针对五棱锥单框架控制力矩陀螺群(Single gimbaled control moment gyroscopes,SGCMGs)中存在的奇异问题,建立五棱锥构型SGCMGs系统动力学模型,基于双曲正弦函数和分段函数设计鲁棒系数,改进鲁棒伪逆操纵律,使SGCMGs系统在处于奇异状态...针对五棱锥单框架控制力矩陀螺群(Single gimbaled control moment gyroscopes,SGCMGs)中存在的奇异问题,建立五棱锥构型SGCMGs系统动力学模型,基于双曲正弦函数和分段函数设计鲁棒系数,改进鲁棒伪逆操纵律,使SGCMGs系统在处于奇异状态时,保证框架角速度不为零,从而逃离奇异;在接近奇异状态时迅速避开奇异,在远离奇异状态时更精确地输出期望力矩。通过SGCMGs不同类型力矩输出和挠性航天器大角度姿态机动控制的仿真结果表明,所提SGCMGs操纵律既能够较好地规避奇异状态,又能在远离奇异时精确地输出期望力矩。展开更多
如何均衡使用网络节点能量并生成高可靠路由是WirelessHART网络研究的一个难题,为此提出了一种GRAEB(graph routing algorithm based on energy balancing)图路由算法。首先,网络被初始化为连通的图结构,能够提高丰富的冗余路径。网络...如何均衡使用网络节点能量并生成高可靠路由是WirelessHART网络研究的一个难题,为此提出了一种GRAEB(graph routing algorithm based on energy balancing)图路由算法。首先,网络被初始化为连通的图结构,能够提高丰富的冗余路径。网络管理器根据全网节点剩余能量、通信周期、链路分布等因子生成节点鲁棒系数矩阵,节点通过比较邻居的鲁棒系数来选择最优路径。另外,规定了邻居节点数的上限阈值,每次路由更新只保留鲁棒系数最优的邻居。仿真结果表明GRAEB不仅提高了网络可靠性,而且延长了网络寿命。展开更多
A robust H∞ directional controller for a sampled-data autonomous airship with polytopic parameter uncertainties was proposed. By input delay approach, the linearized airship model was transformed into a continuous-ti...A robust H∞ directional controller for a sampled-data autonomous airship with polytopic parameter uncertainties was proposed. By input delay approach, the linearized airship model was transformed into a continuous-time system with time-varying delay. Sufficient conditions were then established based on the constructed Lyapunov-Krasovskii functional, which guarantee that the system is mean-square exponentially stable with H∞ performance. The desired controller can be obtained by solving the obtained conditions. Simulation results show that guaranteed minimum H∞ performance γ=1.4037 and fast response of attitude for sampled-data autonomous airship are achieved in spite of the existence of parameter uncertainties.展开更多
文摘针对五棱锥单框架控制力矩陀螺群(Single gimbaled control moment gyroscopes,SGCMGs)中存在的奇异问题,建立五棱锥构型SGCMGs系统动力学模型,基于双曲正弦函数和分段函数设计鲁棒系数,改进鲁棒伪逆操纵律,使SGCMGs系统在处于奇异状态时,保证框架角速度不为零,从而逃离奇异;在接近奇异状态时迅速避开奇异,在远离奇异状态时更精确地输出期望力矩。通过SGCMGs不同类型力矩输出和挠性航天器大角度姿态机动控制的仿真结果表明,所提SGCMGs操纵律既能够较好地规避奇异状态,又能在远离奇异时精确地输出期望力矩。
文摘如何均衡使用网络节点能量并生成高可靠路由是WirelessHART网络研究的一个难题,为此提出了一种GRAEB(graph routing algorithm based on energy balancing)图路由算法。首先,网络被初始化为连通的图结构,能够提高丰富的冗余路径。网络管理器根据全网节点剩余能量、通信周期、链路分布等因子生成节点鲁棒系数矩阵,节点通过比较邻居的鲁棒系数来选择最优路径。另外,规定了邻居节点数的上限阈值,每次路由更新只保留鲁棒系数最优的邻居。仿真结果表明GRAEB不仅提高了网络可靠性,而且延长了网络寿命。
基金Projects(51205253,11272205)supported by the National Natural Science Foundation of ChinaProject(2012AA7052005)supported by the National High Technology Research and Development Program of China
文摘A robust H∞ directional controller for a sampled-data autonomous airship with polytopic parameter uncertainties was proposed. By input delay approach, the linearized airship model was transformed into a continuous-time system with time-varying delay. Sufficient conditions were then established based on the constructed Lyapunov-Krasovskii functional, which guarantee that the system is mean-square exponentially stable with H∞ performance. The desired controller can be obtained by solving the obtained conditions. Simulation results show that guaranteed minimum H∞ performance γ=1.4037 and fast response of attitude for sampled-data autonomous airship are achieved in spite of the existence of parameter uncertainties.
