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Robust Attitude Tracking control Scheme for Flexible Spacecraft with Vibration Suspension 25th

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Robust Attitude Tracking Control Scheme for Flexible Spacecr...

control Design for Harmonic Disturbance Rejection for Robot Manipulators with Bounded Inputs

第25届中国控制与决策会议

作者： SHI Xiaoping YUAN Guoping Control and Simulation Center Harbin Institute of Technology

ISBN: (纸本)9781467355339

In this paper, a novel robust control algorithm is proposed to carry out large-angle attitude tracking control of a flexible spacecraft subject to external disturbances. An adaptive scheme based on neural network system is designed to ensure the actual attitude to track the command input in the presence of external disturbances. To reduce adverse effects caused by the elastic vibration on the closed-loop performance of the flexible spacecraft, an active vibration controller with independent modal space method is added to the overall control algorithm. Moreover, for achieving perfect control performance and constructing systematic tuning procedure for controller parameters, genetic algorithm is applied to search the optimal values of active vibration controller. Stability of the whole closed-loop system is proved via Laypunov theory and simulation results confirm the effectiveness of the proposed method.

关键词： Attitude Maneuver Flexible Spacecraft Active Vibration control Neural Network Genetic Algorithm

来源： cnki会议评论

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Chinese Journal of Mechanical Engineering 2011年第2期24卷 248-256页

作者： YAO Yu WANG Xiaochen HE Fenghua Control and Simulation Center Harbin Institute of Technology Harbin 150080 China

Currently most of control methods are of one degree of freedom（1-DOF） control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be increased.In practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available torques.This paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking controller.The parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown frequencies.The tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired trajectories.In the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is avoided.The Lyapunov stability of closed loop systems is analyzed.To validate proposed control scheme,simulation results are provided for a two link horizontal robot manipulator.The simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the system.An important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1 -DOF control structure framework.

关键词： tracking control of robot harmonic disturbance rejection internal model principle input constraint adaptive control

RBF neural network based on q-Gaussian function in function approximation

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Frontiers of Computer Science 2011年第4期5卷 381-386页

作者： Wei ZHAO Ye SAN Control and Simulation Center Harbin Institute of Technology Harbin 150001 China

提高光线的基础功能(RBF ) 的归纳性能神经网络，一个 RBF 神经网络基于一个 q-Gaussian 函数被建议。q-Gaussian 功能被选择为 RBF 神经网络的光线的基础功能，并且一个粒子群优化算法被采用选择网络的参数。非广泛的 entropic 索引 q... 详细信息

提高光线的基础功能(RBF ) 的归纳性能神经网络，一个 RBF 神经网络基于一个 q-Gaussian 函数被建议。q-Gaussian 功能被选择为 RBF 神经网络的光线的基础功能，并且一个粒子群优化算法被采用选择网络的参数。非广泛的 entropic 索引 q 被编码为粒子并且在人口的进化过程适应地调整了。函数近似的模拟结果显示一个 RBF 神经网络基于 q-Gaussian 功能完成最好的归纳性能。

关键词： RBF神经网络高斯函数函数逼近径向基函数(RBF)神经网络粒子群优化算法泛化性能网络参数进化过程

Attitude control allocation strategy of high altitude airship based on synthetic performance optimization

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Journal of Harbin Institute of Technology(New Series) 2009年第6期16卷 746-750页

作者：遆晓光韩放姚郁 Control and Simulation Center Harbin Institute of Technology

This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic performance and energy consumption of airship. Firstly, according to the system overall configuration, the dynamic model of HAA was established and the HAA linearized model of longitudinal plane motion was obtained. Secondly, using the classic PID control theory, the HAA attitude control system was designed. Thirdly, through analyzing the dynamic performance of airship with fin or vectored thruster control, the synthetic performance index function with different weighting functions was determined. By means of optimizing the obtained performance index function, the attitude control of high altitude airship with good dynamic performance and low energy consumption was achieved. Finally, attitude control allocation strategy was designed for the airship station keeping at an altitude of 22 km. The simulation experiment proved the validity of the proposed algorithm.

