This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
This paper presents a fixed-time cooperative gui-dance method with impact angle constraints for multiple flight vehicles (MFV) to address the challenges of intercepting large maneuvering targets with difficulty and lo...This paper presents a fixed-time cooperative gui-dance method with impact angle constraints for multiple flight vehicles (MFV) to address the challenges of intercepting large maneuvering targets with difficulty and low precision. A coopera-tive guidance model is proposed, transforming the cooperative interception problem into a consensus problem based on the remaining flight time of the flight vehicles. First, the impact angle constraint is converted into the line of sight (LOS) angle con-straint, and a new fixed-time convergent non-singular terminal sliding surface is introduced, which resolves the singularity issue of the traditional sliding surfaces. With this approach, LOS angle rate and normal overloads can converge in fixed time, ensuring that the upper bound of the system convergence time is not affected by the initial value of the system. Furthermore, the maneuvering movement of the target is considered as a system disturbance, and an extended state observer is employed to estimate and compensate for it in the guidance law. Lastly, by applying consensus theory and distributed communication topology, the remaining flight time of each flight vehicle is syn-chronized to ensure that they intercept the target simulta-neously with different impact angles. Simulation experiments are conducted to validate the effectiveness of the proposed cooper-ative interception and guidance method.展开更多
This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind di...This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.展开更多
This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise co...This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.展开更多
This paper studies the fixed-time output-feedback control for a class of linear systems subject to matched uncertainties.To estimate the uncertainties and system states,we design a composite observer which consists of...This paper studies the fixed-time output-feedback control for a class of linear systems subject to matched uncertainties.To estimate the uncertainties and system states,we design a composite observer which consists of a high-order sliding mode observer and a Luenberger observer.Then,a robust output-feedback controller with fixed-time convergence guarantee is constructed.Rigorous theoretical proof shows that with the proposed controller,the system states can converge to zero in fixed-time free of the initial conditions.Finally,simulation comparison with existing algorithms is given.Simulation results verify the effectiveness of the proposed controller in terms of its fixed-time convergence and perfect disturbance rejection.展开更多
This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state s...This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability.Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.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
This paper presents an adaptive gain,finite-and fixedtime convergence super-twisting-like algorithm based on a revised barrier function,which is robust to perturbations with unknown bounds.It is shown that this algori...This paper presents an adaptive gain,finite-and fixedtime convergence super-twisting-like algorithm based on a revised barrier function,which is robust to perturbations with unknown bounds.It is shown that this algorithm can ensure a finite-and fixed-time convergence of the sliding variable to the equilibrium,no matter what the initial conditions of the system states are,and maintain it there in a predefined vicinity of the origin without violation.Also,the proposed method avoids the problem of overestimation of the control gain that exists in the current fixed-time adaptive control.Moreover,it shows that the revised barrier function can effectively reduce the computation load by obviating the need of increasing the magnitude of sampling step compared with the conventional barrier function.This feature will be beneficial when the algorithm is implemented in practice.After that,the estimation of the fixed convergence time of the proposed method is derived and the impractical requirement of the preceding fixed-time adaptive control that the adaptive gains must be large enough to engender the sliding mode at time t=0 is discarded.Finally,the outperformance of the proposed method over the existing counterpart method is demonstrated with a numerical simulation.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
