The article proposes a nonlinear optimal(H-infinity)control method for a hypersonic aerial vehicle(HSV).The dynamic model of the hypersonic vehicle undergoes approximate linearization around a temporary operating poin...The article proposes a nonlinear optimal(H-infinity)control method for a hypersonic aerial vehicle(HSV).The dynamic model of the hypersonic vehicle undergoes approximate linearization around a temporary operating point which is recomputed at each iteration of the control method.This operating point consists of the present value of the system’s state vector and of the last value of the control inputs vector that was applied on the HSV.The linearization relies on Taylor series expansion and on the computation of the associated Jacobian matrices.For the approximately linearized model of the hypersonic aerial vehicle,an optimal(H-infinity)feedback controller was designed.To compute the controller’s feedback gains,an algebraic Riccati equation had to be repetitively solved at each iteration of the control algorithm.The global asymptotic stability of the control method is proven through Lyapunov analysis.The control scheme remains robust against model uncertainties an external perturbations.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
The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive loops.Th...The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive loops.The state-space model of(i)unmanned aerial vehicles and(ii)micro-satellites is separated into two subsystems,which are connected between them in cascading loops.Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems.The state variables of the second subsystem become virtual control inputs for the first subsystem.In turn,exogenous control inputs are applied to the first subsystem.The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis.The validity of the control method is confirmed in two case studies:(a)control and trajectories tracking for the autonomous octocopter,(ii)control of the attitude dynamics of micro-satellites.展开更多
基金Funding was provided by Unit of Industrial Automation/Industrial Systems Institute(Grant no.Ref 5352/Nonlinear Control and Filtering).
文摘The article proposes a nonlinear optimal(H-infinity)control method for a hypersonic aerial vehicle(HSV).The dynamic model of the hypersonic vehicle undergoes approximate linearization around a temporary operating point which is recomputed at each iteration of the control method.This operating point consists of the present value of the system’s state vector and of the last value of the control inputs vector that was applied on the HSV.The linearization relies on Taylor series expansion and on the computation of the associated Jacobian matrices.For the approximately linearized model of the hypersonic aerial vehicle,an optimal(H-infinity)feedback controller was designed.To compute the controller’s feedback gains,an algebraic Riccati equation had to be repetitively solved at each iteration of the control algorithm.The global asymptotic stability of the control method is proven through Lyapunov analysis.The control scheme remains robust against model uncertainties an external perturbations.
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.
文摘The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive loops.The state-space model of(i)unmanned aerial vehicles and(ii)micro-satellites is separated into two subsystems,which are connected between them in cascading loops.Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems.The state variables of the second subsystem become virtual control inputs for the first subsystem.In turn,exogenous control inputs are applied to the first subsystem.The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis.The validity of the control method is confirmed in two case studies:(a)control and trajectories tracking for the autonomous octocopter,(ii)control of the attitude dynamics of micro-satellites.
