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Robust adaptive Attitude control for Non-rigid Spacecraft With Quantized control Input

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 472-481页

作者： Yun Li Fan Yang School of Engineering New York UniversityNew York 11201 USA Beijing National Research Center for Information Science and Technology(BNRist) the Department of AutomationTsinghua UniversityBeijing 100084China

In this paper,an adaptive backstepping control scheme is proposed for attitude tracking of non-rigid spacecraft in the presence of input quantization,inertial uncertainty and external *** control signal for each actuator is quantized by sector-bounded quantizers,including the logarithmic quantizer and the hysteresis *** describing the impact of quantization in a new affine model and introducing a smooth function and a novel form of the control signal,the influence caused by input quantization and external disturbance is properly compensated ***,with the aid of the adaptive control technique,our approach can achieve attitude tracking without the explicit knowledge of inertial *** existing attitude control schemes for spacecraft,in this paper,the quantization parameters can be unknown,and the bounds of inertial parameters and disturbance are also not *** addition to proving the stability of the closed-loop system,the relationship between the control performance and design parameters is *** results are presented to illustrate the effectiveness of the proposed scheme.

关键词： adaptive control attitude control input quantization spacecraft time-varying inertial parameter

adaptive formation control of quadrotor unmanned aerial vehicles with bounded control thrust

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Chinese Journal of Aeronautics 2017年第2期30卷 807-817页

作者： Wang Rui Liu Jinkun School of Automation Science and Electrical Engineering Beihang University Beijing 100083 China

In this paper,the flight formation control problem of a group of quadrotor unmanned aerial vehicles（UAVs） with parametric uncertainties and external disturbances is *** are used to represent the attitudes of the quadrotor *** the model into a translational subsystem and a rotational subsystem,an intermediary control input is introduced to track a desired velocity and extract desired *** considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs,the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping,by which the bounded control thrust and the desired orientation can be ***,an adaptive control torque input is designed for the rotational subsystem to track the desired *** the proposed control scheme,the desired velocity is tracked and a desired formation shape is built *** stability of the closed-loop system is proven via Lyapunov-based stability *** simulation results are presented to illustrate the effectiveness of the proposed control scheme.

关键词： adaptive control Bounded input Formation control Parametric uncertainties Quadrotor UAV Unit-quaternions

Decentralized adaptive fuzzy control of time-delayed interconnected systems with unknown backlash-like hysteresis

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Journal of Systems Engineering and Electronics 2008年第6期19卷 1235-1242页

作者： Shen Qikun Zhang Tianping Zhou Caiying Coll. of Information Engineering Yangzhou Univ. Yangzhou 225009 P. R. China

The problem of decentralized adaptive fuzzy control for a class of time-delayed interconnected nonlinear systems with unknown backlash-like hystersis is discussed. On the basis of the principle of variable structure control （VSC） and by using the fuzzy systems with linear adjustable parameters that are used to approximate plant unknown functions, a novel decentralized adaptive fuzzy control strategy with a supervisory controller is developed. A general method, which is modeled the backlash-like hysteresis, is proposed and removes the assumption that the boundedness of disturbance, and the slope of the backlash-like hystersis are known constants. Furthermore, the interconnection term is supposed to be pth-order polynomial in time-delayed states. In addition, the plant dynamic uncertainty and modeling errors are adaptively compensated by adjusting the parameters and gains on-line for each subsystems. By theoretical analysis, it is shown that the closed-loop fuzzy control systems are globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.

关键词： fuzzy control backlash-like hysteresis decentralized control adaptive control

adaptive idling control scheme and its experimental validation for gasoline engines

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Science China(Information Sciences) 2017年第2期60卷 30-39页

作者： Jiangyan ZHANG Jinwu GAO Tielong SHEN College of Mechanical and Electronic Engineering Dalian Minzu University Department of Engineering and Applied Sciences Sophia University

In this paper, the idle speed control problem is investigated for spark-ignition(SI) engines. To scope with physical model parameter-free control scheme, a nonlinear adaptive control law is proposed for the speed regulation loop. The stability analysis result shows that the idle speed converges to the set value and the estimated parameter converges to an equivalent static value of the intake manifold. Furthermore, the proposed fuel injection control law consists of a feedforward and a simple feedback loop. Finally, the proposed control scheme is validated based on a full-scaled six-cylinder gasoline engine test bench.

