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2020 American Control Conference (ACC)最新文献

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Integral Sliding Mode based Model Reference FTC of an Over-Actuated Hybrid UAV using Online Control Allocation 基于积分滑模的过驱动混合动力无人机在线控制分配模型参考
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147655
K. Prochazka, G. Stomberg
This paper presents a novel concept for active fault-tolerant control (FTC) of dual system hybrid unmanned aerial vehicles (UAVs) based on analytical redundancy to increase the operational safety in the face of primary actuator faults. The proposed scheme exploits the inherent overactuation property of hybrid UAVs when in addition to the aerodynamic surfaces four lift rotors are used to control the aircraft during long range fixed-wing flight mode. Fault tolerance is achieved by utilizing an integral sliding mode based model reference control law combined with control allocation techniques to reallocate control signals among healthy effectors in the face of actuator faults and maintain nominal closedloop performance. After introducing the modelling procedure of the UAV, including the identification of aerodynamical cross-couplings between lift rotors and airframe dynamics, Hardware-in-the-loop (HIL) simulation results are presented to demonstrate the efficiency of the proposed scheme in a realistic hardware setup.
提出了一种基于分析冗余的双系统混合无人机主动容错控制(FTC)的新概念,以提高无人机在执行器主故障时的运行安全性。该方案利用了混合动力无人机在远程固定翼飞行模式下,除气动表面外采用四个升力旋翼控制飞机固有的过致动特性。容错是利用基于积分滑模的模型参考控制律与控制分配技术相结合,在执行器故障时将控制信号重新分配给健康的执行器,并保持名义闭环性能。介绍了无人机的建模过程,包括升力旋翼与机体动力学之间空气动力学交叉耦合的识别,并给出了硬件在环仿真结果,验证了该方法在实际硬件环境中的有效性。
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引用次数: 3
A Two-step LMI Scheme for H2 − H∞ Control Design H2−H∞控制设计的两步LMI方案
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9148042
Tianyi He, G. Zhu, Xiang Chen
In this paper, a two-step H2 − H control design scheme with guaranteed mixed H2 and H performance is proposed. Different from the traditional H2/H control, the proposed method designs an H2 controller for a nominal plant and then designs an extra Q operator to recover robustness in H sense for the closed-loop system. When the system uncertainty occurs, operator Q is triggered by a residual signal due to the error between the nominal model and the actual plants, and an extra control signal is generated by operator Q to compensate the nominal H2 controller. It is noted that the proposed H2 − H design scheme provides additional design freedom to reduce conservativeness, comparing with the traditional mixed H2/H control. The control design in the Linear Matrix Inequality (LMI) approach is applied to synthesize the H2 − H controller. Simulation results of a numerical example are given to demonstrate that H2 − H control design is able to compensate the nominal H2 control and significantly improve system performance in the presence of system uncertainty. Moreover, two-step H2 −H control renders better state responses than the traditional mixed H2/H control.
提出了一种保证混合H2和H∞性能的两步H2−H∞控制设计方案。与传统的H2/H∞控制不同,该方法首先设计一个H2控制器,然后设计一个额外的Q算子来恢复闭环系统在H∞意义上的鲁棒性。当系统出现不确定性时,由于标称模型与实际装置之间存在误差而产生的残余信号触发操作器Q,并由操作器Q产生额外的控制信号来补偿标称H2控制器。与传统的混合H2/H∞控制相比,所提出的H2−H∞设计方案提供了额外的设计自由度以降低保守性。将线性矩阵不等式(LMI)方法中的控制设计应用于H2−H∞控制器的合成。数值算例的仿真结果表明,H2−H∞控制设计能够补偿标称H2控制,在存在系统不确定性的情况下显著提高系统性能。此外,两步H2−H∞控制比传统的混合H2/H∞控制具有更好的状态响应。
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引用次数: 3
Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers 基于切换区间观测器的车辆横向速度和轮胎路面横向力估计
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147793
S. Ifqir, D. Ichalal, N. A. Oufroukh, S. Mammar
Lateral velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle lateral velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle lateral velocity and lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle lateral variables during both steady and transient maneuvers.
