5,161 research outputs found
Active vibration control techniques for flexible space structures
Two proposed control system design techniques for active vibration control in flexible space structures are detailed. Control issues relevant only to flexible-body dynamics are addressed, whereas no attempt was made to integrate the flexible and rigid-body spacecraft dynamics. Both of the proposed approaches revealed encouraging results; however, further investigation of the interaction of the flexible and rigid-body dynamics is warranted
Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview
Disturbance Observer has been one of the most widely used robust control
tools since it was proposed in 1983. This paper introduces the origins of
Disturbance Observer and presents a survey of the major results on Disturbance
Observer-based robust control in the last thirty-five years. Furthermore, it
explains the analysis and synthesis techniques of Disturbance Observer-based
robust control for linear and nonlinear systems by using a unified framework.
In the last section, this paper presents concluding remarks on Disturbance
Observer-based robust control and its engineering applications.Comment: 12 pages, 4 figure
Autonomous landing of fixed-wing aircraft on mobile platforms
E
n esta tesis se propone un nuevo sistema que permite la operación de aeronaves
autónomas sin tren de aterrizaje. El trabajo está motivado por el interés industrial
en aeronaves con la capacidad de volar a gran altitud, con más capacidad de carga útil y
capaces de aterrizar con viento cruzado.
El enfoque seguido en este trabajo consiste en eliminar el sistema de aterrizaje de una
aeronave de ala fija empleando una plataforma móvil de aterrizaje en tierra. La aeronave y
la plataforma deben sincronizar su movimiento antes del aterrizaje, lo que se logra mediante
la estimación del estado relativo entre ambas y el control cooperativo del movimiento.
El objetivo principal de esta Tesis es el desarrollo de una solución práctica para el
aterrizaje autónomo de una aeronave de ala fija en una plataforma móvil. En la tesis se
combinan nuevos métodos con experimentos prácticos para los cuales se ha desarrollado
un sistema de pruebas específico.
Se desarrollan dos variantes diferentes del sistema de aterrizaje. El primero presta atención especial a la seguridad, es robusto ante retrasos en la comunicación entre vehículos y
cumple procedimientos habituales de aterrizaje, al tiempo que reduce la complejidad del
sistema. En el segundo se utilizan trayectorias optimizadas del vehículo y sincronización
bilateral de posición para maximizar el rendimiento del aterrizaje en términos de requerimientos de longitud necesaria de pista, pero la estabilidad es dependiente del retraso de
tiempo, con lo cual es necesario desarrollar un controlador estabilizador ampliado, basado
en pasividad, que permite resolver este problema.
Ambas estrategias imponen requisitos funcionales a los controladores de cada uno de
los vehículos, lo que implica la capacidad de controlar el movimiento longitudinal sin
afectar el control lateral o vertical, y viceversa. El control de vuelo basado en energía se
utiliza para proporcionar dicha funcionalidad a la aeronave.
Los sistemas de aterrizaje desarrollados se han analizado en simulación estableciéndose los límites de rendimiento mediante múltiples repeticiones aleatorias. Se llegó a
la conclusión de que el controlador basado en seguridad proporciona un rendimiento de
aterrizaje satisfactorio al tiempo que suministra una mayor seguridad operativa y un menor
esfuerzo de implementación y certificación. El controlador basado en el rendimiento es
prometedor para aplicaciones con una longitud de pista limitada. Se descubrió que los beneficios del controlador basado en el rendimiento son menos pronunciados para una
dinámica de vehículos terrestres más lenta.
Teniendo en cuenta la dinámica lenta de la configuración del demostrador, se eligió el
enfoque basado en la seguridad para los primeros experimentos de aterrizaje. El sistema
de aterrizaje se validó en diversas pruebas de aterrizaje exitosas, que, a juicio del autor,
son las primeras en el mundo realizadas con aeronaves reales. En última instancia, el
concepto propuesto ofrece importantes beneficios y constituye una estrategia prometedora
para futuras soluciones de aterrizaje de aeronaves.In this thesis a new landing system is proposed, which allows for the operation of
autonomous aircraft without landing gear. The work was motivated by the industrial
need for more capable high altitude aircraft systems, which typically suffer from low
payload capacity and high crosswind landing sensitivity. The approach followed in this
work consists in removing the landing gear system from the aircraft and introducing a
mobile ground-based landing platform. The vehicles must synchronize their motion prior
to landing, which is achieved through relative state estimation and cooperative motion
control. The development of a practical solution for the autonomous landing of an aircraft
on a moving platform thus constitutes the main goal of this thesis. Therefore, theoretical
investigations are combined with real experiments for which a special setup is developed
and implemented.
Two different landing system variants are developed — the safety-based landing system is
robust to inter-vehicle communication delays and adheres to established landing procedures,
while reducing system complexity. The performance-based landing system uses optimized
vehicle trajectories and bilateral position synchronization to maximize landing performance
in terms of used runway, but suffers from time delay-dependent stability. An extended
passivity-based stabilizing controller was implemented to cope with this issue. Both
strategies impose functional requirements on the individual vehicle controllers, which
imply independent controllability of the translational degrees of freedom. Energy-based
flight control is utilized to provide such functionality for the aircraft.
