For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the freque...For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the frequency-sweeping method and the Routh criterion,and the stable time-delay interval starting from zero is accurately obtained,which reveals the limitations of general LADRC on large time-delay.Then in view of the large time-delay,an LADRC controller is developed and verified to be effective,along with the robustness analysis.Finally,numerical simulations show the accuracy of critical time-delay,and demonstrate the effectiveness and robustness of the proposed controller compared with other modified LADRCs.展开更多
In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six de...In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.展开更多
为降低翼伞系统的非线性和强耦合特性以及环境扰动对其轨迹跟踪控制的影响,提出一种基于线性自抗扰控制(linear active disturbance rejection control,LADRC)的翼伞系统轨迹跟踪控制方法。该方法采用基于制导的2D轨迹跟踪控制策略,使用...为降低翼伞系统的非线性和强耦合特性以及环境扰动对其轨迹跟踪控制的影响,提出一种基于线性自抗扰控制(linear active disturbance rejection control,LADRC)的翼伞系统轨迹跟踪控制方法。该方法采用基于制导的2D轨迹跟踪控制策略,使用LADRC设计控制器对轨迹跟踪误差进行实时修正。将该控制方法应用于多种扰动下翼伞系统轨迹跟踪仿真和空投实验中,结果表明:基于LADRC的轨迹跟踪控制方法能够有效克服内扰和外扰的影响,实现高精度轨迹跟踪控制,与传统PID控制相比,LADRC具有更好的抗扰能力和鲁棒性。展开更多
针对伞翼无人机参数不确定性和复杂环境干扰敏感的问题,提出一种伞翼无人机线性自抗扰(Linear Active Disturbance Rejection Control,LADRC)高度控制方法。建立伞翼无人机8自由度飞行动力学模型,并引入风场和降雨模型以更加准确地模拟...针对伞翼无人机参数不确定性和复杂环境干扰敏感的问题,提出一种伞翼无人机线性自抗扰(Linear Active Disturbance Rejection Control,LADRC)高度控制方法。建立伞翼无人机8自由度飞行动力学模型,并引入风场和降雨模型以更加准确地模拟真实飞行环境。基于LADRC确定总体控制架构,设计线性扩张状态观测器对所有扰动进行估计,并引入误差反馈率在控制中实时补偿。使用该控制方法在多种扰动工况下进行伞翼无人机高度控制仿真实验。仿真结果表明,基于LADRC的高度控制方法能够有效克服内扰和外扰的影响,实现高精度高度控制;与传统PID控制效果相比,LADRC控制器具有更好的抗扰能力和鲁棒性。展开更多
This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater ve...This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.展开更多
基金supported by the National Natural Science Foundation of China(61973175,61973172,62073177)the Key Technologies R&D Program of Tianjin(19JCZDJC32800)Tianjin Research Innovation Project for Postgraduate Students(2020YJSZXB02).
文摘For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the frequency-sweeping method and the Routh criterion,and the stable time-delay interval starting from zero is accurately obtained,which reveals the limitations of general LADRC on large time-delay.Then in view of the large time-delay,an LADRC controller is developed and verified to be effective,along with the robustness analysis.Finally,numerical simulations show the accuracy of critical time-delay,and demonstrate the effectiveness and robustness of the proposed controller compared with other modified LADRCs.
基金The National Natural Science Foundation of China(No.61273138,61573197)the National Key Technology R&D Program(No.2015BAK06B04)+1 种基金the Key Fund of Tianjin(No.14JCZDJC39300)the Key Technologies R&D Program of Tianjin(No.14ZCZDSF00022)
基金supported by the National Natural Science Foundation of China(61973175,61973172)。
文摘In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.
文摘为降低翼伞系统的非线性和强耦合特性以及环境扰动对其轨迹跟踪控制的影响,提出一种基于线性自抗扰控制(linear active disturbance rejection control,LADRC)的翼伞系统轨迹跟踪控制方法。该方法采用基于制导的2D轨迹跟踪控制策略,使用LADRC设计控制器对轨迹跟踪误差进行实时修正。将该控制方法应用于多种扰动下翼伞系统轨迹跟踪仿真和空投实验中,结果表明:基于LADRC的轨迹跟踪控制方法能够有效克服内扰和外扰的影响,实现高精度轨迹跟踪控制,与传统PID控制相比,LADRC具有更好的抗扰能力和鲁棒性。
文摘针对伞翼无人机参数不确定性和复杂环境干扰敏感的问题,提出一种伞翼无人机线性自抗扰(Linear Active Disturbance Rejection Control,LADRC)高度控制方法。建立伞翼无人机8自由度飞行动力学模型,并引入风场和降雨模型以更加准确地模拟真实飞行环境。基于LADRC确定总体控制架构,设计线性扩张状态观测器对所有扰动进行估计,并引入误差反馈率在控制中实时补偿。使用该控制方法在多种扰动工况下进行伞翼无人机高度控制仿真实验。仿真结果表明,基于LADRC的高度控制方法能够有效克服内扰和外扰的影响,实现高精度高度控制;与传统PID控制效果相比,LADRC控制器具有更好的抗扰能力和鲁棒性。
基金supported by the National Natural Science Foundation of China (6197317561973172)Tianjin Natural Science Foundation (19JCZDJC32800)。
文摘This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.