横向速度和胎路力是影响车辆过弯稳定性的重要信号。不幸的是,由于技术和经济原因,这些基本的车辆参数很难通过传感器直接测量。因此,需要一种高效可靠的估计车辆横向速度和轮胎-道路力的算法。本文提出了一种估算车辆横向速度和轮胎-道路横向力的新框架。该算法基于切换区间观测器,能够适应轮胎工况的变化。区间估计算法通过仪器测控车采集的实验数据进行了验证。仿真结果表明,所开发的系统在稳态和瞬态机动中都能可靠地估计出车辆横向变量的上界和下界。
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引用次数: 1
Longitudinal Short-Period Aircraft Motion Control Under Loadcase Variation 载荷变化下飞机纵向短周期运动控制
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147800
Felix Goßmann, Agnes Gabrys, F. Svaricek
In this paper, an LPV longitudinal flight controller design is presented, which takes variations of mass and mass distribution into account without the need for additional measurements or estimation of the current loadcase (a certain combination of mass, center of gravity and inertia tensor). This means the loadcase variation is included in the LPV model, but the obtained controller depends on the measurable variations of altitude and airspeed only. Therefore, a technique based on LPV systems with partly-measurable parameters is used. This approach is applied to the control of the short-period dynamic on a model of a small regional aircraft. The obtained controller is evaluated on a more detailed linear model, which takes parts of the real control system into account, as well as within a 6DOF high-fidelity nonlinear simulation environment, which is used to analyze flight controllers before real-life flight tests.
本文提出了一种LPV纵向飞行控制器设计,该设计考虑了质量和质量分布的变化,而不需要对当前负载情况(质量、重心和惯性张量的某种组合)进行额外的测量或估计。这意味着负载情况的变化包括在LPV模型中,但获得的控制器仅取决于可测量的高度和空速变化。因此,采用了一种基于参数部分可测LPV系统的技术。将该方法应用于某小型支线飞机模型的短周期动力学控制。得到的控制器在一个更详细的线性模型上进行评估,该模型考虑了实际控制系统的部分,以及在一个6自由度高保真非线性仿真环境中进行评估,该仿真环境用于在实际飞行试验之前分析飞行控制器。
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引用次数: 1
Fuel-Balanced Formation Flight Control of Underactuated Satellites 欠驱动卫星燃料平衡编队飞行控制
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147708
Thomas L. Dearing, C. Petersen, M. Nicotra, Xudong Chen
We consider a continuous-time optimal control problem for a swarm of single thruster, single reaction wheel spacecraft aiming to reach a target formation. The dynamic model of each spacecraft is obtained by augmenting the Hill-Clohessy-Wiltshire equations with the coupled dynamics of the reaction wheel and thruster. For the optimal control problem, we penalize the deviation from the target formation, the overall fuel usage, and the fuel imbalance between agents. The optimal control law is then obtained by using the minimum principle to formulate a split-boundary-value ODE, which is then solved numerically. Numerical simulations for a simple swarm of three satellites show that the proposed approach successfully reduces the fuel consumption of the most fuel-intensive spacecraft, thus extending the overall lifetime of the formation system.
研究了单推力器、单反作用轮航天器群以到达目标编队为目标的连续时间最优控制问题。通过将Hill-Clohessy-Wiltshire方程与反作用轮和推进器的耦合动力学进行扩展,得到了各航天器的动力学模型。对于最优控制问题,我们对偏离目标编队、总体燃料使用和智能体之间的燃料不平衡进行惩罚。然后利用最小值原理构造了一个分边值ODE,得到了最优控制律,并进行了数值求解。一个简单的三颗卫星群的数值模拟表明,所提出的方法成功地降低了燃料最密集的航天器的燃料消耗,从而延长了编队系统的整体寿命。
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引用次数: 0
Control Allocation Consensus among onboard Actuators with a Directed/Undirected Graph Topology 基于有向/无向图拓扑的板载执行器控制分配一致性
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147672
A. Mark, Yun-Hong Xu, Benjamin T. Dickinson
Control allocation is required in many networked systems or systems with distributed actuating subsystems for the purpose of achieving hardware redundancy or increasing actuation efficiency. As the number of actuators increases, the computational cost also increases and the robustness with respect to real-time information sacrifices if a typical centralized, open-loop optimization method is used for control allocation. This study proposes a new consensus based distributed allocation scheme for actuators/jets onboard a conceptual small unmanned aerial system. Different from our previous research, the distributed actuators are connected via a directed/undirected graph. The proposed method is validated via simulation.
