Nonlinear local stabilization control of flexible satellite attitude system

本文针对挠性卫星姿态机动和振动抑制问题,给出一种基于多项式平方和(SuM Of SQuArES,SOS)的非线性局部镇定控制方法.根据姿态系统结构特征,在此基础上,采用SOS结合S-PrOCEdurE理论,得出相应的非线性局部可镇定条件.该条件可借助有效凸优化工具进行检验,当优化问题可解时,可构造非线性姿态控制器的解析解.最后,将文中方法应用于某型挠性卫星姿态控制.仿真结果表明,在实现大角度姿态快速机动的同时,有效抑制了挠性附件振动.Based on the polynomial sum of squares(SOS) techniques, a nonlinear local stabilization control approach is proposed for the problem of flexible satellite attitude maneuver and vibration suppression.According to the structural features of attitude system, a nonlinear local stabilization controller is developed and the complexity of attitude control design is reduced effectively by employing a separation principle for the reduced-order observer and state feedback.On this basis, the corresponding conditions of nonlinear local stabilization, which can be checked through convex optimization algorithms, are presented by using the SOS and S-procedure theory, and the analytical solution of nonlinear attitude controller can be constructed if the optimization problem is solvable.Finally, this method is applied to the attitude control of a flexible satellite and the simulation results show that both the fast large angle attitude maneuver and the vibration suppression are well realized.国家自然科学基金资助项目(61374037); 高等学校博士学科点专项科研基金资助项目(20110121110017

基于降维动态观测器的一类多项式系统的非线性H_∞控制

针对一类存在外部扰动的多项式系统,研究了基于动态观测器的非线性H_∞控制设计问题.根据该类系统的结构特征,对线性时不变系统中动态观测器形式进行推广,构造出相应的非线性降维动态观测器.借鉴变量替换法研究思路,采用Lyapunov稳定性结合多项式平方和(SOS)凸优化理论,推导出该非线性H_∞控制问题的可解性条件和控制器构造方法.以质量弹簧阻尼系统为数值仿真实例,验证了所得结论的可行性和有效性.国家自然科学基金(61374037,61673325);;福建省自然科学基金(2015J01650,2016J01267);;福建省教育厅中青年教师教育科研项目(JAT170426);;厦门理工学院高层次人才项目(YKJ16024R

嗜虫耶尔森氏菌HlyA及HasA外分泌表达系统的构建

【目的】构建一株具备外分泌蛋白功能的工程菌,解决杀虫毒素无法由胞内分泌至胞外,无法直接作用于虫体等问题,为松墨天牛防治提供新思路。【方法】本研究先测定从松墨天牛肠道及其生境中分离出的嗜虫耶尔森氏菌(CSLH88)的生长特性及抗性,进而对其进行分子改造。构建HlyA (pGHKW2)以及HasA (pGHKW4)外分泌表达载体,利用电穿孔法将其转入CSLH88菌株,获得能够表达绿色荧光蛋白的工程菌。利用稀释涂板及荧光体式镜检测技术对两个质粒进行遗传稳定性检测,并采用SDS-PAGE及Western blotting技术验证蛋白外分泌功能。【结果】CSLH88菌株培养2–4 h能够进入对数生长期,并对卡那霉素(Kan)敏感。成功构建了含有Kan抗性基因的pGHKW2(GenBank:MK562405)和pGHKW4(GenBank:MK562404)两个外分泌表达载体的CSLH88工程菌株。其中,发现pGHKW4质粒更加适合在嗜虫耶尔森氏菌中稳定遗传。SDS-PAGE及Western blotting检测结果表明HlyA系统无法在CSLH88菌株中将目的蛋白分泌到胞外,而HasA系统则可以有效地发挥外分泌表达功能。【结论】通过对HlyA及HasA两个外分泌表达系统进行研究,从中筛选出HasA型血红素转运系统作为CSLH88菌株的外分泌表达系统,为后续外分泌杀虫毒素蛋白菌株构建以及CSLH88菌株的致病性研究奠定基础。国家重点研发计划课题(2017YFD0600105);;\n国家自然科学基金(31601905);;\n福建省科技厅自然科学基金(2016J01097);;\n福建省科技计划项目(2018N5002);;\n福建农林大学科研基金(xjq201614);福建农林大学林学院林学高峰学科项目(71201800720,71201800753,71201800779);;\n福建省大学生创新创业训练计划项目(201810389102);;\n福建省林业科学研究项目[Minlinke(2017)03]~

