In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.T...In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.展开更多
针对电动汽车无线充电系统在变电压间歇快速充电过程中由原副边线圈偏移和负载波动引起充电电压不稳定的问题,以及控制器参数大多依靠经验值和试凑法选取的问题,提出一种基于粒子群优化算法的无源控制器(passivity based controller,PBC...针对电动汽车无线充电系统在变电压间歇快速充电过程中由原副边线圈偏移和负载波动引起充电电压不稳定的问题,以及控制器参数大多依靠经验值和试凑法选取的问题,提出一种基于粒子群优化算法的无源控制器(passivity based controller,PBC)与非线性干扰观测器(nonlinear disturbance observer,NDO)相结合的复合控制策略。针对无线电能传输(wireless power transfer,WPT)系统副边DC-DC变换器设计考虑干扰补偿的无源控制器,通过引入非线性干扰观测器对干扰量进行估计,将干扰估计值与无源控制器结合,设计适合电动汽车变电压间歇无线充电系统的PBC-NDO复合控制器,采用粒子群多目标优化算法对复合控制器进行参数寻优,进一步提高控制器的抗干扰性能以及动态响应性能,通过仿真和实验验证该策略的有效性。实验结果表明:复合控制器具有强抗干扰性和动态响应性,充电阶段最大稳态误差偏移率为2%,动态响应时间控制在0.6 ms内。展开更多
Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturba...Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.展开更多
With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even elimina...With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.展开更多
针对具有非最小相位特性的单电感双输出Buck-Boost变换器(SIDO Buck-Boost)输出两支路存在严重的交叉影响、控制困难以及系统暂态性能差等问题,提出一种基于扩张状态观测器(extended state observer,ESO)的主路微分平坦控制(differentia...针对具有非最小相位特性的单电感双输出Buck-Boost变换器(SIDO Buck-Boost)输出两支路存在严重的交叉影响、控制困难以及系统暂态性能差等问题,提出一种基于扩张状态观测器(extended state observer,ESO)的主路微分平坦控制(differential flatness based control,DFBC)和支路改进双闭环自抗扰控制(active disturbance rejection controller,ADRC)的控制策略.首先,根据主路微分平坦理论,在主路控制中设计微分平坦控制器,并对微分平坦系统进行误差反馈;设计ESO对主路的扰动项进行观测,将观测后的状态量反馈到微分平坦控制器中.其次,针对支路存在耦合以及右半平面零点的问题,设计改进型双闭环ADRC进行系统解耦,其中,电流内环选取基于模型补偿和前馈补偿的ADRC,电压外环选取普通ADRC,然后,利用Lyapunov理论证明系统的稳定性.最后,在Matlab/Simulink平台中搭建了仿真模型,并基于HIL搭建了实验平台.仿真及实验结果表明:所提控制策略减小了输出两支路之间的交叉影响,解决了非最小相位系统控制困难的问题,提高了系统的暂态响应性能.展开更多
This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance system...This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.展开更多
In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy...In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy is used to reconstruct the communication channel for the system that suffers from DoS attacks to prevent the discontinuous transmission information of the communication network from affecting MASs formation.Then,considering that the leader state is not available to each follower under DoS attacks,a fixed-time distributed observer without velocity information is constructed to estimate the tracking error between followers and the leader.Finally,adaptive radial basis function neural network(RBFNN) is used to approximate the unknown ensemble disturbances in the system,and the fixed-time time-varying formation scheme is designed with the constructed observer.The effectiveness of the proposed control algorithm is demonstrated by the numerical simulation.展开更多
Intercepting high-maneuverability hypersonic targets in near-space environments poses significant challenges due to their extreme speeds and evasive capabilities.To address these challenges,this study presents an inte...Intercepting high-maneuverability hypersonic targets in near-space environments poses significant challenges due to their extreme speeds and evasive capabilities.To address these challenges,this study presents an integrated approach that combines a Three-Dimensional Finite-Time Optimal Cooperative Guidance Law(FTOC)with an Information Fusion Anti-saturation Predefined-time Observer(IFAPO).The proposed FTOC guidance law employs a nonlinear,non-quadratic finite-time optimal control strategy designed for rapid convergence within the limited timeframes of near-space interceptions,avoiding the need for remaining flight time estimation or linear decoupling inherent in traditional methods.To complement the guidance strategy,the IFAPO leverages multi-source information fusion theory and incorporates anti-saturation mechanisms to enhance target maneuver estimation.This method ensures accurate and real-time prediction of target acceleration while maintaining predefined convergence performance,even under complex interception conditions.By integrating the FTOC guidance law and IFAPO,the approach optimizes cooperative missile positioning,improves interception success rates,and minimizes fuel consumption,addressing practical constraints in military applications.Simulation results and comparative analyses confirm the effectiveness of the integrated approach,demonstrating its capability to achieve cooperative interception of highly maneuvering targets with enhanced efficiency and reduced economic costs,aligning with realistic combat scenarios.展开更多
