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Dual-quaternion-based modeling and control for motion tracking of a tumbling target 认领 引用 被引量：1
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作者 PENG Xuan SHI Xiaoping GONG Yupeng 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2019年第5期985-994,共10页
This paper investigates the problem of controlling a chasing spacecraft(chaser)to track and rendezvous with an uncontrolled target.Based on the actual situation,the torque-free motion of an axisymmetric prolate rigid ... This paper investigates the problem of controlling a chasing spacecraft(chaser)to track and rendezvous with an uncontrolled target.Based on the actual situation,the torque-free motion of an axisymmetric prolate rigid body is employed to represent the short-term attitude motion of the tumbling target.By taking advantage of the dual quaternion’s compact and efficient description of the general rigid motion,the coupled and integrated model of the 6-degree-of-freedom(6-DOF)relative motion between the chaser and the tumbling target is derived in the chaser’s body fixed frame after taking full consideration of coordinate transformation.Based on the logarithm of dual quaternion,a sliding mode control(SMC)law based on the exponential reaching law and the continuous relay function is brought forward to address the problem of synchronization control of the 6-DOF relative motion.Simulation results illustrate the effectiveness of the proposed method. 展开更多
关键词 tumbling target dual-quaternion coupled dynamics relative motion
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Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control 认领 引用 被引量：23
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作者 Peng Wu Ming Yang 《Journal of Systems Engineering and Electronics》 SCIE EI 2010年第4期623-628,共6页
Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approac... Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities(LMIs),based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously. 展开更多
关键词 guidance terminal impact angle sliding mode control integrated guidance and control linear matrix inequality(LMI).
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Integrated guidance and control design method based on finite-time state observer 认领 引用 被引量：1
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作者 MA Ping ZHANG Denghui +1 位作者 WANG Songyan CHAO Tao 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2018年第6期1251-1262,共12页
A composited integrated guidance and control(IGC) algorithm is presented to tackle the problem of the IGC design in the dive phase for the bank-to-turn(BTT) vehicle with the inaccuracy information of the line-of-sight... A composited integrated guidance and control(IGC) algorithm is presented to tackle the problem of the IGC design in the dive phase for the bank-to-turn(BTT) vehicle with the inaccuracy information of the line-of-sight(LOS) rate. For the sake of theoretical derivation, an IGC model in the pitch plane is established. The high-order finite-time state observer(FTSO), with the LOS angle as the single input, is employed to reconstruct the states of the system online. Besides, a composited IGC algorithm is presented via the fusion of back-stepping and dynamic inverse. Compared with the traditional IGC algorithm, the proposed composited IGC method can attenuate effectively the design conservation of the flight control system, while the LOS rate is mixed with noise. Extensive experiments have been performed to demonstrate that the proposed approach is globally finite-time stable and strongly robust against parameter uncertainty. 展开更多
关键词 integrated guidance and control(IGC) finite-time state observer(FTSO) back-to-turn(BTT) vehicle composited control
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Attitude control allocation strategy of high altitude airship based on synthetic performance optimization 认领 引用 被引量：1
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作者 遆晓光 韩放 姚郁 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2009年第6期746-750,共5页
This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic ... This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic performance and energy consumption of airship. Firstly, according to the system overall configuration, the dynamic model of HAA was established and the HAA linearized model of longitudinal plane motion was obtained. Secondly, using the classic PID control theory, the HAA attitude control system was designed. Thirdly, through analyzing the dynamic performance of airship with fin or vectored thruster control, the synthetic performance index function with different weighting functions was determined. By means of optimizing the obtained performance index function, the attitude control of high altitude airship with good dynamic performance and low energy consumption was achieved. Finally, attitude control allocation strategy was designed for the airship station keeping at an altitude of 22 km. The simulation experiment proved the validity of the proposed algorithm. 展开更多
关键词 high altitude airship attitude control synthetic performance optimization control strategy
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Reconstruction and transmission of astronomical image based on compressed sensing 认领 引用 被引量：3
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作者 Xiaoping Shi Jie Zhang 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2016年第3期680-690,共11页
In the process of image transmission, the famous JPEG and JPEG-2000 compression methods need more transmission time as it is difficult for them to compress the image with a low compression rate. Recently the compresse... In the process of image transmission, the famous JPEG and JPEG-2000 compression methods need more transmission time as it is difficult for them to compress the image with a low compression rate. Recently the compressed sensing（CS） theory was proposed, which has earned great concern as it can compress an image with a low compression rate, meanwhile the original image can be perfectly reconstructed from only a few compressed data. The CS theory is used to transmit the high resolution astronomical image and build the simulation environment where there is communication between the satellite and the Earth. Number experimental results show that the CS theory can effectively reduce the image transmission and reconstruction time. Even with a very low compression rate, it still can recover a higher quality astronomical image than JPEG and JPEG-2000 compression methods. 展开更多