Observer-based Nonlinear Control for a Class of Polynomial Systems：a Sum of Squares Approach

基于多项式平方和(sumofsquares，SOS)方法，本文针对挠性卫星非线性姿态系统，研究挠性模态观测方式，探索该类系统是否具有分离特性，建立带模态观测器的非线性姿态镇定控制理论。在此基础上，将研究对象拓展至一类具有相同结构特征的不确定多项式系统，进一步研究基于观测器的非线性鲁棒控制设计问题，以提高这类系统适应各种外部扰动和不确定性的能力。全文的主要工作概括如下： 1)研究了挠性卫星大角度姿态镇定的非线性分步控制设计问题。通过引入辅助变量，得出挠性卫星非线性姿态系统的多项式型状态空间描述。利用该系统的特定结构，设计类似龙伯格(Luenberger)形式的挠性模态观测器。最后，采用SOS结...Based on the polynomial sum of squares(SOS) method and in allusion to the nonlinear flexible satellite attitude system, this dissertation aims to study the observation approach of the flexible modes, explore whether the system is featured with the separation characteristic or not, and establish a modal observer-based nonlinear attitude stabilization control theory. Meanwhile, for the purpose of im...学位：工学博士院系专业：航空航天学院_控制理论与控制工程学号：2322011015411

Study of Robust Attitude Control Method for a Class of Satellite with Large Flexibility and Variable Parameters

卫星作为特殊的航天器，由于要完成一定的任务及保持长寿命需要在其上安装诸如太阳帆板、天线、液体箱等设备。柔性部件众多，低频模态密集。在轨飞行时，由于温差、结构变形等会引起卫星动力学参数发生较大范围变化。此外，由重力梯度、空气阻力和太阳压力引起的外部干扰和运动部件引起的内部干扰也会影响卫星姿态控制精度。这些方面都对挠性卫星的姿态控制提出了严峻的挑战。 正是在这样的工程背景下，本论文以某大挠性变参数卫星为具体设计对象，借助理论分析、数值仿真等手段，研究了存在控制输入饱和约束、内外部干扰或质量特性参数不确定性的挠性卫星姿态鲁棒控制器设计问题，并进行了详细的数值仿真与分析。主要内容如下： 1)对论文...In order to complete certain tasks and keep a long life, satellite, as a special spacecraft, must be installed with some equipment, such as solar panels, antennas, liquid tanks and so on. Not only does it have a large number of flexible components, but also intensive low-frequency modes. Because of temperature difference, structural deformation and so on, there will be a great range of changes in ...学位：工学硕士院系专业：信息科学与技术学院自动化系_控制理论与控制工程学号：2322008115336

Nonlinear robust H∞{H_\infty } control for spacecraft attitude maneuver

针对存在动力学参数摄动及外部干扰的航天器姿态机动问题,给出一种新的非线性鲁棒${H_\infty; }$控制方法.通过适当处理和假设,将航天器姿态模型表示为具有凸多面体不确定性的多项式型状态空间方程,并基于Lyapunov稳定性和平方和(SOS; )理论,建立非线性状态反馈${H_\infty }$控制设计的可解性条件.最后,通过数值仿真实例验证了所提出方法的有效性.A new nonlinear robust ${H_\infty }$ control approach is proposed for; the problem of the spacecraft attitude maneuver with dynamic parameter; perturbation and external disturbance. By the appropriate treatment and; assumption, the spacecraft attitude model is expressed as a polynomial; state space equation with polytopic uncertainty, and the solvable; conditions of the nonlinear state feedback ${H_\infty }$ control is; established based on the Lyapunov stability and the sum of squares(SOS); theories. Finally, a numerical example is given to illustrate the; effectiveness of the obtained results.国家自然科学基金项目; 中央高校基本科研业务费专项资金项

Attitude Control for Flexible Satellite with Input Saturation and Multi-uncertainties

