Transportation of heavy loads is often performed by multi-axle multi-steered heavy duty vehicles In this article a novel nonlinear optimal control method is applied to the kinematic model of the five-axle and three-st...Transportation of heavy loads is often performed by multi-axle multi-steered heavy duty vehicles In this article a novel nonlinear optimal control method is applied to the kinematic model of the five-axle and three-steering coupled vehicle system.First,it is proven that the dynamic model of this articulated multi-vehicle system is differentially flat.Next.the state-space model of the five-axle and three-steering vehicle system undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method.The linearization is based on Taylor series expansion and on the associated Jacobian matrices.For the linearized state-space model of the five-axle and three-steering vehicle system a stabilizing optimal(H-infinity)feedback controller is designed.This controller stands for the solution of the nonlinear optimal control problem under model uncertainty and external perturbations.To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm.The stability properties of the control method are proven through Lyapunov analysis.The proposed nonlinear optimal control approach achieves fast and accurate tracking of setpoints under moderate variations of the control inputs and minimal dispersion of energy by the propulsion and steering system of the five-axle and three-steering vehicle system.展开更多
Attitude control and stabilization of micro-satellites is a nontrivial problem due to the highly nonlinear and multivariable structure of the satellites'state-space model.In this paper,a novel nonlinear optimal(H-...Attitude control and stabilization of micro-satellites is a nontrivial problem due to the highly nonlinear and multivariable structure of the satellites'state-space model.In this paper,a novel nonlinear optimal(H-infinity)control approach is developed for this control problem.The dynamic model of the satellite's attitude dynamics undergoesfirst approximate linearization around a temporary operating point which is updated at each iteration of the control algorithm.The linearization process relies on first-order Taylor series expansion and on the computation of the Jacobian matrices of the state-space model of the satellite's attitude dynamics.For the approximately linearized description of the satellite's attitude a stabilizing H-infinity feedback controller is designed.To compute the controller's feedback gains,an algebraic Riccati equation is solved at each time-step of the control method.The stability properties of the control scheme are proven through Lyapunov analysis.It is also demonstrated that the control method retains the advantages of linear optimal control that is fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.展开更多
In this article,a nonlinear optimal control approach is proposed for the dynamic model of 3-DOF four-cable driven parallel robots(CDPR).To solve the associated nonlinear optimal control problem,the dynamic model of th...In this article,a nonlinear optimal control approach is proposed for the dynamic model of 3-DOF four-cable driven parallel robots(CDPR).To solve the associated nonlinear optimal control problem,the dynamic model of the 3-DOF cable-driven parallel robot undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method.The linearization relies on Taylor series expansion and on the associated Jacobian matrices.For the linearized state-space model of the 3-DOF cable-driven parallel robot a stabilizing optimal(H-infinity)feedback controller is designed.To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm.The stability properties of the control method are proven through Lyapunov analysis.The proposed nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs and a minimum dispersion of energy.展开更多
文摘Transportation of heavy loads is often performed by multi-axle multi-steered heavy duty vehicles In this article a novel nonlinear optimal control method is applied to the kinematic model of the five-axle and three-steering coupled vehicle system.First,it is proven that the dynamic model of this articulated multi-vehicle system is differentially flat.Next.the state-space model of the five-axle and three-steering vehicle system undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method.The linearization is based on Taylor series expansion and on the associated Jacobian matrices.For the linearized state-space model of the five-axle and three-steering vehicle system a stabilizing optimal(H-infinity)feedback controller is designed.This controller stands for the solution of the nonlinear optimal control problem under model uncertainty and external perturbations.To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm.The stability properties of the control method are proven through Lyapunov analysis.The proposed nonlinear optimal control approach achieves fast and accurate tracking of setpoints under moderate variations of the control inputs and minimal dispersion of energy by the propulsion and steering system of the five-axle and three-steering vehicle system.
文摘Attitude control and stabilization of micro-satellites is a nontrivial problem due to the highly nonlinear and multivariable structure of the satellites'state-space model.In this paper,a novel nonlinear optimal(H-infinity)control approach is developed for this control problem.The dynamic model of the satellite's attitude dynamics undergoesfirst approximate linearization around a temporary operating point which is updated at each iteration of the control algorithm.The linearization process relies on first-order Taylor series expansion and on the computation of the Jacobian matrices of the state-space model of the satellite's attitude dynamics.For the approximately linearized description of the satellite's attitude a stabilizing H-infinity feedback controller is designed.To compute the controller's feedback gains,an algebraic Riccati equation is solved at each time-step of the control method.The stability properties of the control scheme are proven through Lyapunov analysis.It is also demonstrated that the control method retains the advantages of linear optimal control that is fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.
基金supported by Grant Ref.“Ref 301022”-“Nonlinear optimal and flatness-based control methods for complex dynamical systems”of the Unit of Industrial Automation of the Industrial Systems Institute。
文摘In this article,a nonlinear optimal control approach is proposed for the dynamic model of 3-DOF four-cable driven parallel robots(CDPR).To solve the associated nonlinear optimal control problem,the dynamic model of the 3-DOF cable-driven parallel robot undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method.The linearization relies on Taylor series expansion and on the associated Jacobian matrices.For the linearized state-space model of the 3-DOF cable-driven parallel robot a stabilizing optimal(H-infinity)feedback controller is designed.To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm.The stability properties of the control method are proven through Lyapunov analysis.The proposed nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs and a minimum dispersion of energy.
