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Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface

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Defence Technology（防务技术） 2020年第6期16卷 1130-1141页

作者： Shang Jiang Fu-qing Tian Shi-yan Sun Wei-ge Liang Naval Engineering University Ordnance Engineering CollegeWuhanHubeiChina

Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.

关键词： Integrated guidance and control Multiple constraints Fuzzy adaptive dynamic surface Nonsingular terminal sliding mode Extended state observer

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Backstepping adaptive control of hydraulic Stewart platform using dynamic surface

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Journal of Harbin Institute of Technology(New Series) 2011年第3期18卷 106-110页

作者：唐建林袁立鹏赵克定 School of Mechatronics Engineering Harbin Institute of Technology

Hydraulic Stewart platform is characterized by nonlinearity for driving system in essence,severe load coupling among the legs,which bring a great difficulty for controller design and performance improvement.Afore controller research is either low in tracking performance and movement smoothness when it ignores the nonlinearity and dynamics coupling,or complex in algorithm and has the need of acceleration feedback or observer when the dynamics coupling and nonlinearity is included.To solve the dilemma,a new controller,backstepping adaptive control of hydraulic Stewart platform using dynamic surface is put forward based on the complete dynamics including the upper platform dynamics and hydraulic nonlinearity in driving system.Asymptotic stability of the whole system is proved by Lyapunov method.The proposed algorithm is simple by avoiding the use of acceleration.The simulation results indicate that the control algorithm performs better than the normal PID controller in control precision,dynamic response and depression of the cross coupling.

关键词： hydraulic Stewart platform dynamics coupling dynamic surface backstepping adaptive control asymptotic stability

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dynamic surface Control for a Class of Nonlinear Systems in the Presence of Input Saturation

Dynamic Surface Control for a Class of Nonlinear Systems in ...

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2015年中国智能自动化学术会议

作者： Cao Pi Jinkun Liu Beihang University

In this technical note,we present a novel control approach based on dynamic surface for single input nonlinear systems in the presence of input saturation.The control algorithm is constructed by introducing first-order filtering of the virtual input at each step of the traditional backstepping approach.To deal with the problem of input saturation,we incorporate a new auxiliary design system and Nussbaum gain functions into the control scheme.Compared with the early backstepping approach,the dynamic surface control scheme has greatly simplified the design process.It is proved that the global stability of the closed-loop system can be guaranteed by the proposed control algorithm.

关键词： Nonlinear systems Saturation dynamic surface Stability analysis

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Quasi-synchronous control of uncertain multiple electrohydraulic systems with prescribed performance constraint and input saturation

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中国航空学报:英文版 2023年第9期36卷 416-425页

作者： Shuai LI Qing GUO Yan SHI Yao YAN Dan JIANG School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Mechanical and Electrical Engineering University of Electronic Science and Technology of ChinaChengdu 611731China

This article focuses on the high accuracy quasi-synchronous control issue of multiple electrohydraulic systems(MEHS).In order to overcome the negative effects of parameter uncertainty and external load interference of MEHS,a kind of finite-time disturbance observer(FTDO)via terminal sliding mode method is constructed based on the MEHS model to achieve fast and accuracy estimation and compensation ability.To avoid the differential explosion in backstepping iteration,the dynamic surface control is used in this paper to guarantee the follower electrohydraulic nodes synchronize to the leader motion with a better performance.Furthermore,a timevarying barrier Lyapunov function(tvBLF)is adopted during the controller design process to constraint the output tracking error of MEHS in a prescribed performance with time-varying exponential function.As the initial state condition is relax by tvBLF,the input saturation law is also adopted during the controller design process in this paper to restrain the surges of input signals,which can avoid the circuit and mechanical structure damage caused by the volatile input signal.An MEHS experimental bench is constructed to verify the effectiveness of the theoretical conclusions proposed in this paper and the advantages of the proposed conclusions in this paper are illustrated by a series of contradistinctive experimental results.

关键词： Backstepping dynamic surface Finite-time disturbance observer Input saturation Multiple Electrohydraulic Systems Output error constraint Quasi-synchronous control

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Design of Quadrotor Control System based on dynamic surface Output Regulation

Design of Quadrotor Control System based on Dynamic Surface ...

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第37届中国控制会议

作者： Junfang Li Feng Li Yuehui Ji Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

A double-loop control system is proposed based on dynamic surface output regulation and integral sliding mode control method,to achieve the position and the attitude tracking control of the quadrotor with external disturbance.Especially,in the position control,the dynamic surface technology is combined with the internal model to design an output regulator,which can transform the position controller into a position augmented system stabilization controller.And integral sliding mode control method is adopted in the attitude control.The internal model is an important and effective tool in the output regulation theory,which can solve the asymptotic tracking and disturbance rejection problems of uncertain systems,and the dynamic surface method allows the mathematical model of the object to be not differentiable,thus the computational expansion is avoided.The stability of the designed control system is proved by Lyapunov stability theory,simulation results in Matlab/Simulink are presented to verify the effectiveness and robustness of the proposed control system.

关键词： quadrotor output regulation dynamic surface internal model integral sliding mode

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Mediating the Migration of Mesenchymal Stem Cells by dynamically Changing the Density of Cell-selective Peptides Immobilized on β-Cyclodextrin-modified Cell-resisting Polymer Brushes

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高分子科学：英文版 2020年第9期38卷 126-136,I0005页

作者： Wang Du De-Teng Zhang Xue-Mei Wang Tan-Chen Ren Chang-You Gao Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and Engineering Zhejiang University

dynamic control of mesenchymal stem cell(MSC)behaviors on biomaterial surface is critically involved in regulating the cell fate and tissue regeneration.Herein,a stimuli-responsive surface based on host-guest interaction with cell selectivity was developed to regulate migration of MSCs in situ by dynamic display of cell-specific peptides.Azobenzene-grafted MSC-affinitive peptides(EPLQLKM,Azo-E7)were grafted toβ-cyclodextran(β-CD)-modified poly(2-hydroxyethyl methacrylate)-b-poly(2-hydroxyethyl methacrylate-co-glycidyl methacrylate)(PHG)brushes,which were prepared by using surface-initiated atom transfer radical polymerization(SI-ATRP).X-ray photoelectron spectroscopy(XPS),quartz crystal microbalance(QCM),and water contact angle were used to characterize their structure and property.Cell adhesion assay showed that the combination effect of resisting property of PHG and MSC-affinity of E7 could promote the selective adhesion of MSCs over other types of cells such as RAW264.7 macrophages and NIH3 T3 fibroblasts to some extent.UV-Vis spectroscopy proved that the competing guest molecules,amantadine hydrochloride(Ama),could release Azo-E7 peptides from the CD surface to different extents,and the effect was enhanced when UV irradiation was employed simultaneously.As a result,the decrease of cell adhesion density and migration rate could be achieved in situ.The cell density and migration rate could be reduced by over 40%by adding 20μmol/L Ama,suggesting that this type of surface is a new platform for dynamic regulation of stem cell behaviors in situ.

关键词： Host-guest interaction MSC-affinitive peptide dynamic surface Cell adhesion Cell migration

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