研究了存在控制输入饱和约束、内外部干扰及质量特性参数不确定性的挠性卫星姿态鲁棒控制器设计问题.通过近似线性化结合等价坐标变换的方法得到了挠性卫星系统相应的状态空间描述,并以此为基础,采用理论分析结合数值仿真的手段设计出满足控制输入饱和约束并适应两类不确定性的姿态鲁棒控制方法.仿真结果表明,该方法得到的控制器具有较强鲁棒性,能很好地抑制内外部干扰并适应较大范围的质量特性参数不确定性.The robust attitude controller designed for flexible satellite with control input saturation constraint and internal and external disturbances and mass characteristic parameter uncertainty is studied.The corresponding state space equation of flexible satellite model can be obtained through equivalent coordinate transformation and approximate linearization method,and on this basis,the robust attitude control method which satisfy the control input saturation constraint and the two kinds of uncertainties can be designed by using theoretical analysis and numerical simulation.The simulation results show that the controller which is got by the method has strong robustness and can adapt to biggish mass characteristic parameter uncertainty and suppress both internal and external disturbances well.航空科学基金(2009ZH68022);厦门大学“211”三期信息创新平台项

Nonlinear robust H<inf>&infin;</inf>control for spacecraft attitude maneuver

针对存在动力学参数摄动及外部干扰的航天器姿态机动问题,给出一种新的非线性鲁棒H∞控制方法.通过适当处理和假设,将航天器姿态模型表示为具有凸多面体不确定性的多项式型状态空间方程,并基于Lyapunov稳定性和平方和（SOS）理论,建立非线性状态反馈H∞控制设计的可解性条件.最后,通过数值仿真实例验证了所提出方法的有效性.A new nonlinear robust H&infin;control approach is proposed for the problem of the spacecraft attitude maneuver with dynamic parameter perturbation and external disturbance. By the appropriate treatment and assumption, the spacecraft attitude model is expressed as a polynomial state space equation with polytopic uncertainty, and the solvable conditions of the nonlinear state feedback H&infin;control is established based on the Lyapunov stability and the sum of squares(SOS) theories. Finally, a numerical example is given to illustrate the effectiveness of the obtained results. &copy; 2017, Editorial Office of Control and Decision. All right reserved.国家自然科学基金项目（61374037）; 中央高校基本科研业务费专项资金项目（20720150177

Flexible Satellite Attitude Stabilization Control Based on Regional Pole Assignment

针对挠性卫星姿态系统,研究了基于区域极点配置的姿态镇定控制问题.通过对姿态系统进行近似线性化处理,并应用线性矩阵不等式(LMI)技术给出一种基于降维观测器的状态反馈控制方法.该方法根据分离原理,分别采用区域极点配置和极点配置定理设计控制器和观测器.对某挠性卫星模型进行数值仿真,并与一种非线性控制方法做比较研究.仿真结果表明该方法兼顾了卫星姿态系统的动态和稳态性能,且在小角度姿态镇定控制上具有显著优势.Based on regional-pole assignment,the attitude stabilization control problem is studied for the flexible satellite-attitude system.Through the approximate linearization of the attitude system and linear matrix inequality(LMI)technique,a state feedback control approach based on the reduced-order observer is provided.According to the separation principle,the controller and the observer are obtained by regional pole assignment and theorem of pole assignment,respectively.Finally,the method is validated over the nonlinear model of a flexible satellite.Simulation results show that,compared with a nonlinear control approach,the proposed method guarantees both dynamic and steady state performances of the satellite attitude system.Furthermore,the method enjoys significant advantages in small angle attitude stabilization control.国家自然科学基金(61374037);; 中央高校基本科研业务费专项(20720150177

Reduced-order H_∞ Filtering Design for Singular Systems Based on Stable Invariant Zeros

研究了连续奇异系统的降阶H∞滤波器的设计问题.通过将原系统转化为一个标称系统和一个不确定部分,同时增加补充的约束条件,使原系统的稳定不变零点转化为标称系统的不稳定不变零点,从而可以基于标称系统,利用已有的降阶算法设计得到原系统的降阶H∞滤波器.文中给出了降阶H∞滤波器的设计算法,并进一步研究了可用于构造降阶滤波器的不变零点的范围.最后给出一个算例,说明该设计方法的有效性和可行性.This paper considers reduced-order H∞ filtering design for continuous singular systems.By adding a complementary constraint,the original system is divided into a nominal system and an uncertain part,then the stable invariant zeros of the original system become unstable in the nominal system.Based on the nominal system,a reduced-order H∞ filter for the original system can be designed by using the existing method.An algorithm to solve the problem of reduced-order H∞ filtering is proposed,and the range of invariant zeros which can be used to construct a reduced-order filter is discussed.An illustrative example is given to demonstrate the effectiveness of the proposed approach.福建省新世纪优秀人才支持计划资