关键词 transmission time compression rate compressed sensing（CS） high resolution astronomical image
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Scale-Invariant Occupancy of Phase Space and Additivity of Nonextensive Entropy S_q 认领 引用
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作者 赵伟 伞冶 《Journal of Shanghai Jiaotong university(Science)》 EI 2010年第4期441-446,共6页
Phase space can be constructed for N equal and distinguishable binary subsystems which are correlated in a scale-invariant manner. In the paper, correlation coefficient and reduced probability are introduced to charac... Phase space can be constructed for N equal and distinguishable binary subsystems which are correlated in a scale-invariant manner. In the paper, correlation coefficient and reduced probability are introduced to characterize the scale-invariant correlated binary subsystems. Probabilistic sets for the correlated binary subsystems satisfy Leibnitz triangle rule in the sense that the marginal probabilities of N-system are equal to the joint probabilities of the （N - 1）-system. For entropic index q ≠ 1, nonextensive entropy Sq is shown to be additive in the scale-invariant occupation of phase space. 展开更多
关键词 nonextensive entropy additivity correlation scale-invariance
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Attitude stabilization of rigid spacecraft implemented in backstepping control with input delay 认领 引用 被引量：1
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作者 Xianting Bi Xiaoping Shi 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2017年第5期955-962,共8页
A backstepping method is used for nonlinear spacecraft attitude stabilization in the presence of external disturbances and time delay induced by the actuator. The kinematic model is established based on modified Rodri... A backstepping method is used for nonlinear spacecraft attitude stabilization in the presence of external disturbances and time delay induced by the actuator. The kinematic model is established based on modified Rodrigues parameters (MRPs). Firstly, we get the desired angular velocity virtually drives the attitude parameters to origin, and then backstep it to the desired control torque required for stabilization. Considering the time delay induced by the actuator, the control torque functions only after the delayed time, therefore time compensation is needed in the controller. Stability analysis of the close-loop system is given afterwards. The infinite dimensional actuator state is modeled with a first-order hyperbolic partial differential equation (PDE), the L-2 norm of the system state is constructed and is proved to be exponentially stable. An inverse optimality theorem is also employed during controller design. Simulation results illustrate the efficiency of the proposed control law and it is robust to bounded external disturbances and time delay mismatch. 展开更多
关键词 backstepping input delay partial differential equation (PDE) inverse optimality
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Two-phase differential game guidance scheme against active defensive aircraft in three-body engagement 认领 引用
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作者 Xintao WANG Tao CHAO +2 位作者 Mingzhe HOU Songyan WANG Ming YANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第3期530-545,共16页
This paper proposes a two-phase game guidance strategy for the three-body confrontation scenario according to the linear quadratic differential game method,which includes an Attacker,an Interceptor,and a Target.The in... This paper proposes a two-phase game guidance strategy for the three-body confrontation scenario according to the linear quadratic differential game method,which includes an Attacker,an Interceptor,and a Target.The interception probabilities between the Attacker and the Interceptor-Target team are estimated using the probability density function.The desired zero-effort miss distances associated with the interception probabilities for the three-body conflict are acquired by virtue of the gradient descent method.The game combat is divided into two phases by introducing the switching time.In Phase 1,a differential game strategy is developed to guide the zero-control miss distance between the Attacker and the Interceptor-Target into the desired position,which guarantees that the Attacker has the maximizing probability of intercepting the Target and the minimizing probability of being captured by the Interceptor.In Phase 2,a differential game guidance strategy is proposed to ensure that the Attacker evades the pursuit of the Interceptor and intercepts the Target at the preset impact angle.Finally,numerical simulation verifies the effectiveness of the two-stage game guidance strategy. 展开更多
关键词 Active defensive aircraft Differential game Guidance law Three-body engagement Two-phase guidance
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GPR-based model validation method for small samples 认领 引用
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作者 YANG Fan MA Ping +2 位作者 ZHANG Huan LI Wei YANG Ming 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2026年第3期867-877,共11页
