Reaction flywheel is a significant actuator for satellites＇ attitude control. To improve output torque and rotational speed accuracy for reaction flywheel, this paper reviews the modeling and control approaches of DC...Reaction flywheel is a significant actuator for satellites＇ attitude control. To improve output torque and rotational speed accuracy for reaction flywheel, this paper reviews the modeling and control approaches of DC-DC converters and presents an application of the variable structure system theory with associated sliding regimes. Firstly, the topology of reaction flywheel is constructed. The small signal linearization process for a buck converter is illustrated. Then, based on the state averaging models and reaching qualification expressed by the Lee derivative, the general results of the sliding mode control （SMC） are analyzed. The analytical equivalent control laws for reaction flywheel are deduced detailedly by selecting various sliding surfaces at electromotion, energy consumption braking, reverse connection braking stages. Finally, numerical and experimental examples are presented for illustrative purposes. The results demonstrate that favorable agreement is established between the simulations and experiments. The proposed control strategy achieves preferable rotational speed regulation, strong rejection of modest disturbances, and high-precision output torque and rotational speed tracking abilities.展开更多
This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles.Uniformly ultimate boundedness and tracking are achieved,exploiting a heavily coupled,bounded u...This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles.Uniformly ultimate boundedness and tracking are achieved,exploiting a heavily coupled,bounded uncertain and highly nonlinear model of longitudinal and lateral dynamics.In order to estimate unmeasurable states,an observer is proposed for an augmented multiple-input-multiple-output（MIMO） nonlinear system with an adaptive sliding mode term against the disturbances.Under the frame of a backstepping design,an adaptive sliding mode output-feedback dynamic surface control（DSC） approach is derived recursively by virtue of the estimated states.The DSC technique is adopted to overcome the problem of ‘‘explosion of complexity＂ and relieve the stress of the guidance loop.It is proven that all signals of the MIMO closed-loop system,including the observer and controller,are uniformly ultimately bounded,and the tracking errors converge to an arbitrarily small neighborhood of the origin.Simulation results for the observer and controller are provided to illustrate the feasibility and effectiveness of the proposed approach.展开更多
The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, externa...The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
This paper presents LQR sliding surface-based Sliding Mode Controller(LQR-SMC)for balancing control of a Rotary Double Inverted Pendulum(RDIP)system.It is a challenging research topic in control engineering due to its...This paper presents LQR sliding surface-based Sliding Mode Controller(LQR-SMC)for balancing control of a Rotary Double Inverted Pendulum(RDIP)system.It is a challenging research topic in control engineering due to its nonlinearity and instability.The RDIP system uses only a motor to control two serially connected pendulums to stand at the upright position.The sliding surface is designed based on the LQR optimal gain.Nonsingular gain matrix is obtained by using the left inverse of the input matrix in the state space form of the system dynamics.The Lyapunov stability theory is used to determine the stability of the controller.To evaluate the performance of LQR-SMC,some performance indices,including the Integral Absolute Error(IAE),Integral Time Absolute Error(ITAE),and the Integrated Square Error(ISE),are used.System stability can be maintained by LQR-SMC under external disturbances as well as model and parameter uncertainties.展开更多
This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking c...This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking controllers.The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system.In this case,only the external disturbance with the prior information is considered.Then,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control method.Besides,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem.Digital simulations are presented to verify the effectiveness of the proposed controllers.展开更多
In this paper,the prescribed error trajectory control is proposed for second-order fully actuated systems.At first,by taking advantage of the full-actuation property,an intermediate control law is designed such that t...In this paper,the prescribed error trajectory control is proposed for second-order fully actuated systems.At first,by taking advantage of the full-actuation property,an intermediate control law is designed such that the intermediate closed-loop system is in a very simple form.Then,by utilizing the initial conditions of system states and the prescribed error performance function,the intermediate control law is developed to force the tracking error of the system on the proposed sliding mode surface from the beginning.The overall control law is obtained by combining the aforementioned steps.It is revealed that under the designed control law,the tracking error of the closed-loop system converges to zero along the prescribed error trajectory.Finally,an example is provided to validate the effectiveness of the presented approach.展开更多
基金supported by the National Natural Science Foundation of China(No.61121003)
文摘Reaction flywheel is a significant actuator for satellites＇ attitude control. To improve output torque and rotational speed accuracy for reaction flywheel, this paper reviews the modeling and control approaches of DC-DC converters and presents an application of the variable structure system theory with associated sliding regimes. Firstly, the topology of reaction flywheel is constructed. The small signal linearization process for a buck converter is illustrated. Then, based on the state averaging models and reaching qualification expressed by the Lee derivative, the general results of the sliding mode control （SMC） are analyzed. The analytical equivalent control laws for reaction flywheel are deduced detailedly by selecting various sliding surfaces at electromotion, energy consumption braking, reverse connection braking stages. Finally, numerical and experimental examples are presented for illustrative purposes. The results demonstrate that favorable agreement is established between the simulations and experiments. The proposed control strategy achieves preferable rotational speed regulation, strong rejection of modest disturbances, and high-precision output torque and rotational speed tracking abilities.
