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Robust nonlinear control of spacecraft formation flying using constraint forces

Science China(Technological Sciences) 2011年第9期54卷 2276-2282页

作者： XING JianJun TANG GuoJin CHENG WenKe LEI YongJun School of Aeronautics and Astronautics Central South University Changsha 410083 China College of Aerospace and Material Engineering National University of Defense Technology Changsha 410073 China

A robust nonlinear control method is presented for spacecraft precise formation *** the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the Lagrange systems with the holonomic constraints and the differential algebraic equations (DAE).The nonlinear control laws are developed by solving the *** the traditional numerical solving methods of DAE are very sensitive to the various errors and the resulting con-trol laws are not robust in engineering application,the robust control law designed method is further developed by designing the correct coefficients to correct the errors of the formation array constraints.A numeral study simulated the robustness of this method for the various errors in the formation flying mission,including the initial errors of spacecraft formation,the reference satellite orbit determination errors,the relative perturbation forces model errors,and so on.

关键词： spacecraft formation flying array keeping nonlinear control Lagrangian systems constraint forces robust

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constraint Force Analysis of Metamorphic Joints Based on the Augmented Assur Groups

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 747-755页

作者： LI Shujun WANG Hongguang YANG Qiang School of Mechanical Engineering & Automation Northeastern University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

In order to obtain a simple way for the force analysis of metamorphic mechanisms, the systematic method to unify the force analysis approach of metamorphic mechanisms as that of conventional planar mechanisms is proposed. A force analysis method of metamorphic mechanisms is developed by transforming the augmented Assur groups into Assur groups, so that the force analysis problem of metamorphic mechanisms is converted into the force analysis problems of conventional planar mechanisms. The constraint force change rules and values of metamorphic joints are obtained by the proposed method, and the constraint force analysis equations of revolute metamorphic joints in augmented Assur group RRRR and prismatic metamorphic joints in augmented Assur group RRPR are deduced. The constraint force analysis is illustrated by the constrained spring force design of paper folding metamorphic mechanism, and its metamorphic working process is controlled by the spring force and geometric constraints of metamorphic joints. The results of spring force show that developped design method and approach are feasible and practical. By transforming augmented Assur groups into Assur groups, a new method for the constraint force analysis of metamorphic joints is proposed firstly to provide the basis for dynamic analysis of metamorphic mechanism.

关键词： metamorphic joints constraint forces augmented Assur groups metamorphic mechanism

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Tracking Control Design for Nonholonomic Mechanical Systems with Affine constraints

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International Journal of Automation and computing 2014年第3期11卷 328-333页

作者： Wei Sun Yu-Qiang Wu Zong-Yao Sun School of Automation Southeast University Institute of Automation Qufu Normal University

The trajectory tracking control is considered for nonholonomic mechanical systems with affine constraints and dynamic friction. A new state transformation is proposed to deal with affine constraints, and then an integral feedback compensation strategy is used to identify the dynamic friction. The proposed controller ensures that the output tracking errors converge to zero as t →∞.As an application, a detailed example is presented to illustrate the effectiveness of the control scheme.

关键词： Tracking control nonholonomic systems affine constraints constraint forces integral feedback compensation

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