For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode contr...For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode control method, aimed at resolving the frame control problem of roll-pitch seeker tracking high maneu-vering target. The sliding mode surface is structured around the principle of segmentation, which enables the control system’s rapid attainment of the zero point and ensure global fast conver-gence. The system’s state is more swiftly converged to the slid-ing mode surface through an improved adaptive fast dual power reaching law. Utilizing an extended state observer, the overall disturbance is both identified and compensated. The validation of the system’s stability and its convergence within a finite-time is grounded in Lyapunov’s stability criteria. The performance of the introduced control method is confirmed through roll-pitch seeker tracking control simulation. Data analysis reveals that newly proposed control technique significantly outperforms existing sliding mode control methods by rapidly converging the frame to the target angle, reduce the tracking error of the detec-tor for the target, and bolster tracking precision of the roll-pitch seeker huring disturbed conditions.展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical...It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.展开更多
A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and param...A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.展开更多
The robust bounded flight control scheme is developed for the uncertain longitudinal flight dynamics of the fighter with control input saturation invoking the backstepping technique. To enhance the disturbance rejecti...The robust bounded flight control scheme is developed for the uncertain longitudinal flight dynamics of the fighter with control input saturation invoking the backstepping technique. To enhance the disturbance rejection ability of the robust flight control for fighters, the sliding mode disturbance observer is designed to estimate the compounded disturbance including the unknown external disturbance and the effect of the control input saturation. Based on the backstepping technique and the compounded disturbance estimated output, the robust bounded flight control scheme is proposed for the fighter with the unknown external disturbance and the control input saturation. The closed-loop system stability under the developed robust bounded flight control scheme is rigorously proved using the Lyapunov method and the uniformly asymptotical convergences of all closed-loop signals are guaranteed. Finally, simulation results are presented to show the effectiveness of the proposed robust bounded flight control scheme for the uncertain longitudinal flight dynamics of the fighter.展开更多
Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed.The proposed controller comprises an extended disturbance observer(EDOB)and a nonlin...Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed.The proposed controller comprises an extended disturbance observer(EDOB)and a nonlinear robust control law synthesized by the backstepping method.The EDOB is designed to estimate not only the influence of disturbances but also the parameter uncertainties.With the use of parameter and disturbance estimates,the nonlinear cascade controller,which consists of an outer position tracking loop and an inner load pressure loop,is further designed to attenuate the effects of parameter and disturbance estimation errors.The stability of the closed-loop system is proven by means of Lyapunov theory.Extensive comparative experimental results obtained verify the effectiveness of the proposed nonlinear cascade controller and its performance robustness to parameter and external disturbance variations in practical implementation.展开更多
To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based ...To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based on the finite-time control strategy is developed to observe the time-varying external disturbance via estimating the upper bound of its first derivative.Meanwhile,the rotation matrix is employed to describe the attitude of SFF for the purpose of the avoidance of singularity and unwinding phenomenon.As for the attitude synchronization and the tracking control architecture,a sliding mode surface(SMS)is given such that the control objective can be achieved.The effectiveness and the validity of the proposed method are elaborated via theoretical analysis and numerical simulations.展开更多
A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure ass...A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure assignment. By introducing the H2 norm of the transfer function from disturbance to estimation error, sufficient and necessary conditions for disturbance decoupling in matrix second-order linear systems are established and are arranged into constraints on the design parameters via Luenberger function observers in terms of the closed-loop eigenvalues and the group of design parameters provided by the eigenstructure assignment approach. Therefore, the disturbance decoupling problem is converted into an eigenstructure assignment problem with extra parameter constraints. A simple example is investigated to show the effect and simplicity of the approach.展开更多
基金supported by the National Natural Science Foundation of China(61803015).
