The problem of control of orbit for the dynamic system x ¨+x(1-x)(x-a)=0 is discussed. Any unbounded orbit of the dynamic system can be controlled to become a bounded periodic orbit by adding a periodic step ex...The problem of control of orbit for the dynamic system x ¨+x(1-x)(x-a)=0 is discussed. Any unbounded orbit of the dynamic system can be controlled to become a bounded periodic orbit by adding a periodic step excitation to the system. By using a nonlinear feedback control law presented in this paper the chaos of the dynamic system with excitation and damping is stabilized. This method is more effectual than the linear feedback control.展开更多
The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along hal...The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along halo orbits, a nonlinear output tracking control scheme based on the θ- D technique is proposed. Compared with the popular time-variant linear quadratic regulator （LQR） controller, this approach overcomes some limitations such as on-line computations of the algebraic Riccati equation. Besides, the obtained nonlinear suboptimal controller is in a closed form and easy to implement. Numerical simulations show that the TTS trajectories track the periodic reference orbit with low energy consumption in the presence of both tether and initial injection errors. The axis of rotation can keep pointing to an inertial specific object to fulfill an observation mission. In addition, the thrusts required by the controller are in an acceptable range and can be implemented through some low-thrust propulsion devices.展开更多
This paper investigates a novel quasi fixed-time orbit tracking control method for spacecraft around an asteroid in the presence of uncertain dynamics and unknown uncertainties.To quantitatively characterize the trans...This paper investigates a novel quasi fixed-time orbit tracking control method for spacecraft around an asteroid in the presence of uncertain dynamics and unknown uncertainties.To quantitatively characterize the transient and steady-state responses of orbit tracking error system,a continuous performance function is devised via using a quartic polynomial.Then,integrating backstepping control technique and barrier Lyapunov function leads to a quasi fixed-time convergent orbit tracking controller without using any fractional state information and symbolic functions.Finally,two groups of illustrative examples are employed to test the effectiveness of the proposed orbit control method.展开更多
This paper presents a scheme of fault diagnosis for flexible satellites during orbit maneuver. The main contribution of the paper is related to the design of the nonlinear input observer which can avoid false alarm ar...This paper presents a scheme of fault diagnosis for flexible satellites during orbit maneuver. The main contribution of the paper is related to the design of the nonlinear input observer which can avoid false alarm arising from the disturbance from orbit control force. The effects of orbit control force on the fault diagnosis system for satellite attitude control systems, including the disturbing torque caused by the misalignments and the model uncertainty caused by the fuel consumed, are discussed, where standard Lu- enberger observer cannot work well. Then the nonlinear unknown input observer is proposed to decouple faults from disturbance, Besides, a linear matrix inequality approach is adopted to reduce the effect of nonlinear part and model uncertainties on the observer. The numerical and semi-physical simulation demonstrates the effectiveness of the proposed observer for the fault diagnosis system of the satellite during orbit maneuver.展开更多
This paper proposes an intelligent low-thrust orbit phasing control method for multiple spacecraft by simultaneously considering fuel optimization and collision avoidance. Firstly,the minimum-fuel orbit phasing contro...This paper proposes an intelligent low-thrust orbit phasing control method for multiple spacecraft by simultaneously considering fuel optimization and collision avoidance. Firstly,the minimum-fuel orbit phasing control database is generated by the indirect method associated with the homotopy technique. Then,a deep network representing the minimum-fuel solution is trained. To avoid collision for multiple spacecraft,an artificial potential function is introduced in the collision-avoidance controller. Finally,an intelligent orbit phasing control method by combining the minimum-fuel neural network controller and the collision-avoidance controller is proposed. Numerical results show that the proposed intelligent orbit phasing control is valid for the multi-satellite constellation initialization without collision.展开更多
A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse...A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse transformation of the state transition matrix is derived to study the relative orbit control strategy.Impulsive feedback control laws are developed for both in-plane and out-of-plane relative motions.Control of in-plane and out-of-plane relative motions can be completely decoupled using the ROE-based feedback control law.A tangential impulsive control method is proposed to study the relationship of fuel consumption and maneuvering positions.An optimal analytical along-track impulsive control strategy is then derived.Different typical orbit maneuvers,including formation establishment,reconfguration,long-distance maneuvers,and formation keeping,are taken as examples to demonstrate the performance of the proposed control laws.The effects of relative measurement errors are also considered to validate the high accuracy of the proposed control method.展开更多
