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control allocation for a V/STOL aircraft based on robust fuzzy control

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Science China(Information Sciences) 2011年第6期54卷 1321-1326页

作者： FAN Yong , MENG XianYu, YANG XiLi, LIU Kai & ZHU JiHong Department of Science and Technology, Tsinghua University, Beijing 100084, China 1. Department of Science and Technology Tsinghua University Beijing 100084 China

This study addresses the design of an output-feedback H-infinity and fuzzy mixed controller for an advanced vertical and/or short take-off and landing aircraft that exhibits satisfactory global stability criteria. A fuzzy logic based optimization approach is employed to solve autonomously the constrained control allocation problem by suitably adjusting the components of the output vector and finding a proper vector in the attainable moment set. Simulations show that the designed fuzzy controller is better suited to resist external disturbances, and is robust against parameter perturbations.

关键词： V/STOL tailless robust control fuzzy control allocation

robust Intelligent control Design for Marine Diesel Engine

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Journal of Shanghai Jiaotong university(Science) 2013年第6期18卷 660-666页

作者：华海德马宁马捷朱星宇 State Key Laboratory of Ocean Engineering Shanghai Jiaotong University Shanghai Ship and Shipping Research Institute

This work deals with the nonlinear control of a marine diesel engine by use of a robust intelligent control strategy based on cerebellar model articulation controller （CMAC）. A mathematical model of diesel engine propulsion system is presented. In order to increase the accuracy of dynamical speed, the mathematical model of engagement process based on the law of energy conservation is proposed. Then, a robust cerebellar model articulation controller is proposed for uncertain nonlinear systems. The concept of active disturbance rejection control （ADRC） is adopted so that the proposed controller has more robustness against uncertainties. Finally, the proposed controller is applied to engine speed control system. Both the model of the diesel engine propulsion system and of the control law are validated by a virtual detailed simulation environment. The prediction capability of the model and the control efficiency are clearly shown.

关键词： diesel engine cerebellar model articulation controller (CMAC) active disturbance rejection control (ADRC) robust control

robust Tracking control of Uncertain MIMO Nonlinear Systems with Application to UAVs

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 25-32页

作者： Yanlong Zhou Mou Chen Changsheng Jiang the College of Automation Engineering Nanjing University of Aeronautics and Astronautics

In this paper, we consider the robust adaptive tracking control of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance. The nonlinear disturbance observer (NDO) is employed to tackle the system uncertainty as well as the external disturbance. To handle the input saturation, an auxiliary system is constructed as a saturation compensator. By using the backstepping technique and the dynamic surface method, a robust adaptive tracking control scheme is developed. The closed-loop system is proved to be uniformly ultimately bounded thorough Lyapunov stability analysis. Simulation results with application to an unmanned aerial vehicle (UAV) demonstrate the effectiveness of the proposed robust control scheme. © 2014 Chinese Association of Automation.

关键词： Aircraft control Airships Backstepping Closed loop control systems Closed loop systems Nonlinear systems robust control Unmanned aerial vehicles (UAV) Unmanned vehicles

robust adaptive control for uncertain systems with discrete and distributed delays

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控制理论与应用（英文版） 2008年第3期6卷 287-292页

作者： Qing ZHU Shumin FEI Tao LI Tianping ZHANG Key Laboratory of Measurement and control of Complex Systems of Engineering School of Automation Southeast University Nanjing Jiangsu 210096 China College of Information Engineering Yangzhou University Yangzhou Jiangsu 225009 China

In this paper, a robust adaptive control scheme is proposed for the stabilization of uncertain linear systems with discrete and distributed delays and bounded perturbations. The uncertainty is assumed to be an unknown continuous function with norm-bounded restriction. The perturbation is sector-bounded. Combining with the liner matrix inequality method, neural networks and adaptive control, the control scheme ensures the exponential stability of the closed-loop system for any admissible uncertainty.