关键词： SI engine idle speed control adaptive control Lyapunov design model-based design

adaptive Tracking control of Uncertain MIMO Nonlinear Systems with Time-varying Delays and Unmodeled Dynamics

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International Journal of Automation and computing 2013年第3期10卷 194-201页

作者： Xiao-Cheng Shi Tian-Ping Zhang Department of Automation College of Information Engineering Yangzhou University

In this paper, adaptive neural tracking control is proposed based on radial basis function neural networks （RBFNNs） for a class of muki-input multi-output （MIMO） nonlinear systems with completely unknown control directions, unknown dynamic disturbances, unmodeled dynamics, and uncertainties with time-varying delay. Using the Nussbaum function properties, the unknown control directions are dealt with. By constructing appropriate Lyapunov-Krasovskii functionals, the unknown upper bound functions of the time-varying delay uncertainties are compensated. The proposed control scheme does not need to calculate the integral of the delayed state functions. Using Young＇s inequality and RBFNNs, the assumption of unmodeled dynamics is relaxed. By theoretical analysis, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded.

关键词： adaptive control unmodeled dynamics time-varying delays neural networks Nussbaum function

Integrated in-process chatter monitoring and automatic suppression with adaptive pitch control in parallel turning

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Advances in Manufacturing 2018年第3期6卷 291-300页

作者： Shuntaro Yamato Yuki Yamada Kenichi Nakanishi Norikazu Suzuki Hayato Yoshioka Yasuhiro Kakinuma Department of System Design Engineering Keio University3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Nakamura-Tome Precision Industry Co. Ltd. 15 NetsunoHakusan Ishikawa 920-2195 Japan Department of Mechanical Science and Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan Precision and Intelligent Laboratory Tokyo Institute of Technology 4259-G2-19 Nagatsuta Midori-kuYokohama 226-8503 Japan

Simultaneous processes such as parallel turningor milling offer great opportunities for more efficientmanufacturing because of their higher material removalrates. To maximize their advantages, chatter suppressiontechnologies for simultaneous processes must be devel-oped. In this study, we constructed an automatic chattersuppression system with optimal pitch control for shared-surface parallel turning with rigid tools and a flexibleworkpiece, integrating in-process chatter monitoring basedon the cutting force estimation. The pitch angle betweentwo tools is tuned adaptively in a position control system inaccordance with the chatter frequency at a certain spindlespeed, in a similar manner as the design methodology forvariable-pitch cutters. The cutting force is estimatedwithout using an additional external sensor by employing amulti-encoder-based disturbance observer. In addition, thechatter frequency is measured during the process by per-forming a low-computational-load spectrum analysis at acertain frequency range, which makes it possible to cal-culate the power spectrum density in the control system ofthe machine tool. Thus, the constructed system for automatic chatter suppression does not require any addi-tional equipment.

关键词： Chatter Multitasking machine tool Parall elturning adaptive control Sensorless Disturbance observer

adaptive Coordinated control for Hot Strip Finishing Mills

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Journal of Iron and Steel Research(International) 2011年第4期18卷 36-43页

作者： JIAO Xiao-hong SHAO Li-ping PENG Yan Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 Hebei China Institute of Mechanical Engineering Yanshan University Qinhuangclao 066004 Hebei China

To further improve the control accuracy for strip dimension of hot strip mills,an adaptive control scheme is investigated for a hot strip finishing mill based on the decentralization and coordination among the controllers of gauge,tension and ***,the adaptive controller designed can regulate simultaneously the strip exit thickness,the strip tension and the looper angle to ensure better performance of the strip quality of finishing ***,the control scheme is proposed in consideration of the essential nonlinearity and the unavoidable friction phenomena in the mechanical system,so the controller can be efficient in a wider range of working *** simulation results of a model obtained from a real hot strip finishing mill show the effectiveness of the proposed control scheme in comparison with the conventional control method.

关键词： hot strip finishing mills exist gauge tension looper angle adaptive control

adaptive tracking control of chaotic systems

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Journal of Systems Engineering and Electronics 2004年第1期15卷 67-72页

作者：卢钊卢和 DepartmentofElectrical&ComputerEngineering UniversityofHoustonUSA DepartmentofAutomation TianjinInstituteofTechnologyTianjin300384P.R.China

It is important to develop control techniques able to control not only known chaos but also chaotic systems with unknown parameters. This paper proposes a novel adaptive tracking control approach for identifying the unknown parameters and controlling the chaos, which is not closely related to the particular chaotic system to be controlled. The global uniform boundedness of estimated parameters and the asymptotical stability of the tracking errors are proved by Lyapunov stability theory and LaSalleYoshizawa theorem. The suggested method enables stabilization of chaotic motion to a steady state ad well as tracking of any desired trajectory to be achieved in a systematic way. Computer simulation on a complex chaotic system illustrtes the effectiveness of the proposed control method.

关键词： chaotic systems adaptive control Lyapunov function LaSalleYoshizawa theorem

Model-Based adaptive control of Eddy Current Retarder

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Model-Based Adaptive Control of Eddy Current Retarder