A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applyi...A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the non-controlled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of in-plane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in-plane libration damping and enables the capture net to track an expected trajectory.展开更多
The distributed prescribed-time orbit containment control for the satellite cluster flight with multiple dynamic leaders is investigated.The directed information communication topology between followers is taken into ...The distributed prescribed-time orbit containment control for the satellite cluster flight with multiple dynamic leaders is investigated.The directed information communication topology between followers is taken into account in the overall paper.When the satellite mass is assumed to be constant,a distributed prescribed-time orbit containment controller is,firstly,presented to drive the followers into the dynamic convex hull produced by multiple leaders.Then,the parameter uncertainty is considered,and a prescribed-time sliding mode estimator is introduced to estimate the desired velocity of each follower.Based on the estimated state,a novel distributed adaptive prescribed-time orbit containment control scheme is proposed.The Lyapunov stability theory is utilized to prove the prescribed-time stability of the closed-loop system.Finally,several numerical simulations and comparison of different control methods are provided to verify the effectiveness and superiority of the proposed control method.展开更多
Small celestial body exploration is of great significance to deep space activities. The dynamics and control of orbits around small celestial bodies is of top priority in the exploration research. It includes the mode...Small celestial body exploration is of great significance to deep space activities. The dynamics and control of orbits around small celestial bodies is of top priority in the exploration research. It includes the modeling of dynamics environment and the orbital dynamics mechanism. This paper introduced state-ofthe-art researches, major challenges, and future trends in this field. Three topics are mainly discussed： the gravitational field modeling of irregular-shaped small celestial bodies, natural orbital dynamics and control, and controlled orbital dynamics. Finally, constructive suggestions are made for China’s future space exploration missions.展开更多
In this paper, we propose a semi-continuous dynamical system to study the cooperative system with feedback control. Based on geometrical analysis and the analogue of Poincare criterion, the existence and stability of ...In this paper, we propose a semi-continuous dynamical system to study the cooperative system with feedback control. Based on geometrical analysis and the analogue of Poincare criterion, the existence and stability of the positive order one periodic solutions are given. Numerical results are carried out to illustrate the feasibility of our main results.展开更多
Basing on the DFT calculations we propose the new theoretical model which describes both the surface tension σ of the short chain n-alkanes at their normal boiling points and their reaction rate constants with hydrox...Basing on the DFT calculations we propose the new theoretical model which describes both the surface tension σ of the short chain n-alkanes at their normal boiling points and their reaction rate constants with hydroxyl radicals OH<span style="white-space:nowrap;">• (at 297 ± 2 K) on the basis of their molecular orbital electronic characteristics. It has been shown that intermolecular dispersion attraction within the surface liquid monolayer of these compounds, as well as their reaction rate constants k with OH<span style="white-space:nowrap;">• radicals are determined by the energies E<sub>orb</sub> of the specific occupied molecular orbitals which are the same in the determination of both the above physico-chemical characteristics of the studied n-alkanes. The received regression equations confirm the theoretically found dependences between the quantities of σ and k and the module |E<sub>orb</sub>|. For the compounds under study this fact indicates the key role of their electronic structure particularities in determination of both the physical (surface tension) and the chemical (reaction rate constants) properties.展开更多
This paper investigates an analytical optimal pose tracking control problem for chaser spacecraft during the close-range proximity operations with a non-cooperative space target subject to attitude tumbling and unknow...This paper investigates an analytical optimal pose tracking control problem for chaser spacecraft during the close-range proximity operations with a non-cooperative space target subject to attitude tumbling and unknown orbital maneuvering.Firstly,the relative translational motion between the orbital target and the chaser spacecraft is described in the Line-of-Sight(LOS)coordinate frame along with attitude quaternion dynamics.Then,based on the coupled 6-Degree of Freedom(DOF)pose dynamic model,an analytical optimal control action consisting of constrained optimal control value,application time and its duration are proposed via exploring the iterative sequential action control algorithm.Meanwhile,the global closed-loop asymptotic stability of the proposed predictive control action is presented and discussed.Compared with traditional proximity control schemes,the highlighting advantages are that the application time and duration of the devised controller is applied discretely in light of the influence of the instantaneous pose configuration on the pose tracking performance with less energy consumptions rather than at each sample time.Finally,three groups of illustrative examples are organized to validate the effectiveness of the proposed analytical optimal pose tracking control scheme.展开更多