The present technical paper outlines the details of the controlled blasting techniques used to optimize blasting pattern for excavation of hard rock near the Bhira Earthen Dam in Maharashtra,India.In this connection,a...The present technical paper outlines the details of the controlled blasting techniques used to optimize blasting pattern for excavation of hard rock near the Bhira Earthen Dam in Maharashtra,India.In this connection,a series of experimental blasts were conducted by adjusting various blast design parameters at project site.The safe charge weight per delay was kept between 0.125 and 0.375 kg.The outcomes of these experimental blasts were analyzed to recommend optimized blasting patterns and methods for the overall excavation process during actual blasting operations.Blast design parameters,including the maximum quantity of explosive per delay,hole depth,burden and spacing between holes were optimized by using a site-specific attenuation equation,taking into account the proximity of the dam and tunnel from the blasting area.Peak particle velocity(PPV)level of 10 mm/s and 50 mm/s respectively were adopted as the safe vibration level for ensuring safety of the Bhira Earthen Dam and the nearby tunnel from the adverse effects of blast vibrations by analyzing the dominant frequency of ground vibrations observed and also by reviewing various international standards.Frequency of the ground vibrations observed on the dam and tunnel from majority of the blasts was found to be more than 10 Hz and 50 Hz respectively.During the entire period of blasting,the blast vibrations were recorded to be far lower than the safe vibration level set for these structures.Maximum Vibration level of about 0.8 mm/s and 35 mm/s were observed on dam and tunnel respectively which are far lower than the safe vibration level adopted for these structures.Hence,the entire excavation work was completed successfully and safely,without endangering the safety of dam or tunnel.展开更多
The liquid cooling system(LCS)of fuel cells is challenged by significant time delays,model uncertainties,pump and fan coupling,and frequent disturbances,leading to overshoot and control oscillations that degrade tempe...The liquid cooling system(LCS)of fuel cells is challenged by significant time delays,model uncertainties,pump and fan coupling,and frequent disturbances,leading to overshoot and control oscillations that degrade temperature regulation performance.To address these challenges,we propose a composite control scheme combining fuzzy logic and a variable-gain generalized supertwisting algorithm(VG-GSTA).Firstly,a one-dimensional(1D)fuzzy logic controler(FLC)for the pump ensures stable coolant flow,while a two-dimensional(2D)FLC for the fan regulates the stack temperature near the reference value.The VG-GSTA is then introduced to eliminate steady-state errors,offering resistance to disturbances and minimizing control oscillations.The equilibrium optimizer is used to fine-tune VG-GSTA parameters.Co-simulation verifies the effectiveness of our method,demonstrating its advantages in terms of disturbance immunity,overshoot suppression,tracking accuracy and response speed.展开更多
The operating environment of the diesel engine air path system is complex and may be affected by external random disturbances.Potentially leading to faults.This paper addresses the fault-tolerant control problem of th...The operating environment of the diesel engine air path system is complex and may be affected by external random disturbances.Potentially leading to faults.This paper addresses the fault-tolerant control problem of the diesel engine air path system,assuming that the system may simultaneously be affected by actuator faults and external random disturbances,a disturbance observer-based sliding mode controller is designed.Through the linear matrix inequality technique for solving observer and controller gains,optimal gain matrices can be obtained,eliminating the manual adjustment process of controller parameters and reducing the chattering phenomenon of the sliding mode surface.Finally,the effectiveness of the proposed method is verified through simulation analysis.展开更多
The graded density impactor(GDI)dynamic loading technique is crucial for acquiring the dynamic physical property parameters of materials used in weapons.The accuracy and timeliness of GDI structural design are key to ...The graded density impactor(GDI)dynamic loading technique is crucial for acquiring the dynamic physical property parameters of materials used in weapons.The accuracy and timeliness of GDI structural design are key to achieving controllable stress-strain rate loading.In this study,we have,for the first time,combined one-dimensional fluid computational software with machine learning methods.We first elucidated the mechanisms by which GDI structures control stress and strain rates.Subsequently,we constructed a machine learning model to create a structure-property response surface.The results show that altering the loading velocity and interlayer thickness has a pronounced regulatory effect on stress and strain rates.In contrast,the impedance distribution index and target thickness have less significant effects on stress regulation,although there is a matching relationship between target thickness and interlayer thickness.Compared with traditional design methods,the machine learning approach offers a10^(4)—10^(5)times increase in efficiency and the potential to achieve a global optimum,holding promise for guiding the design of GDI.展开更多
Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and ev...Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.展开更多
