A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems.T...A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems.There is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to state-of-the-art.The control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches,as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop control.And the corresponding rotation angles are dealt with in the outer closed loop control.It should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator(PD based LQR) approach under optimum coefficients,while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and disturbances.In order to complete the inner closed loop control,there is a pulse-width pulse-frequency(PWPF) modulator to be able to handle on-off thrusters.Furthermore,the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system,where the control allocation scheme is realized in the proposed strategy.It may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the results.At the end,the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.展开更多
A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that th...A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.展开更多
研究具有多包不确定性和有界噪声系统的动态输出反馈鲁棒模型预测控制(Robust model predictive control,RMPC)的离线方法.先前的在线方法中,在估计状态和估计误差集合已知的情况下,在每一采样时刻通过近似最优算法求解控制器参数.本文...研究具有多包不确定性和有界噪声系统的动态输出反馈鲁棒模型预测控制(Robust model predictive control,RMPC)的离线方法.先前的在线方法中,在估计状态和估计误差集合已知的情况下,在每一采样时刻通过近似最优算法求解控制器参数.本文采用先前的方法计算离线控制器参数和吸引域.首先,选定一系列估计状态,其中,每个估计状态对应同样一组嵌套的估计误差集合.然后,针对每一估计状态和每一估计误差集合的组合,离线计算唯一的控制器参数和对应的吸引域.这些控制器参数和对应的吸引域存储在表中.如果离线确定的吸引域包含实时的扩展状态,则该离线控制器参数是实时可行的.在线时,根据实时估计状态和选取实时估计误差集合,在表中搜索包含实时扩展状态且优化性能指标最小的吸引域所对应的控制器参数.通过连续搅拌釜式反应器控制系统验证了该方法的有效性.展开更多
基金the Islamic Azad University (IAU),South Tehran Branch,Tehran,Iran in support of the present research
文摘A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems.There is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to state-of-the-art.The control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches,as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop control.And the corresponding rotation angles are dealt with in the outer closed loop control.It should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator(PD based LQR) approach under optimum coefficients,while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and disturbances.In order to complete the inner closed loop control,there is a pulse-width pulse-frequency(PWPF) modulator to be able to handle on-off thrusters.Furthermore,the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system,where the control allocation scheme is realized in the proposed strategy.It may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the results.At the end,the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.
文摘A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.
基金supported by National Natural Science Foundation of China(Nos.60834001,60974040,61120106009)the Fundamental Research Funds for the Central Universities(No.2011JBM201)
文摘研究具有多包不确定性和有界噪声系统的动态输出反馈鲁棒模型预测控制(Robust model predictive control,RMPC)的离线方法.先前的在线方法中,在估计状态和估计误差集合已知的情况下,在每一采样时刻通过近似最优算法求解控制器参数.本文采用先前的方法计算离线控制器参数和吸引域.首先,选定一系列估计状态,其中,每个估计状态对应同样一组嵌套的估计误差集合.然后,针对每一估计状态和每一估计误差集合的组合,离线计算唯一的控制器参数和对应的吸引域.这些控制器参数和对应的吸引域存储在表中.如果离线确定的吸引域包含实时的扩展状态,则该离线控制器参数是实时可行的.在线时,根据实时估计状态和选取实时估计误差集合,在表中搜索包含实时扩展状态且优化性能指标最小的吸引域所对应的控制器参数.通过连续搅拌釜式反应器控制系统验证了该方法的有效性.
