In this paper, global exponential stochastic stability based continuous gain-scheduled robust L-two-L- infinity filtering problem is studied for a class of stochastic neutral systems subject to time-varying parameters...In this paper, global exponential stochastic stability based continuous gain-scheduled robust L-two-L- infinity filtering problem is studied for a class of stochastic neutral systems subject to time-varying parameters. First, the stochastic time-varying neutral systems are described by a series of stochastic time-constant systems at some selected time points, then based on stochastic Lyapunov-Krasovskii functional approach, a new globally exponentially stochastically stabilizable criterion is derived for each of the jumping system by means of linear matrix inequalities. Subsequently, L- two-L-infinity filtering systems are designed for such linear jump systems. Finally; continuous gain-scheduled approach is employed to design time-varying filter systems for the whole working region. A simulation example shows the effectiveness and potential of the developed techniques.展开更多
Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to aut...Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.展开更多
Reduction of conservatism is one of the key and difficult problems in missile robust gain scheduling autopilot design based on multipliers.This article presents a scheme of adopting linear parameter-varying（LPV） con...Reduction of conservatism is one of the key and difficult problems in missile robust gain scheduling autopilot design based on multipliers.This article presents a scheme of adopting linear parameter-varying（LPV） control approach with full block multipliers to design a missile robust gain scheduling autopilot in order to eliminate conservatism.A model matching design structure with a high demand on matching precision is constructed based on the missile linear fractional transformation（LFT） model.By applying full block S-procedure and elimination lemma,a convex feasibility problem with an infinite number of constraints is formulated to satisfy robust quadratic performance specifications.Then a grid method is adopted to transform the infinite-dimensional convex feasibility problem into a solvable finite-dimensional convex feasibility problem,based on which a gain scheduling controller with linear fractional dependence on the flight Mach number and altitude is derived.Static and dynamic simulation results show the effectiveness and feasibility of the proposed scheme.展开更多
The equilibrium manifold linearization model of nonlinear shock motion is of higher accuracy and lower complexity over other models such as the small perturbation model and the piecewise-linear model. This paper analy...The equilibrium manifold linearization model of nonlinear shock motion is of higher accuracy and lower complexity over other models such as the small perturbation model and the piecewise-linear model. This paper analyzes the physical significance of the equilibrium manifold linearization model, and the self-feedback mechanism of shock motion is revealed. This helps to describe the stability and dynamics of shock motion. Based on the model, the paper puts forwards a gain scheduling control method for nonlinear shock motion. Simulation has shown the validity of the control scheme.展开更多
The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum wit...The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.展开更多
This paper describes the design and implementation of a three-axis acceleration control autopilot for an asymmetric tail-controlled,skid-to-turn tactical missile.In an earlier flight test,degraded autopilot performanc...This paper describes the design and implementation of a three-axis acceleration control autopilot for an asymmetric tail-controlled,skid-to-turn tactical missile.In an earlier flight test,degraded autopilot performance was attributed to multiple disturbances and uncertainties and the presence of hidden coupling terms,giving rise to a miss distance of greater than 20 m.To address these issues,the missile dynamics are decomposed into the angular rate dynamics as fast and the acceleration dynamics as slow subsystem using the singular perturbation theory to analyze a multi-time-scale property.Multifrequency extended state observers are then incorporated into the gain scheduling technique to attenuate disturbances,thus enhancing the control performance significantly.In the proposed engineering/practical design framework for missile autopilot,simple,conventional,and explicit tuning rules are provided.And the proposed control scheme can achieve input-to-state stability across the entire flight envelope under unknown but bounded disturbances.The advantages of the method over existing benchmark approaches are shown through nonlinear numerical simulations.This is supported by evidence from a new flight test result with a miss distance of only 2 m.展开更多
Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model an...Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model and control challenge associated with the longitudinal motion of supereavitating vehicle with variable cavitation number and speed have been explored. Based on the principle of cavity expansion independence the properties of cavity and the influence on planning force of body were researched. Calculation formula of efficiency of the fin was presented. Nonlinear dynamics model of variable cavitation number and speed supercavitating vehicle was established. Stabilities of the open-loop systems of different situations were analyzed. The simulations results of open-loop systems show that it is necessary to design a control method to control a supereavitating vehicle. A gain schedule controller with guaranteed H∞ performance was designed to stabilize the dive-plane dynamics of supercavitating vehicle under changing conditions.展开更多