文摘In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.
文摘针对电动汽车无线充电系统在变电压间歇快速充电过程中由原副边线圈偏移和负载波动引起充电电压不稳定的问题,以及控制器参数大多依靠经验值和试凑法选取的问题,提出一种基于粒子群优化算法的无源控制器(passivity based controller,PBC)与非线性干扰观测器(nonlinear disturbance observer,NDO)相结合的复合控制策略。针对无线电能传输(wireless power transfer,WPT)系统副边DC-DC变换器设计考虑干扰补偿的无源控制器,通过引入非线性干扰观测器对干扰量进行估计,将干扰估计值与无源控制器结合,设计适合电动汽车变电压间歇无线充电系统的PBC-NDO复合控制器,采用粒子群多目标优化算法对复合控制器进行参数寻优,进一步提高控制器的抗干扰性能以及动态响应性能,通过仿真和实验验证该策略的有效性。实验结果表明:复合控制器具有强抗干扰性和动态响应性,充电阶段最大稳态误差偏移率为2%,动态响应时间控制在0.6 ms内。
文摘Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.
文摘With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.
文摘针对具有非最小相位特性的单电感双输出Buck-Boost变换器(SIDO Buck-Boost)输出两支路存在严重的交叉影响、控制困难以及系统暂态性能差等问题,提出一种基于扩张状态观测器(extended state observer,ESO)的主路微分平坦控制(differential flatness based control,DFBC)和支路改进双闭环自抗扰控制(active disturbance rejection controller,ADRC)的控制策略.首先,根据主路微分平坦理论,在主路控制中设计微分平坦控制器,并对微分平坦系统进行误差反馈;设计ESO对主路的扰动项进行观测,将观测后的状态量反馈到微分平坦控制器中.其次,针对支路存在耦合以及右半平面零点的问题,设计改进型双闭环ADRC进行系统解耦,其中,电流内环选取基于模型补偿和前馈补偿的ADRC,电压外环选取普通ADRC,然后,利用Lyapunov理论证明系统的稳定性.最后,在Matlab/Simulink平台中搭建了仿真模型,并基于HIL搭建了实验平台.仿真及实验结果表明:所提控制策略减小了输出两支路之间的交叉影响,解决了非最小相位系统控制困难的问题,提高了系统的暂态响应性能.
基金the National Natural Science Foundation of China(Grant No.12072090).
文摘This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.
文摘In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy is used to reconstruct the communication channel for the system that suffers from DoS attacks to prevent the discontinuous transmission information of the communication network from affecting MASs formation.Then,considering that the leader state is not available to each follower under DoS attacks,a fixed-time distributed observer without velocity information is constructed to estimate the tracking error between followers and the leader.Finally,adaptive radial basis function neural network(RBFNN) is used to approximate the unknown ensemble disturbances in the system,and the fixed-time time-varying formation scheme is designed with the constructed observer.The effectiveness of the proposed control algorithm is demonstrated by the numerical simulation.
基金supported by the National Natural Science Foundation of China(Grant No.61773142).
文摘Intercepting high-maneuverability hypersonic targets in near-space environments poses significant challenges due to their extreme speeds and evasive capabilities.To address these challenges,this study presents an integrated approach that combines a Three-Dimensional Finite-Time Optimal Cooperative Guidance Law(FTOC)with an Information Fusion Anti-saturation Predefined-time Observer(IFAPO).The proposed FTOC guidance law employs a nonlinear,non-quadratic finite-time optimal control strategy designed for rapid convergence within the limited timeframes of near-space interceptions,avoiding the need for remaining flight time estimation or linear decoupling inherent in traditional methods.To complement the guidance strategy,the IFAPO leverages multi-source information fusion theory and incorporates anti-saturation mechanisms to enhance target maneuver estimation.This method ensures accurate and real-time prediction of target acceleration while maintaining predefined convergence performance,even under complex interception conditions.By integrating the FTOC guidance law and IFAPO,the approach optimizes cooperative missile positioning,improves interception success rates,and minimizes fuel consumption,addressing practical constraints in military applications.Simulation results and comparative analyses confirm the effectiveness of the integrated approach,demonstrating its capability to achieve cooperative interception of highly maneuvering targets with enhanced efficiency and reduced economic costs,aligning with realistic combat scenarios.