关键词：姿态控制系统高空飞艇性能优化分配策略推力矢量控制性能指标函数高动态性能基础

HIT-SEDAES: An integrated software environment for simulation experiment design, analysis and evaluation

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International Journal of Modeling, simulation, and Scientific Computing 2016年第3期7卷 263-284页

作者： Wei Li Lingyun Lu Zhizhao Liu Ping Ma Ming Yang Control and Simulation Center Harbin Institute of Technology Harbin 150080 P.R.China

simulation is a powerful technique in evaluating and improving the performance of complex systems.In order to improve the efficiency of simulation experiment design,analysis and evaluation,auxiliary tools are required.Unfortunately,existing tools are usually not meeting the requirements of simulation.Moreover,the restricted interfaces,reusability and expandability influence their efficiency to a certain extent.In this paper,an integrated software environment,HIT-SEDAES,is designed for solving these problems.A process model of simulation experiment design,analysis and evaluation is introduced to guide the development of the software environment.And several solutions are proposed to solve key problems in this development.Finally,an application is used to illustrate how the software environment works for the problems of model validation,effectiveness evaluation and performance analysis.

关键词： simulation experiment design effectiveness/performance evaluation simulation optimization integrated software environment

Key problems in validation of intelligent models

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Journal of Harbin Institute of Technology(New Series) 2009年第3期16卷 371-375页

作者：刘飞马萍杨明王子才 Control and Simulation Center Harbin Institute of Technology

To provide a realistic simulation environment for users,intelligent models have become key components in military simulations. After the analysis of modeling nature of intelligent models,the validation criteria for defining the validation points and validation metrics for measuring the agreements between human experts and intelligent models were presented. Further,such methods as graphical comparison,feature analysis and face validation were discussed according to the characteristics of intelligent models. Based on the validation criteria,validation metrics and validation methods,the intelligent models can be effectively validated,which has been proved in current developed intelligent models.

关键词：智能模型验证标准审定标准仿真环境组成部分分析性质测量数据图形比较

Two-stage nested optimization-based uncertainty propagation method for model calibration

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International Journal of Modeling, simulation, and Scientific Computing 2016年第1期7卷 22-38页

作者： Xiaochao Qian Wei Li Ming Yang Control and Simulation Center Harbin Institute of Technology 150080 HarbinP.R.China

Model calibration is the procedure that adjusts the unknown parameters in order to fit the model to experimental data and improve predictive capability.However,it is difficult to implement the procedure because of the aleatory uncertainty.In this paper,a new method of model calibration based on uncertainty propagation is investigated.The calibration process is described as an optimization problem.A two-stage nested uncertainty propagation method is proposed to resolve this problem.Monte Carlo simulation method is applied for the inner loop to propagate the aleatory uncertainty.Optimization method is applied for the outer loop to propagate the epistemic uncertainty.The optimization objective function is the consistency between the result of the inner loop and the experimental data.Thus,different consistency measurement methods for unary output and multivariate outputs are proposed as the optimization objective function.Finally,the thermal challenge problem is given to validate the reasonableness and effectiveness of the proposed method.

关键词： simulation uncertainty propagation epistemic uncertainty model calibration

Inverse kinematic optimal design of 6-DOF parallel manipulators

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Journal of Harbin Institute of Technology(New Series) 2008年第1期15卷 18-22页

作者：张义凤姚郁 Control and Simulation Center Harbin Institute of Technology

To obtain the required articular velocities as lower as possible for the given kinematics of the moving platform, this paper focuses on this kind of articular velocities optimization of 6-DOF parallel manipulators. Based on the inverse kinematic analysis, the H∞ norm of the weighted Jacobian matrix was adopted as the performance index to minimize the articular velocities, and then the optimal design problem was formulated to find a manipulator geometry that minimized the global performance index with the constraints of the workspace and structural parameters limits. Since the optimal design problem is a constrained nonlinear optimization problem without explicit analytical expressions, the genetic algorithm was applied to numerically solve the problem. simulation results indicate that the articular velocities of the optimal manipulators can be the minimum while the kinematic requirements of the moving platform are satisfied.

关键词：平行线机械手关节机器人

Mechanism modeling and analysis of surplus torque in aeroload simulator

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International Journal of Modeling, simulation, and Scientific Computing 2015年第1期6卷 78-97页

作者： Yuqing Chen Jie Ma Yan Fang Control and Simulation Center Harbin Institute of Technology Harbin 150001 P.R.China

Aeroload simulator(ALS)is an important hardware-in-loop simulation equipment.In ALS system,surplus torque is the main cause of loading error.And the elimination of surplus torque has become research hotspot for a while,but study about cause of surplus torque has not made much progress.In this paper,a theory about the origin and mechanism modeling method of surplus torque is raised and the model is simulated based on permanent magnet synchronous motor(PMSM)system.Validity of newly launched model is proved by comparison with initial model and the source of error is analyzed afterwards.Moreover,to determine control strategy for eliminating loading error,influential factors of surplus torque are analyzed based on the mechanism model.

关键词： Aeroload simulator surplus torque mechanism model PMSM model