This paper proposes a method of using multi controllers to control supermaneuverable aircraft. A nonlinear dynamic inversion controller is used for supermaneuver. A gain scheduled controller is used for routine man...This paper proposes a method of using multi controllers to control supermaneuverable aircraft. A nonlinear dynamic inversion controller is used for supermaneuver. A gain scheduled controller is used for routine maneuver. A switch algorithm is designed to switch the controllers. The flight envelopes of the controllers are different but have a common area in which the controllers are switched from one to the other. In the common area, some special boundaries are selected to decide switch conditions. The controllers all use vector thrust for lower velocity maneuver control. Unlike the variation structure theory to use a single boundary, this paper uses two boundaries for switching between the two controllers. One boundary is used for switching from dynamic inversion to gain scheduling, while the other is used for switching from gain scheduling to dynamic inversion. This can effectively avoid the system vibration caused by switching repeatedly at a single boundary. The method is very easy for engineering. It can reduce the risk of design of the supermaneuverable aircraft.展开更多
Linear quadratic Gaussian with loop transfer recovery （LQG/LTR） gain scheduling technique is utilized to design gain scheduling autopilot for surface-to-air missile. In order to eliminate the artificial uncertaintie...Linear quadratic Gaussian with loop transfer recovery （LQG/LTR） gain scheduling technique is utilized to design gain scheduling autopilot for surface-to-air missile. In order to eliminate the artificial uncertainties that the traditional ＂trial and error＂ de- sign process introduces into system, a method to design target loop based on pole assignment is proposed, which provides an explicit algorithm to construct the matrix differential Riccati equation （MDRE） based on the expected poles determined by the performance specifications. Meanwhile, it is proved that by introducing integrators to augment plant dynamics the fast modes of LQG/LTR gain scheduling controller can be restrained effectively, which alleviates an obstacle for the engineering application of LQG/LTR gain scheduling technique. The proposed method is applied in the design of LQG/LTR gain scheduling autopilot for a surface-to-air missile. The design and simulation results indicate that the fast modes of controller are eliminated obviously, and that the dynamic characteristics of autopilot are stable when flight Mach number and altitude vary.展开更多
The problem of robust global stabilization of a spacecraft circular orbit rendezvous system with input saturation and inputadditive uncertainties is studied in this paper. The relative models with saturation nonlinear...The problem of robust global stabilization of a spacecraft circular orbit rendezvous system with input saturation and inputadditive uncertainties is studied in this paper. The relative models with saturation nonlinearity are established based on ClohesseyWiltshire equation. Considering the advantages of the recently developed parametric Lyapunov equation-based low gain feedback design method and an existing high gain scheduling technique, a new robust gain scheduling controller is proposed to solve the robust global stabilization problem. To apply the proposed gain scheduling approaches, only a scalar nonlinear equation is required to be solved.Different from the controller design, simulations have been carried out directly on the nonlinear model of the spacecraft rendezvous operation instead of a linearized one. The effectiveness of the proposed approach is shown.展开更多
This paper studies the output feedback dynamic gain scheduled control for stabilizing a spacecraft rendezvous system subject to actuator saturation. By using the parametric Lyapunov equation and the gain scheduling te...This paper studies the output feedback dynamic gain scheduled control for stabilizing a spacecraft rendezvous system subject to actuator saturation. By using the parametric Lyapunov equation and the gain scheduling technique, a new observer-based output feedback controller is proposed to solve the semi-global stabilization problem for spacecraft rendezvous system with actuator saturation. By scheduling the design parameter online, the convergence rates of the closed-loop system are improved. Numerical simulations show the effectiveness of the proposed approaches.展开更多
A new limit protection method based on Scheduling Command Governor(SCG) is proposed for imposing multiple constraints on a turbofan engine during acceleration process. A Gain Scheduling Controller(GSC) is designed for...A new limit protection method based on Scheduling Command Governor(SCG) is proposed for imposing multiple constraints on a turbofan engine during acceleration process. A Gain Scheduling Controller(GSC) is designed for the transient state control and its stability proof is developed using Linear Matrix Inequalities(LMIs). The SCG is an add-on control scheme which manages engine limits effectively based on reference trajectory optimization. Unlike the traditional min–max architecture with switching logic, the SCG method utilizes the Linear Parameter Varying(LPV) closed-loop model to form a prediction of future constraint violation and per instant solves a constraint-admissible reference within an approximate Maximal Output Admissible Set(MOAS).The influence of the variation of engine dynamic characteristics and equilibrium points during transient state control is handled by the design of contractive sets. Simulation results on a turbofan engine component-level model show the applicability and effectiveness of the SCG method. Compared to the traditional min–max method, the SCG method has less conservativeness. In addition,the design of contractive sets makes conservativeness tunable.展开更多
基金supported by the National Natural Science Foundation of China (No. 60974001)
文摘In this paper, global exponential stochastic stability based continuous gain-scheduled robust L-two-L- infinity filtering problem is studied for a class of stochastic neutral systems subject to time-varying parameters. First, the stochastic time-varying neutral systems are described by a series of stochastic time-constant systems at some selected time points, then based on stochastic Lyapunov-Krasovskii functional approach, a new globally exponentially stochastically stabilizable criterion is derived for each of the jumping system by means of linear matrix inequalities. Subsequently, L- two-L-infinity filtering systems are designed for such linear jump systems. Finally; continuous gain-scheduled approach is employed to design time-varying filter systems for the whole working region. A simulation example shows the effectiveness and potential of the developed techniques.