Returning to moon has become a top topic recently. Many studies have shown that soft landing is a challenging problem in lunar exploration. The lunar soft landing in this paper begins from a 100 km circular lunar park...Returning to moon has become a top topic recently. Many studies have shown that soft landing is a challenging problem in lunar exploration. The lunar soft landing in this paper begins from a 100 km circular lunar parking orbit. Once the landing area has been selected and it is time to deorbit for landing, a ΔV burn of 19.4 m/s is performed to establish a 100×15 km elliptical orbit. At perilune, the landing jets are ignited, and a propulsive landing is performed. A guidance and control scheme for lunar soft landing is proposed in the paper, which combines optimal theory with nonlinear neuro-control. Basically, an optimal nonlinear control law based on artificial neural network is presented, on the basis of the optimum trajectory from perilune to lunar surface in terms of Pontryagin's maximum principle according to the terminal boundary conditions and performance index. Therefore some optimal control laws can be carried out in the soft landing system due to the nonlinear mapping function of the neural network. The feasibility and validity of the control laws are verified in a simulation experiment.展开更多
The new theoretical models describe both the solubility S of the shot chain n-alkanes in water at 298.15 K, and their reaction rate constants k with nitronium cation NO<sub>2</sub><sup>+ </sup>...The new theoretical models describe both the solubility S of the shot chain n-alkanes in water at 298.15 K, and their reaction rate constants k with nitronium cation NO<sub>2</sub><sup>+ </sup>at 293.15 K on the basis of their molecular orbital characteristics. It is shown that both the quantities S and k are determined by the energies E<sub>orb</sub> of the specific virtual (for S) and occupied (for k) molecular orbitals of these n-alkanes. The obtained regression equations confirm the theoretically found dependences of S and k on the absolute value of E<sub>orb</sub>. This fact demonstrates that the electronic structure particularities of the studied n-alkanes play a crucial role in both their above-mentioned physicochemical properties.展开更多
During dynamic walking of biped robots, the underactuated rotating degree of freedom （DOF） emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addres...During dynamic walking of biped robots, the underactuated rotating degree of freedom （DOF） emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems （DVHS）. Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.展开更多
In this paper a controller of pulse coupling feedback （PCF） is designed to control chaotic systems. Control principles and the technique to select the feedback coefficients are introduced. This controller is theoret...In this paper a controller of pulse coupling feedback （PCF） is designed to control chaotic systems. Control principles and the technique to select the feedback coefficients are introduced. This controller is theoretically studied with a three dimensional （3D） chaotic system. The artificial simulation results show that the chaotic system can be stabilized to different periodic orbits by using the PCF method, and the number of the periodic orbits are 2^n×3^m p （n and m are integers）. Therefore, this control method is effective and practical.展开更多
This paper investigates the attitude and orbit control for the combined spacecraft formed after a target spacecraft without the autonomous control ability is captured by a service spacecraft.The optimal controller of ...This paper investigates the attitude and orbit control for the combined spacecraft formed after a target spacecraft without the autonomous control ability is captured by a service spacecraft.The optimal controller of fully-actuated system is proposed to realize the attitude and orbit stabilization control of combined spacecraft.The stability of the system is proved by introducing Lyapunov function.Numerical simulation of the combined spacecraft and physical experiment based on the combined spacecraft simulator(CSS)are completed.Both simulation and experiment results demonstrate the effectiveness and practicability of the optimal controller of fully-actuated system.展开更多
文摘The problem of control of orbit for the dynamic system x ¨+x(1-x)(x-a)=0 is discussed. Any unbounded orbit of the dynamic system can be controlled to become a bounded periodic orbit by adding a periodic step excitation to the system. By using a nonlinear feedback control law presented in this paper the chaos of the dynamic system with excitation and damping is stabilized. This method is more effectual than the linear feedback control.