The developed landing systems are analyzed in simulation and performance bounds are
determined by means of repeated random sampling. The safety-based controller was found
to provide satisfactory landing performance while providing higher operational safety,
and lower implementation and certification effort. The performance-based controller
is promising for applications with limited runway length. The performance benefits
were found to be less pronounced for slower ground vehicle dynamics. Given the slow
dynamics of the demonstrator setup, the safety-based approach was chosen for first landing
experiments. The landing system was validated in a number of successful landing trials,
which to the author’s best knowledge was the first time such technology was demonstrated on the given scale, worldwide. Ultimately, the proposed concept offers decisive benefits
and constitutes a promising strategy for future aircraft landing solutions
Practical Solutions to the Non-Minimum Phase and Vibration Problems Under the Disturbance Rejection Paradigm
This dissertation tackles two kinds of control problems under the disturbance rejection paradigm (DRP): 1) the general problem of non-minimum phase (NMP) systems, such as systems with right half plane (RHP) zeros and those with time delay 2) the specific problem of vibration, a prevailing problem facing practicing engineers in the real world of industrial control. It is shown that the DRP brings to the table a refreshingly novel way of thinking in tackling the persistently challenging problems in control. In particular, the problem of NMP has confounded researchers for decades in trying to find a satisfactory solution that is both rigorous and practical. The active disturbance rejection control (ADRC), originated from DRP, provides a potential solution. Even more intriguingly, the DRP provides a new framework to tackle the ubiquitous problem of vibration, whether it is found in the resonant modes in industrial motion control with compliant load, which is almost always the case, or in the microphonics of superconducting radio frequency (SRF) cavities in high energy particle accelerators. That is, whether the vibration is caused by the environment or by the characteristics of process dynamics, DRP provides a single framework under which the problem is better understood and resolved. New solutions are tested and validated in both simulations and experiments, demonstrating the superiority of the new design over the previous ones. For systems with time delay, the stability characteristic of the proposed solution is analyze
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Robust H-infinity sliding mode control for nonlinear stochastic systems with multiple data packet losses
This is the post-print version of this Article. The official published version can be accessed from the link below - Copyright @ 2012 John Wiley & SonsIn this paper, an ∞ sliding mode control (SMC) problem is studied for a class of discrete-time nonlinear stochastic systems with multiple data packet losses. The phenomenon of data packet losses, which is assumed to occur in a random way, is taken into consideration in the process of data transmission through both the state-feedback loop and the measurement output. The probability for the data packet loss for each individual state variable is governed by a corresponding individual random variable satisfying a certain probabilistic distribution over the interval [0 1]. The discrete-time system considered is also subject to norm-bounded parameter uncertainties and external nonlinear disturbances, which enter the system state equation in both matched and unmatched ways. A novel stochastic discrete-time switching function is proposed to facilitate the sliding mode controller design. Sufficient conditions are derived by means of the linear matrix inequality (LMI) approach. It is shown that the system dynamics in the specified sliding surface is exponentially stable in the mean square with a prescribed ∞ noise attenuation level if an LMI with an equality constraint is feasible. A discrete-time SMC controller is designed capable of guaranteeing the discrete-time sliding mode reaching condition of the specified sliding surface with probability 1. Finally, a simulation example is given to show the effectiveness of the proposed method.This work was supported in part by the Engineering and Physical Sciences Research Council (EPSRC) of the U.K. under Grant
GR/S27658/01, the Royal Society of the U.K., the National Natural Science Foundation of China under Grant 61028008 and the
Alexander von Humboldt Foundation of German
Practical Solutions to the Non-Minimum Phase and Vibration Problems Under the Disturbance Rejection Paradigm
This dissertation tackles two kinds of control problems under the disturbance rejection paradigm (DRP): 1) the general problem of non-minimum phase (NMP) systems, such as systems with right half plane (RHP) zeros and those with time delay 2) the specific problem of vibration, a prevailing problem facing practicing engineers in the real world of industrial control. It is shown that the DRP brings to the table a refreshingly novel way of thinking in tackling the persistently challenging problems in control. In particular, the problem of NMP has confounded researchers for decades in trying to find a satisfactory solution that is both rigorous and practical. The active disturbance rejection control (ADRC), originated from DRP, provides a potential solution. Even more intriguingly, the DRP provides a new framework to tackle the ubiquitous problem of vibration, whether it is found in the resonant modes in industrial motion control with compliant load, which is almost always the case, or in the microphonics of superconducting radio frequency (SRF) cavities in high energy particle accelerators. That is, whether the vibration is caused by the environment or by the characteristics of process dynamics, DRP provides a single framework under which the problem is better understood and resolved. New solutions are tested and validated in both simulations and experiments, demonstrating the superiority of the new design over the previous ones. For systems with time delay, the stability characteristic of the proposed solution is analyze
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