为了实现硬件冗余或提高执行效率,许多网络化系统或具有分布式执行子系统的系统都需要进行控制分配。如果采用典型的集中式开环优化方法进行控制分配,随着执行器数量的增加,计算成本也会增加,并且会牺牲对实时信息的鲁棒性。提出了一种基于共识的小型无人机执行器/喷气机的分布式分配方案。与以往的研究不同,分布式执行器通过有向/无向图连接。通过仿真验证了该方法的有效性。
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引用次数: 0
A dynamic optimization model for bus schedule design to mitigate the passenger waiting time by dispatching the bus platoon 通过调度公交排来减少乘客等待时间的公交调度设计动态优化模型
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147385
Yi Zhang, R. Su, Yicheng Zhang
We present a platoon-based bus dispatching strategy and passenger boarding strategy which utilizes a platoon of vehicles to improve capacity flexibility in response to dynamically changing demands, and controls passenger boarding flows to minimize the networkwise passengers’ perceived delay time. The released buses in the same platoon are allowed to separate when approaching the stop station, which makes our strategy more flexible and data-driven. A Mixed Integer Linear Programming (MILP) model is firstly developed to formulate the problem with the linear cost, in which both the passengers’ actual delay time and the operating bus vacancy are minimized subject to the volume dynamic constraints on both buses and stops. With the computational complexity as a concern, the Genetic Algorithm (GA) is adopted to solve the problem in real time. Comparison between MILP and GA on the computational time and result quality is conducted to show the efficiency of our method. Also, the optimization model with the nonlinear cost considering the passengers’ perceived delay time and the operating bus vacancy is directly solved by the GA. Finally, the performance of our method and the traditional bus schedule strategies under two different objectives is discussed in the case study, which indicates the potential of the platoon dispatching in mitigating the passenger’s perceived delay.
提出了一种基于队列的公交调度策略和乘客上车策略,该策略利用车辆队列来提高响应动态变化需求的能力灵活性,并控制乘客上车流以最小化网络上乘客的感知延迟时间。在接近车站时,允许同一排释放的公交车分开,使我们的策略更加灵活和数据驱动。首先建立了混合整数线性规划(MILP)模型,在公交和站点的体积动态约束下,使乘客的实际延误时间和运行中的公交车空置量都达到最小。考虑到计算复杂度,采用遗传算法实时求解该问题。将MILP算法与遗传算法在计算时间和结果质量上进行了比较,证明了该方法的有效性。同时,利用遗传算法直接求解了考虑乘客感知延误时间和运营公交车空置率的非线性成本优化模型。最后,通过实例分析,比较了该方法与传统公交调度策略在两种不同目标下的性能,表明了排调度在缓解乘客感知延误方面的潜力。
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引用次数: 4
Planar Formation Control of a School of Robotic Fish 一类机器鱼的平面编队控制
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147969
Paul Ghanem, A. Wolek, D. Paley
This paper presents a nonlinear control design for the stabilization of parallel and circular motion in a model school of robotic fish. The closed-loop swimming dynamics of the fish robots are represented by the canonical Chaplygin sleigh—a nonholonomic mechanical system driven by an internal rotor. The fish robots exchange relative state information according to a connected, undirected communication graph and form a system of coupled, nonlinear, second-order oscillators. Prior work on collective motion of constant-speed, self-propelled particles serves as the foundation of our approach. However, unlike the self-propelled particle, the fish robots follow limit-cycle dynamics to sustain periodic flapping for forward motion with a varying speed. Parallel and circular motions are achieved in an average sense. The proposed control laws do not include feedback linearization of the agents’ dynamics. Numerical simulations illustrate the approach.