关键词： Time-delay systems robust control Adaptive control Neural networks Global exponential stability Linear matrix inequalities

robust Predictive control of Uncertain Systems with Time-delay Using Tight Sets of Predicted States

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Journal of Donghua University(English Edition) 2006年第1期23卷 98-102页

作者：陆妹邵惠鹤 Institute of Automation Shanghai Jiaotong University Shanghai 200030

A robust model predictive control (MPC) algorithm for discrete time linear systems with time-delay (RPC-TDS) subjected to constrained input control is presented, where the polytopic uncertainties exist in state matrices and input matrices. In the algorithm the standard optimization of quadratic objective function has been transformed into optimization of sum of N+1 upper bounds of the quadratic objective function with respect to N control moves and a state feedback control law, where N is the control horizon. The feasibility of the optimization problem guarantees that the algorithm is robustly stable. The simulation results verify the effectiveness of the proposed algorithm.

关键词： predictive control robust control time-delay system tight sets.

robust attitude control for a tail-sitter aircraft 36

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Robust attitude control for a tail-sitter aircraft

第36届中国控制会议

作者： Lixin Zhang Zhaoying Li Hao Liu Chao Wang School of Astronautics Beihang University

ISBN: (纸本)9781538629185

Many challenges of modeling and control exist in the tail-sitter aircraft,including parameter uncertainty,highly coupling,nonlinearity,and external *** this paper,the model of a tail-sitter aircraft is simplified at the nominal condition to obtain the nominal linear invariant *** a robust controller based on the H control theory is proposed to deal with the attitude tracking control problem and decrease the effects of multiple *** is proved that the closed-loop system has robust stability,and the tracking error can converge to *** is shown that the proposed robust controller can maintain the attitude angle adjustment accuracy and robustness to the model uncertainty and external disturbance.

关键词： Tail-sitter aircraft attitude dynamics robust control

robust Tracking control of Nonlinear Singularly Perturbed Systems 36

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Robust Tracking Control of Nonlinear Singularly Perturbed Sy...

第36届中国控制会议

作者： Jing Xu Yugang Niu the Key Laboratory of Advanced control and Optimization for Chemical Process （East China University of Science and Technology） Ministry of Education

ISBN: (纸本)9781538629185

This paper presents a robust control scheme for the tracking control of singularly perturbed uncertain systems. The design problem is divided into two parts: tracking the reference trajectory and enhancing the robustness of the dynamic *** using the time-scale techniques, dynamic inversion approach and linear parameter-varying methods, a set of singularly perturbed state feedback controllers are employed to enhance the tracking performance and robustness of a dynamic system against parameter uncertainties, actuator and sensor unmodelled dynamics, and external disturbances. The longitudinal control of an F16 aircraft model is included to show the merits and and effectiveness of the proposed design scheme.

关键词： Self-scheduled Tracking control Singularly perturbed systems robust control

A robust Tracking control Strategy of Omnidirectional Lower-limb Rehabilitation Robot during Centre-of-gravity Shift 36

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A Robust Tracking Control Strategy of Omnidirectional Lower-...

第36届中国控制会议

作者： Ying Jiang Na Wang School of Information Engineering Shenyang University of Chemical Technology

ISBN: (纸本)9781538629185

With global aging people and patients with lower-limb dysfunction growing,motion control of the omnidirectional lower-limb rehabilitation robot during centre-of-gravity shift is becoming more and more *** paper proposes a robust trajectory tracking control strategy for omnidirectional lower-limb rehabilitation robot during centre-of-gravity *** main contents of this paper consist of three parts:1) The kinematic and dynamic model that considered centre-of-gravity shift are presented firstly.2) A robust control strategy with H tracking performance is developed and used to achieve the desired trajectories.3) Simulation tests are performed and demonstrate the feasibility and efficacy of the proposed approach.

关键词： Omnidirectional Lower-limb rehabilitation robot Centre-of-gravity shift robust control

robust predictive control of uncertain intergrating linear systems with input constraints

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2002年第4期3卷 39-46页

作者：张良军李江宋执环李平 Institute of Industrial Process controlZhejiang UniversityHangzhouChina

This paper presents a two-stage robust model predictive control (RMPC) algorithm named as IRMPC for uncertain linear integrating plants described by a state-space model with input constraints. The global convergence of the resulted closed loop system is guaranteed under mild assumption. The simulation example shows its validity and better performance than conventional Min-Max RMPC strategies.

关键词： Model predictive control robust control Input constraints Convex programming