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Rotorcraft with a 3DOF Rigid Manipulator:Quaternion-based Modeling and Real-time control Tolerant to Multi-body Couplings

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International Journal of Automation and computing 2018年第5期15卷 547-558页

作者： J.Alvarez-Munoz N.Marchand J.F.Guerrero-Castellanos J.J.Tellez-Guzman J.Escareno M.Rakotondrabe Polytechnic Institute of Advanced Sciences FR 94200 ParisFrance Univ.Grenoble Alpes GIPSA-LabFR-38000 GrenobleFrance Autonomous University of Puebla(BUAP) Faculty of ElectronicsMX 72570 PueblaMexico University of Limoges ENSIL-ENSCI XLIM Laboratory UMR CNRS 7252Parc Ester Technopole16 rue AtlantisLimoges 87068France FEMTO-ST Institute UMR CNRS-UFC/ENSMM/UTBMAutomatic Control and Micro-Mechatronic DepartmentFR BesanconFrance

This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.

关键词： observer-based control quaternion and Newton-Euler modeling bounded-input control aerial manipulator disturbancerejection.

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On a generalization of the LTR procedure

On a generalization of the LTR procedure

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2011 Chinese control and Decision Conference（CCDC）

作者： L.Ravanbod-Hosseini D.Noll P.Apkarian Université Paul Sabatier Institut de Mathématiques118 route de Narbonne31062 ToulouseFrance

The LQG/LTR procedure is a classical means to desensibilize a system in closed-loop with respect to disturbances and system *** discuss an extension of LTR which can be applied in more general *** an example,we show t... 详细信息

关键词： LQG/LTR observer-based control PID control.

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observer-based stabilization for singular linear systems with mismatched uncertainties

Observer-based stabilization for singular linear systems wit...

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第二十一届中国控制会议

作者： WANG Xiao-hua, DONG Ya-li, QIN Hua-shu ( Beijing Institute of Technology, Beijing 100081 Institute of Systems Science, Chinese Acadamy Sciences, Beijing 100080)

＜正＞In this paper, the problem of observer-based stabilization for linear singular systems with both matched and mismatched uncertainties is discussed. When system states are not available, an approach to construct controller stabilizing linear singular system is given and the stabilization controller is in the form of feedback of estimated states which are obtained by designing observer with the help of the constrained Riccati approach （CRA）.

关键词： singular system observer-based control constrained Riccati approach

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Output Feedback control for Stochastic Sampled-data Systems

Output Feedback Control for Stochastic Sampled-data Systems

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第三十届中国控制会议

作者： WU Junli~1,SHI Peng~(2,3),LI Jing~1,LI Jianhui~1 1.Jiamusi University,Jiamusi 154002,P.R.China 2.Victoria University,Melbourne,Vic,8001,Australia 3.University of Glamorgan,Pontypridd,CF37 1DL,United Kindom

＜正＞This paper investigates the problem of output feedback control for stochastic uncertainty sampled-data *** parameter uncertainties are characterized by a matrix bound which is natural in real *** applying the input delay approach,the stochastic sampled-data system is transformed into a stochastic continuous time-delay *** linear matrix inequality（LMI） approach,sufficient conditions are obtained,which guarantee the robust mean-square asymptotical stability of the ***,an observer-based controller design procedure is then *** example is given to show the effectiveness of the proposed techniques.

关键词： Sampled-data systems Stochastic systems observer-based control

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Robust Guaranteed Cost control of Uncertain Networked Systems

Robust Guaranteed Cost Control of Uncertain Networked System...

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第三十届中国控制会议

作者： YAN Dongmei~1,WANG Youwei~1,LI Chuanhua~2 1.The Center of Network & Educational Technology,Jilin University,5333 Xi''an Road,Changchun 130062,P.R.China 2.The Library,Heping Campus Jilin University,5333Xi''an Road,Changchun 130062,P.R.China

＜正＞This paper is concerned with the robust guaranteed cost control problem of uncertain networked systems via observer-based feedback control *** uncertainties are assumed to be time-varying but *** systems are modeled as continuous-time linear systems with time-varying *** applying an integral inequality,delay-dependent conditions for the existence of the observer-based guaranteed cost controller are *** controller and observer gains can be obtained by solving these ***,these conditions are non-convex,so a novel iterative algorithm is proposed to solve them.A numerical example is given to illustrate the effectiveness of the proposed conditions and algorithm.

关键词： Guaranteed Cost control Networked control Systems Delay-Dependent Stability observer-based control Linear Matrix Inequality

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Formation Tracking for Linear Multiagent Systems based on Adaptive Disturbance observer

Formation Tracking for Linear Multiagent Systems Based on Ad...

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第40届中国控制会议

作者： ZHANG Zixuan DONG Wei WANG Chunyan WANG Jianan DING Zhengtao School of Aerospace Engineering Beijing Institute of Technology Department of Electrical and Electronic Engineering University of Manchester

This paper investigates the leader-follower formation tracking problem of linear multiagent systems with unknown external disturbances. To deal with the unknown disturbances, an adaptive observer is proposed for each follower. Then, a formation tracking protocol is proposed by utilizing the disturbances and states obtained from adaptive observers. based on the Lyapunov analysis, the asymptotical convergence of the state error is rigorously proved. Different from some existing antidisturbance consensus approaches, the adaptive disturbance observer is completely decoupled from formation control. Finally,simulations are provided to show the effectiveness of the theoretical research.

关键词： External disturbance adaptive disturbance observer multiagent systems observer-based control formation control

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