本文提出了一种用于机器鱼模型群并联和圆周运动稳定的非线性控制设计。鱼类机器人的闭环游动动力学用典型的Chaplygin雪橇来表示,Chaplygin雪橇是一种由内转子驱动的非完整机械系统。鱼机器人根据连通的无向通信图交换相对状态信息,形成一个耦合的非线性二阶振子系统。先前对等速自我推进粒子的集体运动的研究是我们方法的基础。然而,与自我推进的粒子不同,鱼机器人遵循极限循环动力学,以保持以不同速度向前运动的周期性拍打。在平均意义上实现平行和圆周运动。所提出的控制律不包括智能体动态的反馈线性化。数值模拟验证了该方法。
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引用次数: 4
A Novel Path Following Scheme for Robot End-Effectors 一种新型机器人末端执行器路径跟踪方案
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147497
Yalun Wen, P. Pagilla
In this paper we describe a novel path following scheme for robot end-effectors that is particularly suitable for robotic surface finishing operations where constant velocity of travel on the surface is desirable. The scheme is applicable to general situations where the path is typically given in terms of measured data from a sensor, and also to paths that are specified in terms of analytical curves (circular or ellipsoidal). Considering the given data points as control points, we utilize cubic spline interpolation to generate a closed-form geometric description for the path. Since velocity control is quite common in many industrial robots and most surface finishing tasks require travel with constant velocity along the path, we consider a kinematic model for the end-effector with control inputs as rate of change of orientation and translational velocity. By utilizing a path variable and the tangent vector along the path, we describe the complete path as the path that is taken from the initial robot end-effector point to the desired path and subsequent travel on the desired path. To evaluate the performance of the scheme, we have conducted a number of real-time experiments on an industrial robot for circular paths and for paths generated for gear deburring and chamfering, and results from those experiments will be discussed.
在本文中,我们描述了一种新颖的机器人末端执行器路径跟踪方案,该方案特别适用于机器人表面精加工操作,其中表面上的恒定速度是理想的。该方案适用于通常根据传感器的测量数据给出路径的一般情况,也适用于根据分析曲线(圆形或椭球形)指定的路径。以给定的数据点为控制点,利用三次样条插值生成路径的封闭几何描述。由于速度控制在许多工业机器人中很常见,并且大多数表面加工任务都需要沿路径匀速行进,因此我们考虑了末端执行器的运动学模型,其控制输入为方向变化率和动速度。通过利用路径变量和沿着路径的切向量,我们将完整路径描述为从初始机器人末端执行器点到期望路径的路径以及随后在期望路径上的移动。为了评估该方案的性能,我们在工业机器人上对圆形路径和齿轮去毛刺和倒角生成的路径进行了大量的实时实验,并将讨论这些实验的结果。
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引用次数: 3
LQG-Optimal versus Simple Event-Based PID Controllers lqg -最优与简单基于事件的PID控制器
Pub Date : 2020-07-01 DOI: 10.23919/ACC45564.2020.9147559
A. Cervin, M. Andren
In this paper, we study event-based PID control from an optimal stochastic control perspective. The purpose is to better understand what implementation features are critical for achieving good event-based PID performance. For this end, we formulate an LQG control design problem for a double integrator process with an integral disturbance, where the solution is an ideal PID controller. We then consider the tradeoff between LQG cost and average sampling rate and give an interpretation of the optimal sampled-data controller and event- based sampling policy in terms of PID control. Based on insights from the optimal solution, we finally discuss how suboptimal but simple event-based PID controllers can be implemented. The proposed implementation is evaluated in a simulation study and compared to earlier work in event-based PID control. The results highlight the importance of considering both the triggering rule and the transmitted information in order to obtain an event-based PID controller with good performance.
本文从最优随机控制的角度研究基于事件的PID控制。目的是更好地理解哪些实现特性对于实现良好的基于事件的PID性能至关重要。为此,我们提出了一个具有积分扰动的双积分器过程的LQG控制设计问题,其解是理想的PID控制器。然后,我们考虑LQG成本和平均采样率之间的权衡,并从PID控制的角度解释最优采样数据控制器和基于事件的采样策略。基于最优解的见解,我们最后讨论了如何实现次优但简单的基于事件的PID控制器。在仿真研究中评估了所提出的实现,并与早期基于事件的PID控制工作进行了比较。结果表明,为了获得性能良好的基于事件的PID控制器,必须同时考虑触发规则和传输信息。
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引用次数: 1
期刊
2020 American Control Conference (ACC)
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