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RISS 인기검색어
- 검색키워드
- 저자 : Wuxing Jing (검색결과 5 건)
- 무료
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Nonlinear Tracking Differentiator Based Prescribed Performance Control for Space Manipulator
Yidi Fan,Wuxing Jing,Franco Bernelli-Zazzera 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.3
A low-complexity prescribed performance controller is proposed for motion tracking control of a space manipulator in this paper. First of all, a prescribed-time prescribed performance function is designed. Based on the function, the proposed controller is capable of guaranteeing the system transient and steady-state control performances satisfy the prescribed boundary constraints. Moreover, all tracking errors converge to stability domains before the user-defined settling time. A nonlinear tracking differentiator based on a hyperbolic sine function is adopted to estimate the derivatives of joint angles and reconstruct the angular velocity for the controller, which lowers hardware requirements for the controlled system to a certain extent. Without any time-consuming operations and model information, the proposed control scheme has a superiority in low computation complexity and robustness against model uncertainties. With the Lyapunov theory, the prescribed-time stability within prescribed performances of the closed-loop has been rigorously proven. Numerical simulation and the comparison with the traditional prescribed performance control demonstrates the effectiveness and superior performances of the proposed control scheme.
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Pengxin Wei,Changsheng Gao,Wuxing Jing 한국항공우주학회 2019 International Journal of Aeronautical and Space Sc Vol.20 No.1
This paper presents a composite Bank-To-Turn (BTT) control mode with a moving mass and non-redundant Reaction Control System (RCS) for a hypersonic unpowered glider vehicle. This type of control mode can not only preclude the aerodynamic control surfaces ablation, but also optimize the internal space of flight vehicle. The identification of the aerodynamic coefficients for gliders under the novel control mode remains an important research focus. As a key part of system identification, input design greatly affects the identification results. Taking into account the flight characteristics and composite control strategy, the longitudinal dynamic characteristics considering the cubic nonlinearities of hypersonic glider are analyzed and the motion form of internal moving mass is designed based on multi-sine input method. The identifiability and identifiability degree of each longitudinal parameter are evaluated using singular value decomposition of the measure matrix. Simulation results demonstrate that the designed input form improves the accuracy of the estimated parameters, and showthe identification order from the most identifiable parameter to the least identifiable parameter.
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Dynamics and Adaptive Sliding Mode Control of a Mass-Actuated Fixed-Wing UAV
Xiaoqi Qiu,Mingen Zhang,Wuxing Jing,Changsheng Gao 한국항공우주학회 2021 International Journal of Aeronautical and Space Sc Vol.22 No.4
Compared with UAVs controlled by aerodynamic surfaces, mass-actuated UAVs have higher aerodynamic efficiency and better stealth performance. This paper focuses on the dynamics and attitude control of a mass-actuated fixed-wing UAV (MFUAV) with an internal slider. Based on the derived mathematical model of the MFUAV, the influence of the slider parameters on the dynamical behavior is analyzed, and the ideal installation position of the slider is given. Besides, it is revealed that the mass-actuated scheme has a higher control efficiency for low-speed UAVs. To deal with the coupling, uncertainty and disturbances in the dynamics, an adaptive sliding mode controller based on fuzzy system, RBF neural network and sliding mode control are proposed. The RBF neural network uses the minimum parameter learning method to improve its learning speed. It is proved by the Lyapunov method that the proposed controller is ultimately uniformly bounded. Finally, the simulation verifies the effectiveness and robustness of the controller.
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Closed-Loop Bifurcation Analysis for a Novel Moving Mass Flight Vehicle
Zhitao Liu,Changsheng Gao,Jianqing Li,Wuxing Jing 한국항공우주학회 2018 International Journal of Aeronautical and Space Sc Vol.19 No.4
In this paper, nonlinear dynamics properties regarding a novel moving mass flight vehicle with large mass ratio are investigated based on bifurcation theory and continuation methods. Of particular interest is the impact of variation of command angle-of-attack and moving mass parameters on the controlled system. The nonlinear longitudinal dynamics model is established and the controller is designed using Immersion and Invariance method. Bifurcation analysis is conducted both from the prospective of static bifurcation and dynamical bifurcation, results of the closed-loop system are compared with the uncontrolled case. Numerical results obtained from bifurcation diagrams indicate that although the introduction of control system is capable of eliminating unstable regions caused by the variation of moving mass parameters, the change of command angle-of-attack still lead to Hopf bifurcation. Furthermore, analysis of limit cycle branch reveals the consecutive birth of Limit Point of Cycle bifurcation (LPC), then based on which a more detailed nonlinear dynamics process of the closed-loop system is analyzed.
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