In view of the deficiencies in aspects such as failure rate requirements and analysis assumptions of advisory circular,this paper investigates the sources of high safety requirements,and the top-down design method for...In view of the deficiencies in aspects such as failure rate requirements and analysis assumptions of advisory circular,this paper investigates the sources of high safety requirements,and the top-down design method for the flight control system life cycle.Correspondingly,measures are proposed,including enhancing the safety target value to 10^(−10)per flight hour and implementing development assurance.In view of the shortcomings of mainstream aircraft flight control systems,such as weak backup capability and complex fault reconfiguration logic,improvements have been made to the system’s operating modes,control channel allocation,and common mode failure mitigation schemes based on the existing flight control architecture.The flight control design trends and philosophies have been analyzed.A flight control system architecture scheme is proposed,which includes three operating modes and multi-level voters/monitors,three main control channels,and a backup system independent of the main control system,which has been confirmed through functional modeling simulations.The proposed method plays an important role in the architecture design of safety-critical flight control system.展开更多
Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncerta...Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.展开更多
This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters wh...This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.展开更多
In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis...In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.展开更多
Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investig...Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investigate the integrated scheduling of communication,sensing,and control for UAV-aided FSO communication systems.Initially,a sensing-control model is established via the control theory.Moreover,an FSO communication channel model is established by considering the effects of atmospheric loss,atmospheric turbulence,geometrical loss,and angle-of-arrival fluctuation.Then,the relationship between the motion control of the UAV and radial displacement is obtained to link the control aspect and communication aspect.Assuming that the base station has instantaneous channel state information(CSI)or statistical CSI,the thresholds of the sensing-control pattern activation are designed,respectively.Finally,an integrated scheduling scheme for performing communication,sensing,and control is proposed.Numerical results indicate that,compared with conventional time-triggered scheme,the proposed integrated scheduling scheme obtains comparable communication and control performance,but reduces the sensing consumed power by 52.46%.展开更多
This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The...This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.展开更多
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金supported by the National Natural Science Foundation of China(61903099)the Natural Science Foundation of Heilongjiang Province(LH2020F025)+2 种基金the Project of Science and Technology Research Program of Chongqing Education Commission of China(KJZD-K20200470)the Postdoctoral Science Foundation of China(2021M690812)the Postdoctoral Science Fund of Heilongjiang Province(LBH-Z21048).
文摘This paper presents a fixed-time cooperative gui-dance method with impact angle constraints for multiple flight vehicles (MFV) to address the challenges of intercepting large maneuvering targets with difficulty and low precision. A coopera-tive guidance model is proposed, transforming the cooperative interception problem into a consensus problem based on the remaining flight time of the flight vehicles. First, the impact angle constraint is converted into the line of sight (LOS) angle con-straint, and a new fixed-time convergent non-singular terminal sliding surface is introduced, which resolves the singularity issue of the traditional sliding surfaces. With this approach, LOS angle rate and normal overloads can converge in fixed time, ensuring that the upper bound of the system convergence time is not affected by the initial value of the system. Furthermore, the maneuvering movement of the target is considered as a system disturbance, and an extended state observer is employed to estimate and compensate for it in the guidance law. Lastly, by applying consensus theory and distributed communication topology, the remaining flight time of each flight vehicle is syn-chronized to ensure that they intercept the target simulta-neously with different impact angles. Simulation experiments are conducted to validate the effectiveness of the proposed cooper-ative interception and guidance method.
基金supported by National Natural Science Foundation of China (Grant Nos.52072309 and 62303379)Beijing Institute of Spacecraft System Engineering Research Project (Grant NO.JSZL2020203B004)+1 种基金Natural Science Foundation of Shaanxi Province,Chinese (Grant NOs.2023-JC-QN-0003 and 2023-JC-QN-0665)Industry-University-Research Innovation Fund of Ministry of Education for Chinese Universities (Grant NO.2022IT189)。
文摘This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.
基金supported by the National Natural Science Foundation of China(61673130).
文摘This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.
基金This work was supported by the National Natural Science Foundation of China(62003131,62073121,62173125)the Natural Science Foundation of Jiangsu Province(BK20200520).