基金supported by the National Natural Science Foundation of China (No.61174200)
文摘The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along halo orbits, a nonlinear output tracking control scheme based on the θ- D technique is proposed. Compared with the popular time-variant linear quadratic regulator （LQR） controller, this approach overcomes some limitations such as on-line computations of the algebraic Riccati equation. Besides, the obtained nonlinear suboptimal controller is in a closed form and easy to implement. Numerical simulations show that the TTS trajectories track the periodic reference orbit with low energy consumption in the presence of both tether and initial injection errors. The axis of rotation can keep pointing to an inertial specific object to fulfill an observation mission. In addition, the thrusts required by the controller are in an acceptable range and can be implemented through some low-thrust propulsion devices.
基金This work was supported in part of the Open Funds from National Key Laboratory of Aerospace Flight Dynamics and Key Laboratory of Space Intelligent Control Technology.
文摘This paper investigates a novel quasi fixed-time orbit tracking control method for spacecraft around an asteroid in the presence of uncertain dynamics and unknown uncertainties.To quantitatively characterize the transient and steady-state responses of orbit tracking error system,a continuous performance function is devised via using a quartic polynomial.Then,integrating backstepping control technique and barrier Lyapunov function leads to a quasi fixed-time convergent orbit tracking controller without using any fractional state information and symbolic functions.Finally,two groups of illustrative examples are employed to test the effectiveness of the proposed orbit control method.
基金supported by the National Natural Science Foundation of China (61034005)the Natural Science Foundation of Jiangsu Province (BK2010072)
文摘This paper presents a scheme of fault diagnosis for flexible satellites during orbit maneuver. The main contribution of the paper is related to the design of the nonlinear input observer which can avoid false alarm arising from the disturbance from orbit control force. The effects of orbit control force on the fault diagnosis system for satellite attitude control systems, including the disturbing torque caused by the misalignments and the model uncertainty caused by the fuel consumed, are discussed, where standard Lu- enberger observer cannot work well. Then the nonlinear unknown input observer is proposed to decouple faults from disturbance, Besides, a linear matrix inequality approach is adopted to reduce the effect of nonlinear part and model uncertainties on the observer. The numerical and semi-physical simulation demonstrates the effectiveness of the proposed observer for the fault diagnosis system of the satellite during orbit maneuver.
基金supported in part by the National Natural Science Foundation of China (No. 11772104)in part by the Key Research and Development Plan of Heilongjiang Province(No. GZ20210120)in part by the Fundamental Research Funds for the Central Universities。
文摘This paper proposes an intelligent low-thrust orbit phasing control method for multiple spacecraft by simultaneously considering fuel optimization and collision avoidance. Firstly,the minimum-fuel orbit phasing control database is generated by the indirect method associated with the homotopy technique. Then,a deep network representing the minimum-fuel solution is trained. To avoid collision for multiple spacecraft,an artificial potential function is introduced in the collision-avoidance controller. Finally,an intelligent orbit phasing control method by combining the minimum-fuel neural network controller and the collision-avoidance controller is proposed. Numerical results show that the proposed intelligent orbit phasing control is valid for the multi-satellite constellation initialization without collision.
