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Characteristic model-based consensus of networked heterogeneous robotic manipulators with dynamic uncertainties

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science China(Technological sciences) 2016年第1期59卷 63-71页

作者： WANG LiJiao MENG Bin science and technology on space intelligent control laboratory Beijing Institute of Control Engineering

In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.

关键词： networked robotic manipulators consensus discrete time characteristic model distributed adaptive controller uniform ultimate boundedness(UUB)

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A framework for stability analysis of high-order nonlinear systems based on the CMAC method

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science China(Information sciences) 2016年第11期59卷 33-52页

作者： Tiantian JIANG Hongxin WU science and technology on space intelligent control laboratory Beijing Institute of Control Engineering

A framework for analyzing the stability of a class of high-order minimum-phase nonlinear systems of relative degree two based on the characteristic model-based adaptive control(CMAC) method is presented. In particular, concerning the tracking problem for such high-order nonlinear systems, by introducing a consistency condition for quantitatively describing modeling errors corresponding to a group of characteristic models together with a certain kind of CMAC laws, we prove closed-loop stability and show that such controllers can make output tracking error arbitrarily small. Furthermore, following this framework, with a specific characteristic model and a golden-section adaptive controller, detailed sufficient conditions to stabilize such groups of highorder nonlinear systems are presented and, at the same time, tracking performance is analyzed. Our results provide a new perspective for exploring the stability of some high-order nonlinear plants under CMAC, and lay certain theoretical foundations for practical applications of the CMAC method.

关键词： characteristic model characteristic model-based adaptive control(CMAC) consistency condition stability high-order nonlinear system

Sampled-data feedback and stability for a class of uncertain nonlinear systems based on characteristic modeling method

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science China(Information sciences) 2016年第9期59卷 141-155页

作者： Tiantian JIANG Hongxin WU science and technology on space intelligent control laboratory Beijing Institute of Control Engineering

In this paper, we investigate the tracking problem for a class of second-order uncertain nonlinear systems using sampled-data output feedback. Our controller is designed based on the characteristic modeling method. We first derive the corresponding characteristic model and then give the sampled-data feedback control law, which is referred to as "golden-section adaptive control based on characteristic models". The closedloop system is shown to be stable and, concurrently, it is demonstrated that the tracking error can be made arbitrarily small by taking a sufficiently small sampling period. Our results improve upon the findings of previous work by removing the persistent excitation condition, and also lay certain theoretical foundations for practical applications of golden-section adaptive control.

关键词： uncertainty nonlinear system characteristic model golden-section adaptive control sampled-data feedback

Characteristic model-based H2/H∞ robust adaptive control during the re-entry of hypersonic cruise vehicles

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science China(Information sciences) 2015年第1期58卷 201-221页

作者： HUANG Huang ZHANG Zhao Beijing Institute of control Engineering science and technology on space intelligent control laboratory

This paper aims at introducing H2 and H∞robustness into the well-known characteristic modelbased golden-section adaptive control law, and applying the robust adaptive control scheme to the attitude control of hypersonic cruise vehicles that are subject to external disturbances and aerodynamic coefficients uncertainties. When maneuvering at ultra high speeds, the attitude system of the hypersonic cruise vehicle is extremely sensitive to external disturbances and aerodynamic coefficients variations, and therefore the adaptiveness and the robustness of the attitude system are crucial during the controller design. To enhance the robustness of the existing golden-section adaptive control law, a golden-section robust adaptive control law is proposed. Compared to the existing control law where the design of the parameter λ depends on experience and is carried out offline, linear matrix inequality-based synthesis of λ is proposed such that the closed-loop system is stable with guaranteed H2 and H∞performance. It is suitable for online computing and provides a time-varyingλ(k) that is adjusted towards the optimal H2 and H∞performance. When being applied to the attitude control of hypersonic vehicles during re-entry, the adaptive nature of the proposed control law provides the attitude system the capability to accommodate large flight conditions, and its H2 and H∞robustness brought by λ(k)guarantees satisfying tracking performance in the presence of disturbances including both external disturbance and absolute aerodynamic coefficients errors.

关键词： golden-section adaptive control characteristic model H2 and H∞analysis hypersonic vehicle attitude control

Approach from the laboratory to the field: New strategies in the control of mosquito-borne infectious diseases

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science China Life sciences 2025年第01期 303-305页

作者： Ziqian Xu Lianpan Dai Jun Liu national key laboratory of intelligent Tracking and Forecasting for Infectious Diseases (NITFID) National Institute for Viral Disease Control and PreventionChinese Center for Disease Control and Prevention CAS key laboratory of Pathogen Microbiology and Immunology Institute of MicrobiologyChinese Academy of Sciences

Vector-borne viruses, transmitted among humans and animal hosts through bites of vectors such as mosquitoes and ticks,pose a great and ongoing threat to public health and biosafety(Yang et al., 2022).Among them, dengue virus-induced epidemics, have dramatically increased worldwide in recent decades. The report released by the World Health Organization(WHO) at the end of 2023 showed that dengue epidemic globally surged in2023, with the number of reported cases nearing a historical peak.