Validation for simulation models often confronts challenges with small samples due to the costs of time and money.To address this issue,this paper presents a validation method for small-sample dynamic outputs based on... Validation for simulation models often confronts challenges with small samples due to the costs of time and money.To address this issue,this paper presents a validation method for small-sample dynamic outputs based on Gaussian process regression(GPR)models.Firstly,a validation framework based on Bayes statistics is proposed,shifting the focus from merely analyzing validation data to a more comprehensive analysis of posterior distributions.Subsequently,the posterior distributions of both the simulation outputs and the reference data are separately captured through segmented GPR.Then,the consistency of these posterior distributions is evaluated in terms of the central tendency and the distribution range.This consistency serves as a quantitative measure of the simulation model's credibility,expressed as a value ranging from 0 to 1,where a value closer to 1 indicates higher credibility.Finally,the effectiveness of this validation method is demonstrated through a numerical example and an application example,highlighting its capability in uncertainty description and adaptability to small samples. 展开更多
关键词 model validation small samples Gaussian process regression(GPR) Bayes statistics
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Online reentry guidance algorithm based on trajectory analytical solutions 认领 引用
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作者 SUN Weibo MA Ping +2 位作者 LI Xiaonan WANG Songyan CHAO Tao 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2026年第3期1002-1018,共17页
To enhance the real-time performance and accuracy of guidance command generation,we propose an online reentry guidance algorithm based on analytical solutions of the hypersonic glide trajectory(HGT).Initially,an altit... To enhance the real-time performance and accuracy of guidance command generation,we propose an online reentry guidance algorithm based on analytical solutions of the hypersonic glide trajectory(HGT).Initially,an altitude-velocity profile is designed in the longitudinal plane to satisfy both path and terminal constraints.Based on this profile,we derive analytical solutions for the flight path angle(FPA)and bank angle.Subsequently,by employing the Newton-Raphson method to linearize the reentry motion equations,analytical solutions for the latitude and heading angle are obtained.Furthermore,we introduce an improved particle swarm optimization(IPSO)algorithm to optimize the profile parameters.This approach significantly enhances the algorithm's global convergence by narrowing the parameter optimization range and adaptively adjusting the inertia weight and cognitive factors.Finally,we present an online guidance algorithm that combines the HGT analytical solutions with the IPSO algorithm.This algorithm effectively achieves longitudinal and lateral guidance by continuously updating the altitude-velocity profile and bank angle symbol in real time.Simulation results demonstrate that the proposed algorithm is fast,efficient,accurate,and holds significant potential for broader application. 展开更多
关键词 altitude-velocity profile analytical solution improved particle swarm optimization(IPSO) online reentry guidance
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Linear-quadratic and norm-bounded differential game combined guidance strategy against active defense aircraft in three-player engagement 认领 引用 被引量：15
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作者 Tao CHAO Xintao WANG +1 位作者 Songyan WANG Ming YANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2023年第8期331-350,共20页
A new type of guidance strategy, combining linear quadratic and norm-bounded game theory, is proposed for the scenario of an attacker against active defense aircraft in three-player engagement. The problem involves th... A new type of guidance strategy, combining linear quadratic and norm-bounded game theory, is proposed for the scenario of an attacker against active defense aircraft in three-player engagement. The problem involves three players, an attacker, a defender and a target. The differential game theory and the solution of Hamiltonian equation are utilized to obtain the combined guidance strategy for each player with arbitrary-order dynamics. The game process is divided into4 phases, C1-C4, according to the switching time. The linear quadratic differential game guidance scheme is employed to reduce the fuel cost in the game parts of C1 and C3. The norm-bounded game guidance strategy is adopted to satisfy the constraint of control input in the game stages C2 and C4. Furthermore, zero-effort miss distance is introduced to meet the constraints of game space and defender’s killing radius in the guidance strategy, which guarantees that the attacker is able to avoid the interception of the defender and hit the target with lower fuel cost and maximum acceleration. And it is proved that the proposed guidance strategy satisfies the Nash equilibrium condition. Finally, the feasibility and superiority of combined guidance strategy are respectively illustrated by nonlinear numerical simulation and verified by comparing with linear quadratic and norm-bounded differential game guidance strategies. 展开更多
关键词 Activedefense aircraft Acceleration Energy optimization Game theory Three-player engagement
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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement 认领 引用 被引量：5
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作者 Xintao Wang Ming Yang +2 位作者 Songyan Wang Mingzhe Hou Tao Chao 《Defence Technology（防务技术）》 SCIE EI CAS CSCD 2024年第12期136-155,共20页
A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes ... A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an evader.The confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 phases.Furthermore,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the evader.Finally,the nonlinear numerical simulations verify the performance of the game guidance strategy. 展开更多
关键词 Active defense aircraft Differential game theory Three-player confrontation Energy optimization Acceleration constraint Obstacle avoidance
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Robust spline-line energy management guidance algorithm with multiple constraints and uncertainties for solid rocket ascending 认领 引用 被引量：3