基金supported by the Innovation Foundation of BUAA for PhD Graduates (No.YWF-12-RBYJ-024)the National Natural Science Foundation of China (No.11002008)National Basic Research Program of China (No.2009CB723906)
文摘A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse transformation of the state transition matrix is derived to study the relative orbit control strategy.Impulsive feedback control laws are developed for both in-plane and out-of-plane relative motions.Control of in-plane and out-of-plane relative motions can be completely decoupled using the ROE-based feedback control law.A tangential impulsive control method is proposed to study the relationship of fuel consumption and maneuvering positions.An optimal analytical along-track impulsive control strategy is then derived.Different typical orbit maneuvers,including formation establishment,reconfguration,long-distance maneuvers,and formation keeping,are taken as examples to demonstrate the performance of the proposed control laws.The effects of relative measurement errors are also considered to validate the high accuracy of the proposed control method.
基金Sponsored by the High Technology Research & Development Program of China(Grant No.2002AA742012)
文摘A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the non-controlled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of in-plane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in-plane libration damping and enables the capture net to track an expected trajectory.
文摘The distributed prescribed-time orbit containment control for the satellite cluster flight with multiple dynamic leaders is investigated.The directed information communication topology between followers is taken into account in the overall paper.When the satellite mass is assumed to be constant,a distributed prescribed-time orbit containment controller is,firstly,presented to drive the followers into the dynamic convex hull produced by multiple leaders.Then,the parameter uncertainty is considered,and a prescribed-time sliding mode estimator is introduced to estimate the desired velocity of each follower.Based on the estimated state,a novel distributed adaptive prescribed-time orbit containment control scheme is proposed.The Lyapunov stability theory is utilized to prove the prescribed-time stability of the closed-loop system.Finally,several numerical simulations and comparison of different control methods are provided to verify the effectiveness and superiority of the proposed control method.
文摘Small celestial body exploration is of great significance to deep space activities. The dynamics and control of orbits around small celestial bodies is of top priority in the exploration research. It includes the modeling of dynamics environment and the orbital dynamics mechanism. This paper introduced state-ofthe-art researches, major challenges, and future trends in this field. Three topics are mainly discussed： the gravitational field modeling of irregular-shaped small celestial bodies, natural orbital dynamics and control, and controlled orbital dynamics. Finally, constructive suggestions are made for China’s future space exploration missions.
基金Supported by the National Natural Science Foundation of China(11671346,11501489,11371306,11301453)Supported by the Department of Education of Henan Province(14B110034)+1 种基金Supported by the Nanhu Scholars Program of XYNU,Foundation and Frontier Project of Henan(152300410019)Supported by the Youth Teacher Foundation of XYNU(2016GGJJ-14)
文摘In this paper, we propose a semi-continuous dynamical system to study the cooperative system with feedback control. Based on geometrical analysis and the analogue of Poincare criterion, the existence and stability of the positive order one periodic solutions are given. Numerical results are carried out to illustrate the feasibility of our main results.
文摘Basing on the DFT calculations we propose the new theoretical model which describes both the surface tension σ of the short chain n-alkanes at their normal boiling points and their reaction rate constants with hydroxyl radicals OH<span style="white-space:nowrap;">• (at 297 ± 2 K) on the basis of their molecular orbital electronic characteristics. It has been shown that intermolecular dispersion attraction within the surface liquid monolayer of these compounds, as well as their reaction rate constants k with OH<span style="white-space:nowrap;">• radicals are determined by the energies E<sub>orb</sub> of the specific occupied molecular orbitals which are the same in the determination of both the above physico-chemical characteristics of the studied n-alkanes. The received regression equations confirm the theoretically found dependences between the quantities of σ and k and the module |E<sub>orb</sub>|. For the compounds under study this fact indicates the key role of their electronic structure particularities in determination of both the physical (surface tension) and the chemical (reaction rate constants) properties.
基金This study was co-supported by the National Natural Science Foundation of China(Nos.62003371,62373379,62103446,61273351,62073343)the Outstanding Youth Fund of Hunan Provincial Natural Science,China(No.2022JJ20081)the Innovation Driven Project of Central South University,China(No.2023CXQD066).