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Entry vehicle control system design for the Tianwen-1 mission

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Astrodynamics 2022年第1期6卷 27-37页

作者： Jinchang Hu Xiangyu Huang Maodeng Li Minwen Guo Chao Xu Yu Zhao Wangwang Liu Xiaolei Wang Beijing Institute of control Engineering Beijing 100094China national key laboratory of science and technology on space intelligent control Beijing 100094China

The entry vehicle for the Tianwen-1 mission successfully landed on the surface of Mars at 7:18 AM BJT on May 15,*** successful landing made China the first country to orbit,land,and release a rover in their first attempt at the Mars *** guidance,navigation,and control(GNC)system plays a crucial role in the entry,descent,and landing(EDL)*** study focused on the attitude control component of the GNC system *** EDL phase can be divided into several sub-phases,namely the angle of attack control phase,lift control phase,parachute descent phase,and powered descent *** sub-phase has unique attitude control requirements and *** paper introduces the key aspects of designing attitude controllers for each ***,flight results are presented and analyzed.

关键词： Tianwen-1 Mars landing attitude control robust control fault diagnosis

control capability analysis for complex spacecraft thruster configurations

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science China(Technological sciences) 2010年第8期53卷 2089-2096页

作者： WANG Min XIE YongChun Beijing Institute of control Engineering Beijing 100190China national key laboratory of science and technology on space intelligent control Beijing 100190China

The set of forces and moments that can be generated by thrusters of a spacecraft is called the"control capability"with respect to the thruster *** the control capability of a thruster configuration is adequate to fulfill a given space mission,we say this configuration is a feasible one with respect to the *** study proposed a new way to analyze the control capability of the complex thruster *** mathematical definitions of feasibility were proposed,based on which a criterion to judge the feasibility of the thruster configuration was presented through calculating the shortest distance to the boundary of the controllable region as a function of the thruster ***,control capability analysis for the complex thruster configuration based on its feasibility with respect to the space mission was given followed by a 2-D thruster configuration example to demonstrate its validity.

关键词： thruster configuration control capability

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Powered-descent landing GNC system design and flight results for Tianwen-1 mission

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Astrodynamics 2022年第1期6卷 3-16页

作者： Xiangyu Huang Chao Xu Jinchang Hu Maodeng Li Minwen Guo Xiaolei Wang Yu Zhao Baocheng Hua Yunpeng Wang Beijing Institute of control Engineering Beijing 100094China national key laboratory of science and technology on space intelligent control Beijing 100094China

The powered-descent landing(PDL)phase of the Tianwen-1 mission began with composite backshell–parachute(CBP)separation and ended with landing-rover *** main tasks of this phase were to reduce the velocity of the lander,perform the avoidance maneuver,and guarantee a soft *** PDL phase overcame many challenges:performing the divert maneuver to avoid collision with the CBP while simultaneously avoiding large-scale hazards;slowing the descent from approximately 95 to 0 m/s;performing the precise hazard-avoidance maneuver;and placing the lander gently and safely on the surface of *** architecture and algorithms of the guidance,navigation,and control system for the PDL phase were designed;its execution resulted in Tianwen-1’s successful touchdown in the morning of 15 May ***,the Tianwen-1 mission achieved a historic autonomous landing with simultaneous hazard and CBP avoidance.

关键词： Tianwen-1 powered-descent landing(PDL) guidance,navigation,and control(GNC) backshell avoidance hazard avoidance

End-to-end Mars entry,descent,and landing modeling and simulations for Tianwen-1 guidance,navigation,and control system

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Astrodynamics 2022年第1期6卷 53-67页

作者： Chao Xu Xiangyu Huang Minwen Guo Maodeng Li Jinchang Hu Xiaolei Wang Beijing Institute of control Engineering Beijing 100094China national key laboratory of science and technology on space intelligent control Beijing 100094China

On May 15,2021,the Tianwen-1 lander successfully touched down on the surface of *** ensure the success of the landing mission,an end-to-end Mars entry,descent,and landing(EDL)simulator is developed to assess the guidance,navigation,and control(GNC)system performance,and determine the critical operation and lander *** high-fidelity models of the Mars atmosphere,parachute,and lander system that are incorporated into the simulator are *** the developed simulator,simulations of the Tianwen-1 lander EDL are *** results indicate that the simulator is valid,and the GNC system of the Tianwen-1 lander exhibits excellent performance.

关键词： Mars entry,descent,and landing(EDL) modeling and simulation Tianwen-1 lander guidance,navigation,and control(GNC)