基金Project(K5117827)supported by Scientific Research Foundation for the Returned Overseas Chinese ScholarsProject(08KJB510021)supported by the Natural Science Research Council of Jiangsu Province,China+1 种基金Project(Q3117918)supported by Scientific Research Foundation for Young Teachers of Soochow University,ChinaProject(60910001)supported by National Natural Science Foundation of China
文摘Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.
文摘Reduction of conservatism is one of the key and difficult problems in missile robust gain scheduling autopilot design based on multipliers.This article presents a scheme of adopting linear parameter-varying（LPV） control approach with full block multipliers to design a missile robust gain scheduling autopilot in order to eliminate conservatism.A model matching design structure with a high demand on matching precision is constructed based on the missile linear fractional transformation（LFT） model.By applying full block S-procedure and elimination lemma,a convex feasibility problem with an infinite number of constraints is formulated to satisfy robust quadratic performance specifications.Then a grid method is adopted to transform the infinite-dimensional convex feasibility problem into a solvable finite-dimensional convex feasibility problem,based on which a gain scheduling controller with linear fractional dependence on the flight Mach number and altitude is derived.Static and dynamic simulation results show the effectiveness and feasibility of the proposed scheme.
基金Hie-Tch Research and Development Program of China (2002AA723011)
文摘The equilibrium manifold linearization model of nonlinear shock motion is of higher accuracy and lower complexity over other models such as the small perturbation model and the piecewise-linear model. This paper analyzes the physical significance of the equilibrium manifold linearization model, and the self-feedback mechanism of shock motion is revealed. This helps to describe the stability and dynamics of shock motion. Based on the model, the paper puts forwards a gain scheduling control method for nonlinear shock motion. Simulation has shown the validity of the control scheme.
文摘The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.
基金the support of the National Natural Science Foundation of China(No.U21B6003)。
文摘This paper describes the design and implementation of a three-axis acceleration control autopilot for an asymmetric tail-controlled,skid-to-turn tactical missile.In an earlier flight test,degraded autopilot performance was attributed to multiple disturbances and uncertainties and the presence of hidden coupling terms,giving rise to a miss distance of greater than 20 m.To address these issues,the missile dynamics are decomposed into the angular rate dynamics as fast and the acceleration dynamics as slow subsystem using the singular perturbation theory to analyze a multi-time-scale property.Multifrequency extended state observers are then incorporated into the gain scheduling technique to attenuate disturbances,thus enhancing the control performance significantly.In the proposed engineering/practical design framework for missile autopilot,simple,conventional,and explicit tuning rules are provided.And the proposed control scheme can achieve input-to-state stability across the entire flight envelope under unknown but bounded disturbances.The advantages of the method over existing benchmark approaches are shown through nonlinear numerical simulations.This is supported by evidence from a new flight test result with a miss distance of only 2 m.
基金Sponsored by the National Natural Science Foundation of China (Grant No. 10832007)the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 200802130003)
文摘Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model and control challenge associated with the longitudinal motion of supereavitating vehicle with variable cavitation number and speed have been explored. Based on the principle of cavity expansion independence the properties of cavity and the influence on planning force of body were researched. Calculation formula of efficiency of the fin was presented. Nonlinear dynamics model of variable cavitation number and speed supercavitating vehicle was established. Stabilities of the open-loop systems of different situations were analyzed. The simulations results of open-loop systems show that it is necessary to design a control method to control a supereavitating vehicle. A gain schedule controller with guaranteed H∞ performance was designed to stabilize the dive-plane dynamics of supercavitating vehicle under changing conditions.