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作者 Songyan WANG Fei LIU +1 位作者 Tao CHAO Ming YANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2022年第2期214-234,共21页
For the solid rocket with depletion shutdown system,effective energy management is significant to meet terminal constraints by exhausting excess energy.Several traditional energy management algorithms cannot satisfy t... For the solid rocket with depletion shutdown system,effective energy management is significant to meet terminal constraints by exhausting excess energy.Several traditional energy management algorithms cannot satisfy the altitude constraint and path constraints are not sufficiently considered.The velocity adjustment capability of these algorithms is limited and the uncertainties are not considered.Based on the on-line programming of velocity capability curve,Spline-Line Energy Management(SLEM)guidance algorithm is proposed.It introduces lateral maneuvers to further consume the available velocity on the basis of longitudinal energy management.After expressing the constraints as several algebraic equations,the closed-loop guidance problem is converted to solving a system of nonlinear equations about the curve parameters in real time.The advantage is that the altitude constraint can be satisfied theoretically.The overload and control variable change rate and amplitude constraints are also considered during the flight by constructing the feasible boundary of velocity capability curve.To improve the robustness,it is further extended by estimating the actual uncertainties.The effectiveness and advantages of SLEM are demonstrated by simulations and comparisons with other energy management algorithms.Simulation results show that the proposed approach can satisfy multiple constraints with high precision under the condition of uncertainties. 展开更多
关键词 Ascent guidance Energy management Multiple constraints Solid rockets Uncertainty Velocity capability curve
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Multi-camera calibration method based on minimizing the difference of reprojection error vectors 认领 引用 被引量：8
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作者 HUO Ju LI Yunhui YANG Ming 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2018年第4期844-853,共10页
In order to achieve a high precision in three-dimensional（3D） multi-camera measurement system, an efficient multi-cameracalibration method is proposed. A stitching method of large scalecalibration targets is deduced... In order to achieve a high precision in three-dimensional（3D） multi-camera measurement system, an efficient multi-cameracalibration method is proposed. A stitching method of large scalecalibration targets is deduced, and a fundamental of multi-cameracalibration based on the large scale calibration target is provided.To avoid the shortcomings of the method, the vector differencesof reprojection error with the presence of the constraint conditionof the constant rigid body transformation is modelled, and mini-mized by the Levenberg-Marquardt （LM） method. Results of thesimulation and observation data calibration experiment show thatthe accuracy of the system calibrated by the proposed methodreaches 2 mm when measuring distance section of 20 000 mmand scale section of 7 000 mm × 7 000 mm. Consequently, theproposed method of multi-camera calibration performs better thanthe fundamental in stability. This technique offers a more uniformerror distribution for measuring large scale space. 展开更多
关键词 vision measurement multi-camera calibration field stitching vector error
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Multi-agent coverage control design with dynamic sensing regions 认领 引用 被引量：2
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作者 Longbiao MA Fenghua HE +1 位作者 Long WANG Yu YAO 《Control Theory and Technology》 EI CSCD 2018年第3期161-172,共12页
A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent var... A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent varies with its altitude within an altitude constraint. Meanwhile, the reconnaissance ability of an agent is determined by its altitude and radial distance. First, the region reconnaissance is formulated as an effective coverage problem, which means that each point in the given region should be surveyed until a preset level is achieved. Then, an effective coverage control law is proposed to minimize coverage performance index by adjusting the altitude of an agent. Finally, the effectiveness of the proposed control law is verified through numerical simulations. 展开更多
关键词 Effective coverage multi-agent systems region reconnaissance altitude constraint dynamic sensing regions
Analog circuit intelligent fault diagnosis based on GKPCA and multi-class SVM approach 认领 引用 被引量：2
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作者 伞冶 郭珂 朱奕 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2012年第6期63-71,共9页
Analog circuits fault diagnosis is essential for guaranteeing the reliability and maintainability of electronic systems. In this paper, a novel analog circuit fault diagnosis approach is proposed based on greedy kerne... Analog circuits fault diagnosis is essential for guaranteeing the reliability and maintainability of electronic systems. In this paper, a novel analog circuit fault diagnosis approach is proposed based on greedy kernel principal component analysis (KPCA) and one-against-all support vector machine (OAASVM). In order to obtain a successful SVM-based fault classifier, eliminating noise and extracting fault features are very important. Due to the better performance of nonlinear fault features extraction and noise elimination as compared with PCA, KPCA is adopted in the proposed approach. However, when we adopt KPCA to extract fault features of analog circuit, a drawback of KPCA is that the storage required for the kernel matrix grows quadratically, and the computational cost for eigenvector of the kernel matrix grows linearly with the number of training samples. Therefore, GKPCA, which can approximate KPCA with small representation error, is introduced to enhance computational efficiency. Based on the statistical learning theory and the empirical risk minimization principle, SVM has advantages of better classification accuracy and generalization performance. The extracted fault features are then used as the inputs of OAASVM to solve fault diagnosis problem. The effectiveness of the proposed approach is verified by the experimental results. 展开更多