文摘This paper studies the fixed-time output-feedback control for a class of linear systems subject to matched uncertainties.To estimate the uncertainties and system states,we design a composite observer which consists of a high-order sliding mode observer and a Luenberger observer.Then,a robust output-feedback controller with fixed-time convergence guarantee is constructed.Rigorous theoretical proof shows that with the proposed controller,the system states can converge to zero in fixed-time free of the initial conditions.Finally,simulation comparison with existing algorithms is given.Simulation results verify the effectiveness of the proposed controller in terms of its fixed-time convergence and perfect disturbance rejection.
基金supported by the National Natural Science Foundation of China(61872204)the Natural Science Foundation of Heilongjiang Province of China(F2015025)。
文摘This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability.Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.
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.
文摘This paper presents an adaptive gain,finite-and fixedtime convergence super-twisting-like algorithm based on a revised barrier function,which is robust to perturbations with unknown bounds.It is shown that this algorithm can ensure a finite-and fixed-time convergence of the sliding variable to the equilibrium,no matter what the initial conditions of the system states are,and maintain it there in a predefined vicinity of the origin without violation.Also,the proposed method avoids the problem of overestimation of the control gain that exists in the current fixed-time adaptive control.Moreover,it shows that the revised barrier function can effectively reduce the computation load by obviating the need of increasing the magnitude of sampling step compared with the conventional barrier function.This feature will be beneficial when the algorithm is implemented in practice.After that,the estimation of the fixed convergence time of the proposed method is derived and the impractical requirement of the preceding fixed-time adaptive control that the adaptive gains must be large enough to engender the sliding mode at time t=0 is discarded.Finally,the outperformance of the proposed method over the existing counterpart method is demonstrated with a numerical simulation.
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.
文摘The present technical paper outlines the details of the controlled blasting techniques used to optimize blasting pattern for excavation of hard rock near the Bhira Earthen Dam in Maharashtra,India.In this connection,a series of experimental blasts were conducted by adjusting various blast design parameters at project site.The safe charge weight per delay was kept between 0.125 and 0.375 kg.The outcomes of these experimental blasts were analyzed to recommend optimized blasting patterns and methods for the overall excavation process during actual blasting operations.Blast design parameters,including the maximum quantity of explosive per delay,hole depth,burden and spacing between holes were optimized by using a site-specific attenuation equation,taking into account the proximity of the dam and tunnel from the blasting area.Peak particle velocity(PPV)level of 10 mm/s and 50 mm/s respectively were adopted as the safe vibration level for ensuring safety of the Bhira Earthen Dam and the nearby tunnel from the adverse effects of blast vibrations by analyzing the dominant frequency of ground vibrations observed and also by reviewing various international standards.Frequency of the ground vibrations observed on the dam and tunnel from majority of the blasts was found to be more than 10 Hz and 50 Hz respectively.During the entire period of blasting,the blast vibrations were recorded to be far lower than the safe vibration level set for these structures.Maximum Vibration level of about 0.8 mm/s and 35 mm/s were observed on dam and tunnel respectively which are far lower than the safe vibration level adopted for these structures.Hence,the entire excavation work was completed successfully and safely,without endangering the safety of dam or tunnel.
基金Supported by the Major Science and Technology Project of Jilin Province(20220301010GX)the International Scientific and Technological Cooperation(20240402071GH).
文摘The liquid cooling system(LCS)of fuel cells is challenged by significant time delays,model uncertainties,pump and fan coupling,and frequent disturbances,leading to overshoot and control oscillations that degrade temperature regulation performance.To address these challenges,we propose a composite control scheme combining fuzzy logic and a variable-gain generalized supertwisting algorithm(VG-GSTA).Firstly,a one-dimensional(1D)fuzzy logic controler(FLC)for the pump ensures stable coolant flow,while a two-dimensional(2D)FLC for the fan regulates the stack temperature near the reference value.The VG-GSTA is then introduced to eliminate steady-state errors,offering resistance to disturbances and minimizing control oscillations.The equilibrium optimizer is used to fine-tune VG-GSTA parameters.Co-simulation verifies the effectiveness of our method,demonstrating its advantages in terms of disturbance immunity,overshoot suppression,tracking accuracy and response speed.
