Robust hybrid global asymptotic stabilization of rigid body dynamics using dual quaternions

A hybrid feedback control scheme is proposed for stabilization of rigid body dynamics (pose and velocities) using unit dual quaternions, in which the dual quaternions and veloc- ities are used for feedback. It is well-known that rigid body attitude control is subject to topological constraints which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of invariance principles for hybrid systems. Simulation results for a rigid body model are presented to illustrate the performance of the proposed hybrid dual quaternion feedback control scheme

A Class of Embedded DG Methods for Dirichlet Boundary Control of Convection Diffusion PDEs

We investigated an hybridizable discontinuous Galerkin (HDG) method for a convection diffusion Dirichlet boundary control problem in our earlier work [SIAM J. Numer. Anal. 56 (2018) 2262-2287] and obtained an optimal convergence rate for the control under some assumptions on the desired state and the domain. In this work, we obtain the same convergence rate for the control using a class of embedded DG methods proposed by Nguyen, Peraire and Cockburn [J. Comput. Phys. vol. 302 (2015), pp. 674-692] for simulating fluid flows. Since the global system for embedded DG methods uses continuous elements, the number of degrees of freedom for the embedded DG methods are smaller than the HDG method, which uses discontinuous elements for the global system. Moreover, we introduce a new simpler numerical analysis technique to handle low regularity solutions of the boundary control problem. We present some numerical experiments to confirm our theoretical results

Voltage regulator/amplifier is self-regulated

Signal modulated, self-regulating voltage regulator/amplifier controls the output b-plus voltage in modulated regulator systems. It uses self-oscillation with feedback to a control circuit with a discontinuous amplitude action feedback loop

Attitude stabilization of a rigid spacecraft using two momentum wheel actuators

It is well known that three momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished using smooth feedback. If failure of one of the momentum wheel actuators occurs, it is demonstrated that two momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished. Although the complete spacecraft equations are not controllable, the spacecraft equations are small time locally controllable in a reduced nonlinear sense. The reduced spacecraft dynamics cannot be asymptotically stabilized to any equilibrium attitude using a time-variant continuous feedback control law, but discontinuous feedback control strategies are constructed which stabilize any equilibrium attitude of the spacecraft in finite time. Consequently, reorientation of the spacecraft can be accomplished using discontinuous feedback control

Robust Simulation for Hybrid Systems: Chattering Path Avoidance

The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible scenario is that the solution trajectories may successively enter and exit as well as slide on switching mani-folds of different dimensions. Naturally, this arises in dynamical systems and control applications whenever there are multiple discontinuous control variables. The main contribution of this paper is to provide a robust computational framework for the most general way to extend a flow map on the intersection of p intersected (n--1)-dimensional switching manifolds in at least p dimensions. We explore a new formulation to which we can define unique solutions for such particular behavior in hybrid systems and investigate its efficient computation/simulation. We illustrate the concepts with examples throughout the paper.Comment: The 56th Conference on Simulation and Modelling (SIMS 56), Oct 2015, Link\"oping, Sweden. 2015, Link\"oping University Pres

Attitude stabilization of a rigid spacecraft using gas jet actuators operating in a failure mode

The attitude stabilization of a rigid spacecraft using control torques supplied by gas jet actuators about only two of its principal axes is considered. First, the case where the uncontrolled principal axis of the spacecraft is not an axis of symmetry is considered. In this case, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft cannot be asymptotically stabilized to an equilibrium attitude using time-invariant continuous feedback. A discontinuous stabilizing feedback control strategy is constructed which stabilizes the spacecraft to an equilibrium attitude. Next, the case where the uncontrolled principal axis of the spacecraft is an axis of symmetry is considered. In this case, the complete spacecraft dynamics are not even accessible. However, the spacecraft dynamics are strongly accessible and small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized to an equilibrium attitude using time-invariant continuous feedback, but again a discontinuous stabilizing feedback control strategy is constructed. In both cases, the discontinuous feedback controllers are constructed by switching between one of several feedback functions