearization standard form,and then analyzing the closed-loop performance of flexible spacecraft.

关键词： closed-loop stability flexible spacecraft internal dynamics input-output exact linearization passive control

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Real‑Time Predictive Control of Path Following to Stabilize Autonomous Electric Vehicles Under Extreme Drive Conditions

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Automotive Innovation 2022年第4期5卷 453-470页

作者： Ningyuan Guo Xudong Zhang Yuan Zou Beijing Collaborative and Innovative Center for Electric Vehicle and School of Mechanical Engineering Beijing Institute of TechnologyNo.5 Zhongguancun South StreetHaidian DistrictBeijing 100081China School of Mechatronic Engineering and Automation Foshan UniversityFoshan 528225China

A novel real-time predictive control strategy is proposed for path following(PF)and vehicle stability of autonomous electric vehicles under extreme drive conditions.The investigated vehicle configuration is a distributed drive electric vehicle,which allows to independently control the torques of each in-wheel motor(IWM)for superior stability,but bringing control com-plexities.The control-oriented model is established by the Magic Formula tire function and the single-track vehicle model.For PF and direct yaw moment control,the nonlinear model predictive control(NMPC)strategy is developed to minimize PF tracking error and stabilize vehicle,outputting front tires’lateral force and external yaw moment.To mitigate the calcu-lation burdens,the continuation/general minimal residual algorithm is proposed for real-time optimization in NMPC.The relaxation function method is adopted to handle the inequality constraints.To prevent vehicle instability and improve steering capacity,the lateral velocity differential of the vehicle is considered in phase plane analysis,and the novel stable bounds of lateral forces are developed and online applied in the proposed NMPC controller.Additionally,the Lyapunov-based constraint is proposed to guarantee the closed-loop stability for the PF issue,and sufficient conditions regarding recursive feasibility and closed-loop stability are provided analytically.The target lateral force is transformed as front steering angle command by the inversive tire model,and the external yaw moment and total traction torque are distributed as the torque commands of IWMs by optimization.The validations prove the effectiveness of the proposed strategy in improved steering capacity,desirable PF effects,vehicle stabilization,and real-time applicability.

关键词： closed-loop stability Extreme drive conditions Fast optimization Nonlinear model predictive control Path following Vehicle stability bounds

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Optimal finite-precision controller realizations in block-floating-point format

Optimal finite-precision controller realizations in block-fl...

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第二十一届中国控制会议

作者： WU Jun, CHEN Sheng, CHU Jian ( National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University, Hangzhou, 310027. P.R. China Department of Electronics and Computer Science University oj Southampton , Highfield Southampton SO17 1BJ , United Kingdom)

＜正＞The paper analyzes the properties of the controller coefficient perturbation resulting from using finite word length （FWL） block-floating-point （BFP） arithmetic and investigates the closed-loop stability issue of finite-precision realizations for digital controllers implemented in BFP format. A true FWL closed-loop stability measure is derived which considers both the dynamic range and precision of number representation in BFP format. To facilitate the design of optimal finite-precision controller realizations, a computationally tractable FWL BFP closed-loop stability measure is introduced and the method of computing the value of this measure for a given controller realization is developed. The optimal controller realization is defined as the solution that maximizes the proposed measure, and a numerical optimization approach is adopted to solve for the resulting optimal realization problem. A numerical example is used to illustrate the proposed design procedure.

关键词： digital controller finite word length block-floating-point closed-loop stability

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Output Feedback PD Power-Level Control for Modular High Temperature Gas-Cooled Reactors

Output Feedback PD Power-Level Control for Modular High Temp...

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第26届中国控制与决策会议

作者： Zhe Dong Institute of Nuclear and New Energy Technology Tsinghua University

Due to its inherent safety feature, the modular high temperature gas-cooled reactor(MHTGR) has been seen as one of the best candidates in building next generation nuclear plants(NGNPs). Since the MHTGR dynamics has high nonlinearity, it is necessary to develop nonlinear power-level controller which is not only beneficial to the safe, stable, efficient and autonomous operation of the MHTGR but also easy to be implemented practically. In this paper, based on the concept of shifted-ectropy and the physically-based control design approach, it is proved theoretically that the simple proportional-differential(PD) output-feedback power-level control provides globally asymptotic closed-loop stability. Numerical simulation results verify the theoretical results and show the influence of the controller parameters to the dynamic response.

关键词： Modular high temperature gas-cooled reactor（MHTGR） Power-level control closed-loop stability

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