文摘This paper investigates an analytical optimal pose tracking control problem for chaser spacecraft during the close-range proximity operations with a non-cooperative space target subject to attitude tumbling and unknown orbital maneuvering.Firstly,the relative translational motion between the orbital target and the chaser spacecraft is described in the Line-of-Sight(LOS)coordinate frame along with attitude quaternion dynamics.Then,based on the coupled 6-Degree of Freedom(DOF)pose dynamic model,an analytical optimal control action consisting of constrained optimal control value,application time and its duration are proposed via exploring the iterative sequential action control algorithm.Meanwhile,the global closed-loop asymptotic stability of the proposed predictive control action is presented and discussed.Compared with traditional proximity control schemes,the highlighting advantages are that the application time and duration of the devised controller is applied discretely in light of the influence of the instantaneous pose configuration on the pose tracking performance with less energy consumptions rather than at each sample time.Finally,three groups of illustrative examples are organized to validate the effectiveness of the proposed analytical optimal pose tracking control scheme.
文摘Returning to moon has become a top topic recently. Many studies have shown that soft landing is a challenging problem in lunar exploration. The lunar soft landing in this paper begins from a 100 km circular lunar parking orbit. Once the landing area has been selected and it is time to deorbit for landing, a ΔV burn of 19.4 m/s is performed to establish a 100×15 km elliptical orbit. At perilune, the landing jets are ignited, and a propulsive landing is performed. A guidance and control scheme for lunar soft landing is proposed in the paper, which combines optimal theory with nonlinear neuro-control. Basically, an optimal nonlinear control law based on artificial neural network is presented, on the basis of the optimum trajectory from perilune to lunar surface in terms of Pontryagin's maximum principle according to the terminal boundary conditions and performance index. Therefore some optimal control laws can be carried out in the soft landing system due to the nonlinear mapping function of the neural network. The feasibility and validity of the control laws are verified in a simulation experiment.
文摘The new theoretical models describe both the solubility S of the shot chain n-alkanes in water at 298.15 K, and their reaction rate constants k with nitronium cation NO<sub>2</sub><sup>+ </sup>at 293.15 K on the basis of their molecular orbital characteristics. It is shown that both the quantities S and k are determined by the energies E<sub>orb</sub> of the specific virtual (for S) and occupied (for k) molecular orbitals of these n-alkanes. The obtained regression equations confirm the theoretically found dependences of S and k on the absolute value of E<sub>orb</sub>. This fact demonstrates that the electronic structure particularities of the studied n-alkanes play a crucial role in both their above-mentioned physicochemical properties.
基金the National Natural Science Foundation of China (No. 50575119)the 863 Program(No. 2006AA04Z253)the Ph.D.Programs Foundation of Ministry of Education of China(No. 20060003026)
文摘During dynamic walking of biped robots, the underactuated rotating degree of freedom （DOF） emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems （DVHS）. Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.
基金Project supported by the National Natural Science Foundation of China （Grant No 20373021） and Natural Science Foundation of Liaoning Province, China （Grant No 2050790）.
文摘In this paper a controller of pulse coupling feedback （PCF） is designed to control chaotic systems. Control principles and the technique to select the feedback coefficients are introduced. This controller is theoretically studied with a three dimensional （3D） chaotic system. The artificial simulation results show that the chaotic system can be stabilized to different periodic orbits by using the PCF method, and the number of the periodic orbits are 2^n×3^m p （n and m are integers）. Therefore, this control method is effective and practical.
基金This paper was supported in part by the National Natural Science Foundation of China under Grant Nos.62173255 and 62188101.
文摘This paper investigates the attitude and orbit control for the combined spacecraft formed after a target spacecraft without the autonomous control ability is captured by a service spacecraft.The optimal controller of fully-actuated system is proposed to realize the attitude and orbit stabilization control of combined spacecraft.The stability of the system is proved by introducing Lyapunov function.Numerical simulation of the combined spacecraft and physical experiment based on the combined spacecraft simulator(CSS)are completed.Both simulation and experiment results demonstrate the effectiveness and practicability of the optimal controller of fully-actuated system.
