检索结果-南通市图书馆

第三十九届中国控制会议

作者： Linan Wang Haibo Du Di Wu School of Electrical Engineering and Automation Hefei University of Technology Anhui Province Engineering Research Center for Industrial Automation Hefei University of Technology School of Automation Southeast University

The attitude control problem for the aircraft attitude system with an unknown constant zero drift bias is studied in this paper. First of all, a finite-time observer is proposed to estimate the constant biases caused by gyro zero drift. Then, based on the observer, a finite-time controller is designed to realize attitude control of aircraft with gyro zero drift. Finally, the simulation results are given to verify the effectiveness of the proposed control law.

关键词： finite-time observer finite-time controller Attitude biases State estimation

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints

引用

IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 354-364页

作者： Hao Zhang Jianwen Sun Zhuping Wang Department of Control Science and Engineering Tongji UniversityShanghai 201804China

This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints.It is difficult for robots to obtain accurate and stable global position information in many cases,such as when indoors,tunnels and any other environments where GPS(global positioning system)is denied,thus it is meaningful to overcome the dependence on global position information.Additionally,unknown slippage,which is hard to avoid for wheeled robots due to the existence of ice,sand,or muddy roads,can not only affect the control performance of wheeled robot,but also limits the application scene of wheeled mobile robots.To solve both problems,a fully distributed finite time state observer which does not require any global position information is proposed,such that each follower robot can estimate the leader’s states within finite time.The distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown slippage.Finally,the effectiveness of the proposed observer and control laws are verified by simulation results.

关键词： Adaptive control distributed formation control finite-time observer multi-robot systems slippage

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input

引用

Tsinghua Science and Technology 2017年第1期22卷 83-91页

作者： Xi Ma Fuchun Sun Hongbo Li Bing He Department of Computer Science and Technology Tsinghua UniversityState Key Lab of Intelligent Technology and Systemsand Tsinghua National Laboratory for Information Scienceand Technology (TNList) Department of Aerospace Engineering High-Tech Institute of Xi’an

In this paper, the attitude control problem of rigid body is addressed with considering inertia uncertainty,bounded time-varying disturbances, angular velocity-free measurement, and unknown non-symmetric saturation input. Using a mathematical transformation, the effects of bounded time-varying disturbances, uncertain inertia,and saturation input are combined as total disturbances. A novel finite-time observer is designed to estimate the unknown angular velocity and the total disturbances. For attitude control, an observer-based sliding-mode control protocol is proposed to force the system state convergence to the desired sliding-mode surface; the finite-time stability is guaranteed via Lyapunov theory analysis. Finally, a numerical simulation is presented to illustrate the effective performance of the proposed sliding-mode control protocol.

关键词： attitude control inertial uncertainty angular velocity-free measurement saturation input finite-time observer sliding-mode control

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

finite-time Attitude Tracking for Spacecraft With Unknown Boundary Disturbance and Angular Velocity

Finite-time Attitude Tracking for Spacecraft With Unknown Bo...

引用

第三十九届中国控制会议

作者： Huang Qin Zhang Ying Zhang Rui Harbin Institute of Technology Shenzhen Polytechnic

This paper investigates a velocity-free finite-time attitude control scheme for rigid spacecrafts with unknown boundary external disturbance. By using the quadratic Lyapunov function（QLF） method, a finite-time observer is designed to estimate unknown angular velocity and boundary of external disturbance. Combining adaptive control technique with adding a power integrator（AAPI）, a finite-time controller is proposed. Rigorous Lyapunov-based analysis shows that both the observation errors and tracking errors can converge to the equilibrium point in finite time under the designed control law. Numerical simulation results illustrate the performance of the proposed control scheme.

关键词： finite-time control finite-time observer Attitude tracking Adaptive robust control

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

observer-based Super Twisting Sliding Mode Control for Fixed Wing Unmanned Aerial Vehicle

Observer-based Super Twisting Sliding Mode Control for Fixed...

引用

第36届中国控制会议

作者： Qi Dong Qun Zong Ruilong Zhang Chaofan Zhang Jing Zong School of Electrical and Information Engineering Tianjin University College of Precision Instrument and Opto-Electronics Engineering Tianjin University

ISBN: (纸本)9781538629185

Fixed-wing unmanned aerial vehicle(UAV) should be under control in the presence of model uncertainty and external disturbance,which is considered as torque perturbation in this paper.Such a challenge imposes tight requirements to the enhanced robustness and accuracy of the vehicle autopilot.The key of this paper is to introduce the model of attitude dynamics and propose a novel finite-time observer-based super twisting sliding mode control scheme for fixed-wing UAV.The observer designed in this paper can not only estimate the attitude rate but also the torque perturbation exactly in finite time.Then combined with the observer,a continuous homogeneous second-order sliding mode controller based on the terminal sliding mode and super twisting algorithm is designed to achieve a finite-time and exact attitude tracking with chattering attenuation.Finally,some simulations are provided to verify the effectiveness and robustness of the integrated control scheme in attitude tracking.

关键词： Fixed-wing UAV finite-time observer super twisting algorithm torque perturbation attitude tracking

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：