文摘For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode control method, aimed at resolving the frame control problem of roll-pitch seeker tracking high maneu-vering target. The sliding mode surface is structured around the principle of segmentation, which enables the control system’s rapid attainment of the zero point and ensure global fast conver-gence. The system’s state is more swiftly converged to the slid-ing mode surface through an improved adaptive fast dual power reaching law. Utilizing an extended state observer, the overall disturbance is both identified and compensated. The validation of the system’s stability and its convergence within a finite-time is grounded in Lyapunov’s stability criteria. The performance of the introduced control method is confirmed through roll-pitch seeker tracking control simulation. Data analysis reveals that newly proposed control technique significantly outperforms existing sliding mode control methods by rapidly converging the frame to the target angle, reduce the tracking error of the detec-tor for the target, and bolster tracking precision of the roll-pitch seeker huring disturbed conditions.
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金supported by the National Natural Science Foundation of China (10872030)the Technology Innovation Programme of Beijing Institute of Technology (CX0428)
文摘It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2012AA041801)supproted by the High-tech Research and Development Program of China
文摘A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.
基金supported by the National Natural Science Foundation of China(61174102)the Jiangsu Natural Science Foundation of China(SBK20130033)+1 种基金the NUAA Fundamental Research Funds(NS2013028)the Specialized Research Fund for the Doctoral Program of Higher Education(20133218110013)
文摘The robust bounded flight control scheme is developed for the uncertain longitudinal flight dynamics of the fighter with control input saturation invoking the backstepping technique. To enhance the disturbance rejection ability of the robust flight control for fighters, the sliding mode disturbance observer is designed to estimate the compounded disturbance including the unknown external disturbance and the effect of the control input saturation. Based on the backstepping technique and the compounded disturbance estimated output, the robust bounded flight control scheme is proposed for the fighter with the unknown external disturbance and the control input saturation. The closed-loop system stability under the developed robust bounded flight control scheme is rigorously proved using the Lyapunov method and the uniformly asymptotical convergences of all closed-loop signals are guaranteed. Finally, simulation results are presented to show the effectiveness of the proposed robust bounded flight control scheme for the uncertain longitudinal flight dynamics of the fighter.
基金Project(51505474)supported by the National Natural Science Foundation of ChinaProject(2015XKMS020)supported by the Fundamental Research Funds for the Central Universities,China+1 种基金Project(2016T90520)supported by the China Postdoctoral Science FoundationProject supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions,China
文摘Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed.The proposed controller comprises an extended disturbance observer(EDOB)and a nonlinear robust control law synthesized by the backstepping method.The EDOB is designed to estimate not only the influence of disturbances but also the parameter uncertainties.With the use of parameter and disturbance estimates,the nonlinear cascade controller,which consists of an outer position tracking loop and an inner load pressure loop,is further designed to attenuate the effects of parameter and disturbance estimation errors.The stability of the closed-loop system is proven by means of Lyapunov theory.Extensive comparative experimental results obtained verify the effectiveness of the proposed nonlinear cascade controller and its performance robustness to parameter and external disturbance variations in practical implementation.
基金This work was supported by the National Natural Science Foundation of China(11772185)the Natural Science Foundation of Heilongjiang Province(F2017005)the Fundamental Research Funds for the Central Universities(HEUCFP201770).
文摘To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based on the finite-time control strategy is developed to observe the time-varying external disturbance via estimating the upper bound of its first derivative.Meanwhile,the rotation matrix is employed to describe the attitude of SFF for the purpose of the avoidance of singularity and unwinding phenomenon.As for the attitude synchronization and the tracking control architecture,a sliding mode surface(SMS)is given such that the control objective can be achieved.The effectiveness and the validity of the proposed method are elaborated via theoretical analysis and numerical simulations.
文摘A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure assignment. By introducing the H2 norm of the transfer function from disturbance to estimation error, sufficient and necessary conditions for disturbance decoupling in matrix second-order linear systems are established and are arranged into constraints on the design parameters via Luenberger function observers in terms of the closed-loop eigenvalues and the group of design parameters provided by the eigenstructure assignment approach. Therefore, the disturbance decoupling problem is converted into an eigenstructure assignment problem with extra parameter constraints. A simple example is investigated to show the effect and simplicity of the approach.
