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RISS 인기검색어
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- 저자 : Linbo Chen (검색결과 3 건)
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Resilient Tracking Control for Unmanned Helicopter Under Variable Disturbance and Input Perturbation
Linbo Chen,Tao Li,Zehui Mao,Shumin Fei 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1
In this work, by utilizing a disturbance observer-based control (DOBC) method, the resilient tracking control is studied for the unmanned aerial helicopter (UAH) with paramteter uncertainty, multiple disturbances, and input perturbation. Firstly, a state observer and two disturbance observers are respectively constructed to estimate the unmeasurable flapping motion states and outside disturbances, which are further utilized to design the feedforward controller. Secondly, by considering stochastic perturbation, a resilient feedback controller is proposed and an overall closed-loop error system is established. Thirdly, based on stochastic control theory and robust control method, a sufficient condition is obtained to guarantee the asymptotical stability and H∞ performance index for the closed-loop error system. Furthermore, the observer gains and controller one can be jointly checked by solving the derived linear matrix inequality (LMI). Finally, some simulations are presented to verify the effectiveness of the derived control method.
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Jian Chen,Wangyang Zhang,Chenglong Wang,Di Liu,Linbo Zhu 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.9
The contact behavior of hemisphere pressed by a rigid flat is analyzed based on the finite element method under the condition of independent varying elastic moduli (E) and yield strengths (Y). The contact behavior is related to the ratio of E/Y. The mean contact pressure (p*) first increases and then decreases with the increasing interference, and this trend is more obvious for the contact of materials with the comparatively small ratio of E/Y. The end of the elastoplastic range or the inception of the fully plastic range is determined according to the interference corresponding to the peak value of the p*. The contact load and area in elastoplastic and fully plastic ranges are determined by the interference and the ratio of E/Y. Then, a new contact model to accurately predict the contact load and area for a wide range of E and Y is proposed, and compared with the previous models. The correctness of the current model is verified by the experimental measurement results recorded in previous literature.
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Loading-unloading model of contact between elastic-plastic ellipsoid and rigid plane
Jian Chen,Wangyang Zhang,Di Liu,Chenglong Wang,Linbo Zhu 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.8
The mechanical behaviour of the ellipsoidal asperity and rigid planes during loading and unloading are fundamental problems in contact mechanics. This study investigates the contact between elastic-perfectly plastic ellipsoidal asperity for different ellipticities and rigid planes under normal conditions during the loading and unloading process using the finite element method. The results show that the changing trend of the contact load, residual displacement, contact area, and plastic work with displacement under different ellipticities is similar, but the magnitude is different. The contact area during unloading is not always smaller than that during loading with the same displacement. Moreover, the initial unloading stage contact area is larger than that of the loading stage. Based on the numerical model calculation results, analytical dimensionless expressions are proposed for the residual displacement, plastic work, contact area, and contact load after fully unloading the ellipsoids with different ellipticities for a wide range of displacements. The prediction results from previous models are used to verify the effectiveness and correctness of the proposed equations. These empirical relations can be combined with statistical or fractal methods to study the contact behaviour of macroscopic rough surfaces.
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