基金supported by the National Natural Science Foundation of China(No.11532002)
文摘This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles.Uniformly ultimate boundedness and tracking are achieved,exploiting a heavily coupled,bounded uncertain and highly nonlinear model of longitudinal and lateral dynamics.In order to estimate unmeasurable states,an observer is proposed for an augmented multiple-input-multiple-output（MIMO） nonlinear system with an adaptive sliding mode term against the disturbances.Under the frame of a backstepping design,an adaptive sliding mode output-feedback dynamic surface control（DSC） approach is derived recursively by virtue of the estimated states.The DSC technique is adopted to overcome the problem of ‘‘explosion of complexity＂ and relieve the stress of the guidance loop.It is proven that all signals of the MIMO closed-loop system,including the observer and controller,are uniformly ultimately bounded,and the tracking errors converge to an arbitrarily small neighborhood of the origin.Simulation results for the observer and controller are provided to illustrate the feasibility and effectiveness of the proposed approach.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.
文摘This paper presents LQR sliding surface-based Sliding Mode Controller(LQR-SMC)for balancing control of a Rotary Double Inverted Pendulum(RDIP)system.It is a challenging research topic in control engineering due to its nonlinearity and instability.The RDIP system uses only a motor to control two serially connected pendulums to stand at the upright position.The sliding surface is designed based on the LQR optimal gain.Nonsingular gain matrix is obtained by using the left inverse of the input matrix in the state space form of the system dynamics.The Lyapunov stability theory is used to determine the stability of the controller.To evaluate the performance of LQR-SMC,some performance indices,including the Integral Absolute Error(IAE),Integral Time Absolute Error(ITAE),and the Integrated Square Error(ISE),are used.System stability can be maintained by LQR-SMC under external disturbances as well as model and parameter uncertainties.
基金supported by the National Natural Science Foundation of China under Grant No.61174037
文摘This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking controllers.The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system.In this case,only the external disturbance with the prior information is considered.Then,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control method.Besides,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem.Digital simulations are presented to verify the effectiveness of the proposed controllers.
基金This paper was supported by the Science Center Program of the National Natural Science Foundation of China under Grant No.62188101the Joint Funds of the National Natural Science Foundation of China under Grant No.U2013203.
文摘In this paper,the prescribed error trajectory control is proposed for second-order fully actuated systems.At first,by taking advantage of the full-actuation property,an intermediate control law is designed such that the intermediate closed-loop system is in a very simple form.Then,by utilizing the initial conditions of system states and the prescribed error performance function,the intermediate control law is developed to force the tracking error of the system on the proposed sliding mode surface from the beginning.The overall control law is obtained by combining the aforementioned steps.It is revealed that under the designed control law,the tracking error of the closed-loop system converges to zero along the prescribed error trajectory.Finally,an example is provided to validate the effectiveness of the presented approach.
