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Docking control for probe-drogue refueling: An additive-state-decomposition-based output feedback iterative learning control method

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Chinese Journal of Aeronautics 2020年第3期33卷 1016-1025页

作者： Jinrui REN Quan QUAN Cunjia LIU Kai-Yuan CAI School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Department of Aeronautical and Automotive Engineering Loughborough UniversityLeicestershire LE113TUUnited Kingdom

Designing a controller for the docking maneuver in Probe-Drogue Refueling(PDR) is an important but challenging task, due to the complex system model and the high precision *** order to overcome the disadvantage of only feedback control, a feedforward control scheme known as Iterative Learning Control(ILC) is adopted in this ***, additive state decomposition(ASD) is used to address the tight coupling of input saturation, nonlinearity and the property of Non Minimum Phase(NMP) by separating these features into two subsystems(a primary system and a secondary system).After system decomposition, an adjoint-type ILC is applied to the Linear Time-Invariant(LTI) primary system with NMP to achieve entire output trajectory tracking, whereas state feedback is used to stabilize the secondary system with input *** two controllers designed for the two subsystems can be combined to achieve the original control goal of the PDR ***, to compensate for the receiverindependent uncertainties, a correction action is proposed by using the terminal docking error,which can lead to a smaller docking error at the docking *** tests have been carried out to demonstrate the performance of the proposed control method, which has some advantages over the traditional derivative-type ILC and adjoint-type ILC in the docking control of PDR.

关键词： additive state decomposition Adjoint operator Docking control Iterative learning control Probe-drogue refueling Stable inversion

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Repetitive Control for TORA Benchmark:An additive-state-decomposition-based Approach

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International Journal of Automation and computing 2015年第3期12卷 289-296页

作者： Quan Quan Kai-Yuan Cai Department of Automatic Control Beijing University of Aeronautics and Astronautics

The repetitive control(RC) or repetitive controller problem for nonminimum phase nonlinear systems is both challenging and practical. In this paper, we consider an RC problem for the translational oscillator with a rotational actuator(TORA), which is a nonminimum phase nonlinear system. The major difficulty is to handle both a nonminimum phase RC problem and a nonlinear problem simultaneously. For such purpose, a new RC design, namely the additive-state-decomposition-based approach, is proposed,by which the nonminimum phase RC problem and the nonlinear problem are separated. This makes RC for the TORA benchmark tractable. To demonstrate the effectiveness of the proposed approach, a numerical simulation is given.

关键词： additive state decomposition repetitive control translational oscillator with a rotational actuator(TORA) rotational-translation

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additive-state-decomposition-based station-keeping control for autonomous aerial refueling

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Science China(Information Sciences) 2021年第11期64卷 240-242页

作者： Jinrui REN Quan QUAN Haibiao MA Kai-Yuan CAI School of Automation Science and Electrical Engineering Beihang University

Dear editor,Aerial refueling(AR) is an effective method of increasing the endurance and range of aircraft by refueling them in flight [1, 2]. Station-keeping control is the basis of autonomous aerial refueling(AAR). The station-keeping control for AAR is a difficult task for two main reasons. First,the receiver is disturbed by the atmospheric turbulence and the wake vortex of the tanker. Secondly, owing to the fuel injection in the refueling process, the mass and the center of mass of the receiver will change.

关键词： Aerial refueling station keeping two-degree-of-freedom additive state decomposition varying mass

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