文摘This paper proposes a method of using multi controllers to control supermaneuverable aircraft. A nonlinear dynamic inversion controller is used for supermaneuver. A gain scheduled controller is used for routine maneuver. A switch algorithm is designed to switch the controllers. The flight envelopes of the controllers are different but have a common area in which the controllers are switched from one to the other. In the common area, some special boundaries are selected to decide switch conditions. The controllers all use vector thrust for lower velocity maneuver control. Unlike the variation structure theory to use a single boundary, this paper uses two boundaries for switching between the two controllers. One boundary is used for switching from dynamic inversion to gain scheduling, while the other is used for switching from gain scheduling to dynamic inversion. This can effectively avoid the system vibration caused by switching repeatedly at a single boundary. The method is very easy for engineering. It can reduce the risk of design of the supermaneuverable aircraft.
文摘Linear quadratic Gaussian with loop transfer recovery （LQG/LTR） gain scheduling technique is utilized to design gain scheduling autopilot for surface-to-air missile. In order to eliminate the artificial uncertainties that the traditional ＂trial and error＂ de- sign process introduces into system, a method to design target loop based on pole assignment is proposed, which provides an explicit algorithm to construct the matrix differential Riccati equation （MDRE） based on the expected poles determined by the performance specifications. Meanwhile, it is proved that by introducing integrators to augment plant dynamics the fast modes of LQG/LTR gain scheduling controller can be restrained effectively, which alleviates an obstacle for the engineering application of LQG/LTR gain scheduling technique. The proposed method is applied in the design of LQG/LTR gain scheduling autopilot for a surface-to-air missile. The design and simulation results indicate that the fast modes of controller are eliminated obviously, and that the dynamic characteristics of autopilot are stable when flight Mach number and altitude vary.
基金supported by the Innovative Team Program ofthe National Natural Science Foundation of China(No.61021002)National Basic Research Program of China(973 Program)(No.2012CB821205)
文摘The problem of robust global stabilization of a spacecraft circular orbit rendezvous system with input saturation and inputadditive uncertainties is studied in this paper. The relative models with saturation nonlinearity are established based on ClohesseyWiltshire equation. Considering the advantages of the recently developed parametric Lyapunov equation-based low gain feedback design method and an existing high gain scheduling technique, a new robust gain scheduling controller is proposed to solve the robust global stabilization problem. To apply the proposed gain scheduling approaches, only a scalar nonlinear equation is required to be solved.Different from the controller design, simulations have been carried out directly on the nonlinear model of the spacecraft rendezvous operation instead of a linearized one. The effectiveness of the proposed approach is shown.
基金partially supported by the National Basic Research Program(973) of China(No.2012CB821205)the Innovative Team Program of National Natural Science Foundation of China(No.61321062)the Astronautical Science and Technology Innovation Fund of China Aerospace Science and Technology Corporation
文摘This paper studies the output feedback dynamic gain scheduled control for stabilizing a spacecraft rendezvous system subject to actuator saturation. By using the parametric Lyapunov equation and the gain scheduling technique, a new observer-based output feedback controller is proposed to solve the semi-global stabilization problem for spacecraft rendezvous system with actuator saturation. By scheduling the design parameter online, the convergence rates of the closed-loop system are improved. Numerical simulations show the effectiveness of the proposed approaches.
基金supported by National Science and Technology Major Project of China(No.2017-V-0004-0054)。
文摘A new limit protection method based on Scheduling Command Governor(SCG) is proposed for imposing multiple constraints on a turbofan engine during acceleration process. A Gain Scheduling Controller(GSC) is designed for the transient state control and its stability proof is developed using Linear Matrix Inequalities(LMIs). The SCG is an add-on control scheme which manages engine limits effectively based on reference trajectory optimization. Unlike the traditional min–max architecture with switching logic, the SCG method utilizes the Linear Parameter Varying(LPV) closed-loop model to form a prediction of future constraint violation and per instant solves a constraint-admissible reference within an approximate Maximal Output Admissible Set(MOAS).The influence of the variation of engine dynamic characteristics and equilibrium points during transient state control is handled by the design of contractive sets. Simulation results on a turbofan engine component-level model show the applicability and effectiveness of the SCG method. Compared to the traditional min–max method, the SCG method has less conservativeness. In addition,the design of contractive sets makes conservativeness tunable.