基金Supported by the National Key R&D Program of China(2021YFB2011300)the National Natural Science Foundation of China(52275044,52205299)+1 种基金the Zhejiang Provincial Natural Science Foundation of China(Z23E050032)the China Postdoctoral Science Foundation(2022M710304).
文摘The operating environment of the diesel engine air path system is complex and may be affected by external random disturbances.Potentially leading to faults.This paper addresses the fault-tolerant control problem of the diesel engine air path system,assuming that the system may simultaneously be affected by actuator faults and external random disturbances,a disturbance observer-based sliding mode controller is designed.Through the linear matrix inequality technique for solving observer and controller gains,optimal gain matrices can be obtained,eliminating the manual adjustment process of controller parameters and reducing the chattering phenomenon of the sliding mode surface.Finally,the effectiveness of the proposed method is verified through simulation analysis.
基金supported by the Guangdong Major Project of Basic and Applied Basic Research(Grant No.2021B0301030001)the National Key Research and Development Program of China(Grant No.2021YFB3802300)the Foundation of National Key Laboratory of Shock Wave and Detonation Physics(Grant No.JCKYS2022212004)。
文摘The graded density impactor(GDI)dynamic loading technique is crucial for acquiring the dynamic physical property parameters of materials used in weapons.The accuracy and timeliness of GDI structural design are key to achieving controllable stress-strain rate loading.In this study,we have,for the first time,combined one-dimensional fluid computational software with machine learning methods.We first elucidated the mechanisms by which GDI structures control stress and strain rates.Subsequently,we constructed a machine learning model to create a structure-property response surface.The results show that altering the loading velocity and interlayer thickness has a pronounced regulatory effect on stress and strain rates.In contrast,the impedance distribution index and target thickness have less significant effects on stress regulation,although there is a matching relationship between target thickness and interlayer thickness.Compared with traditional design methods,the machine learning approach offers a10^(4)—10^(5)times increase in efficiency and the potential to achieve a global optimum,holding promise for guiding the design of GDI.
基金Supported by the National Natural Science Foundation of China (11161027)。
文摘Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.
文摘In view of the deficiencies in aspects such as failure rate requirements and analysis assumptions of advisory circular,this paper investigates the sources of high safety requirements,and the top-down design method for the flight control system life cycle.Correspondingly,measures are proposed,including enhancing the safety target value to 10^(−10)per flight hour and implementing development assurance.In view of the shortcomings of mainstream aircraft flight control systems,such as weak backup capability and complex fault reconfiguration logic,improvements have been made to the system’s operating modes,control channel allocation,and common mode failure mitigation schemes based on the existing flight control architecture.The flight control design trends and philosophies have been analyzed.A flight control system architecture scheme is proposed,which includes three operating modes and multi-level voters/monitors,three main control channels,and a backup system independent of the main control system,which has been confirmed through functional modeling simulations.The proposed method plays an important role in the architecture design of safety-critical flight control system.
基金National Natural Science Foundation of China(62373102)Jiangsu Natural Science Foundation(BK20221455)Anhui Provincial Key Research and Development Project(2022i01020013)。
文摘Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.
文摘This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.
文摘In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.
文摘Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investigate the integrated scheduling of communication,sensing,and control for UAV-aided FSO communication systems.Initially,a sensing-control model is established via the control theory.Moreover,an FSO communication channel model is established by considering the effects of atmospheric loss,atmospheric turbulence,geometrical loss,and angle-of-arrival fluctuation.Then,the relationship between the motion control of the UAV and radial displacement is obtained to link the control aspect and communication aspect.Assuming that the base station has instantaneous channel state information(CSI)or statistical CSI,the thresholds of the sensing-control pattern activation are designed,respectively.Finally,an integrated scheduling scheme for performing communication,sensing,and control is proposed.Numerical results indicate that,compared with conventional time-triggered scheme,the proposed integrated scheduling scheme obtains comparable communication and control performance,but reduces the sensing consumed power by 52.46%.
基金supported by the National Natural Science Foundation of China(62303350).
文摘This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.