关键词 greedy kernel principal component analysis one-against-all support vector machine fault diagno- sis analog circuit
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High-precision analytical solutions for Earth coverage of constellation equipped with reentry glide vehicles 认领 引用 被引量：1
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作者 Ping MA Weibo SUN +1 位作者 Jie GAO Tao CHAO 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2024年第9期385-398,共14页
To efficiently and accurately design satellite constellations equipped with Reentry Glide Vehicles(RGVs),new analytical solutions are developed for calculating their coverage perfor-mance.Specifically,a new coverage m... To efficiently and accurately design satellite constellations equipped with Reentry Glide Vehicles(RGVs),new analytical solutions are developed for calculating their coverage perfor-mance.Specifically,a new coverage model is established by approximating the Reentry Reachable Domain(RRD).However,the computation of real-time relative distances between satellites and targets,which is essential for coverage analysis based on this model,imposes a significant compu-tational burden.To address this challenge,a coverage analysis method based on two-dimensional map theory is proposed.This method represents the coverage conditions of a target as a fixed area on a two-dimensional map and transforms the satellite trajectory into a series of parallel lines.By determining the intersection points between these lines and the area boundaries,the coverage ana-lytical solutions for a target point are derived.On this basis,coverage theorems are presented for rapid calculation of the constellation coverage performance for an area.Simulation results demon-strate the effectiveness and high precision of the proposed analytical solutions. 展开更多
关键词 Constellation Analytical solutions Reentry glide vehicle Reentry reachable domain Two-dimensional map
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Study of a novel pressure sensor based on optical microring resonator 认领 引用 被引量：1
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作者 LI Xin GUO Shi-liang +1 位作者 LI Zhi-quan YANG Ming 《Optoelectronics Letters》 EI 2014年第3期188-190,共3页
We propose a novel pressure sensor based on the combination of the ring resonator with two straight waveguides and a two-end fixed beam.The principle of this device is acquiring the system static pressure by monitorin... We propose a novel pressure sensor based on the combination of the ring resonator with two straight waveguides and a two-end fixed beam.The principle of this device is acquiring the system static pressure by monitoring the changes in the transmission wavelength shift of the ring resonator with double waveguides.The numerical results show that the sensitivity of the system is up to 49.3 pm/kPa while the pressure range is 0—300 kPa.The thickness of the fixed beam is an important factor which impacts the sensitivity of the system.This device can provide support for fabricating high sensitivity and low cost micro pressure sensors. 展开更多
关键词 微压力传感器 环形谐振器 微环 光学 获取系统 高灵敏度 静态压力 计算结果
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Global finite-time stabilization design for a class of high-order uncertain nonlinear systems 认领 引用 被引量：1
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作者 孟桂芝 马克茂 张佳为 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2012年第3期77-80,共4页
The problem of finite-time stabilization for uncertain nonlinear systems is investigated.It is proved that a class of high-order nonlinear systems in the lower-triangular form is globally stabilized via non-Lipschitz ... The problem of finite-time stabilization for uncertain nonlinear systems is investigated.It is proved that a class of high-order nonlinear systems in the lower-triangular form is globally stabilized via non-Lipschitz continuous state feedback.By using the finite-time Lyapunov stability theorem and the method of non-smooth feedback design,a recursive design procedure is provided,which guarantees the finite-time stability of the closed-loop system.The simulation results show the effectiveness of the theoretical results. 展开更多
关键词 finite-time stability continuous state feedback non-smooth control high-order nonlinear system
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Control Design for Harmonic Disturbance Rejection for Robot Manipulators with Bounded Inputs 认领 引用 被引量：1
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作者 YAO Yu WANG Xiaochen HE Fenghua 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第2期248-256,共9页
Currently most of control methods are of one degree of freedom(1-DOF)control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturb... Currently most of control methods are of one degree of freedom(1-DOF)control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be increased.In practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available torques.This paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking controller.The parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown frequencies.The tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired trajectories.In the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is avoided.The Lyapunov stability of closed loop systems is analyzed.To validate proposed control scheme,simulation results are provided for a two link horizontal robot manipulator.The simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the system.An important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1-DOF control structure framework. 展开更多
关键词 tracking control of robot harmonic disturbance rejection internal model principle input constraint adaptive control
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