International Journal of Control Automation and Systems最新文献_第7页

Extended State Observer Based Generalized Predictive Control for Aircraft at High Angle of Attack 基于扩展状态观测器的飞机高迎角广义预测控制

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-07-02 DOI: 10.1007/s12555-022-0318-y

Junjie Liu, Yuehui Ji, Liang Xu, Zengqiang Chen

引用次数: 0

Practical Approach to Mission Autonomy of Multiple Unmanned Air Mobilities 多种无人驾驶空中机动装置任务自主的实用方法

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-07-02 DOI: 10.1007/s12555-023-0662-6

Jun-Young An, Kang Hyun Lee, Sang Pyuk Lee, Jun Sang Park, Chang-Joo Kim

{"title":"Practical Approach to Mission Autonomy of Multiple Unmanned Air Mobilities","authors":"Jun-Young An, Kang Hyun Lee, Sang Pyuk Lee, Jun Sang Park, Chang-Joo Kim","doi":"10.1007/s12555-023-0662-6","DOIUrl":"https://doi.org/10.1007/s12555-023-0662-6","url":null,"abstract":"Extensive research has been conducted on mission autonomy for multiple aircraft and air mobility operations because of the increasing demand for developing manned-unmanned teaming. Besides a few studies, research focusing on real terrain environments and non-linear dynamics for multiple large unmanned aircraft operations for high-speed maneuvers remains lacking. This study proposes an integrated framework that includes mission planning for low-level flight control laws in 3D terrain environments with complex non-linear flight dynamics. A genetic algorithm with double chromosomes was used for task allocation, and a rapidly exploring random tree star with a line-of-sight path optimization method was used for fast and optimal path planning. Further, spline interpolation was applied to generate flyable paths and trajectory commands for control laws. A demonstration was performed based on non-linear flight dynamics with incremental backstepping-based trajectory tracking control laws. In addition to integrating these methods, a trajectory envelope was introduced to consider the effects of the complex non-linear dynamics. The integrated method predicts whether the given trajectory will be stable for the selected rotorcraft unmanned aerial vehicles by checking the trajectory before the flight and converting it to a continuous connection of the maneuver library using flight regime recognition. Based on this simulation, the proposed framework for multiple aircraft operations with 3D terrain and non-linear flight dynamics proves its capabilities.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"226 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141515984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Polynomial Excitation Current Compensation Control for Dead Zone and Hysteresis of Three-way Proportional Pressure Reducing Valve 三通比例减压阀死区和滞后的多项式励磁电流补偿控制

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-07-02 DOI: 10.1007/s12555-022-0718-z

Yan-He Song, Kai-Xian Ba, Xin Chen, Yue-Yue Hao, Chao Ai, Xiang-Dong Kong

{"title":"Polynomial Excitation Current Compensation Control for Dead Zone and Hysteresis of Three-way Proportional Pressure Reducing Valve","authors":"Yan-He Song, Kai-Xian Ba, Xin Chen, Yue-Yue Hao, Chao Ai, Xiang-Dong Kong","doi":"10.1007/s12555-022-0718-z","DOIUrl":"https://doi.org/10.1007/s12555-022-0718-z","url":null,"abstract":"In this paper, aiming at the phenomenon that the dead zone and hysteresis of three-way proportional pressure reducing valve (TPPRV) will seriously affect the control accuracy of construction machinery, a polynomial excitation current compensation controller (PECC) is designed, which is novel and easy to realize in engineering. Firstly, the mathematical model of TPPRV is established, and the dead zone and hysteresis of TPPRV are quantitatively analyzed by using the performance test platform of proportional pressure reducing valve. Secondly, the design principle of PECC is expounded, and the controller model is deduced theoretically. The proposed PECC has two main advantages. One is that the method does not need to establish the nonlinear model of dead zone and hysteresis, and the other is that the method can compensate the dead zone and hysteresis simultaneously. Finally, the compensation control performance of PECC is verified by using the performance test platform of proportional pressure reducing valve. The experimental results show that PECC can greatly reduce the adverse effects of dead zone and hysteresis on TPPRV, and has great applicability under different working conditions. Relevant research results can significantly improve the proportional control accuracy of TPPRV, which has a certain engineering value.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"126 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141515988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stable Degree Analysis for Profile of Networked Evolutionary Games With Disturbances 有干扰的网络演化博弈轮廓的稳定程度分析

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-06-20 DOI: 10.1007/s12555-023-0314-x

Ziyun Wang, Shihua Fu, Jianjun Wang, Ling Yu, Xiaoyu Zhao

引用次数: 0

Interactive Robot Trajectory Planning With Augmented Reality for Non-expert Users 面向非专业用户的增强现实交互式机器人轨迹规划

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-31 DOI: 10.1007/s12555-023-0796-6

Joosun Lee, Taeyhang Lim, Wansoo Kim

{"title":"Interactive Robot Trajectory Planning With Augmented Reality for Non-expert Users","authors":"Joosun Lee, Taeyhang Lim, Wansoo Kim","doi":"10.1007/s12555-023-0796-6","DOIUrl":"https://doi.org/10.1007/s12555-023-0796-6","url":null,"abstract":"This paper presents a novel method for path selection by non-expert users in robot trajectory planning using augmented reality (AR). While AR has been used in robot control tasks, current approaches often require manual waypoint specification, limiting their effectiveness for non-expert users. In contrast, our study introduces an innovative AR-based method via a head-mounted display, designed to enhance human-robot interaction by making the process of selecting robotic paths more accessible to users without specialized expertise. The proposed method utilizes the RRT-Connect algorithm to automatically generate pathways from the initial to the goal position, offering choices of 1, 3, or 5 pathways, as well as 3 and 5 pathways with AR text guidance. This guidance provides contextual instructions within the AR environment, displaying the order of pathways from the fewest to the highest number of waypoints. Our findings demonstrate that optimizing the number of AR pathways can reduce user stress and improve operational skills. Path1 exhibited the fastest performance time but had the highest number of obstacle collisions. Methods with AR text guidance showed increased performance time compared to Path1. However, Path3 and Path5 achieved the best balance between performance time and collision avoidance. Qualitative analysis indicated that AR text displays demanded more effort from users. Path3 without AR text guidance was identified as the easiest method for operating the robot. Consequently, Path3 was deemed the most beneficial among the five methods. These results highlight the novelty of our method in enhancing the design of future human-robot interaction systems, focusing on improving efficiency, safety, and user experience for non-expert users using AR interfaces.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"77 11 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141192663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Sensorless Speed Tracking Control for Fault-tolerant Permanent Magnet Motor With Uncertainties in the Ship Shaftless Rim-driven Thruster System 船舶无轴轮缘驱动推进器系统中具有不确定性的容错永磁电机的无传感器速度跟踪控制

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-29 DOI: 10.1007/s12555-021-0420-6

Hongfen Bai, Wenting Zhang, Yiqun Xu

{"title":"Sensorless Speed Tracking Control for Fault-tolerant Permanent Magnet Motor With Uncertainties in the Ship Shaftless Rim-driven Thruster System","authors":"Hongfen Bai, Wenting Zhang, Yiqun Xu","doi":"10.1007/s12555-021-0420-6","DOIUrl":"https://doi.org/10.1007/s12555-021-0420-6","url":null,"abstract":"The shaftless rim-driven thruster (RDT) has many attractive features and it would improve the fault-tolerance of RDT to select the fault-tolerant permanent magnet motor (FTPMM) as the propulsion motor. The FTPMM works under severe marine environment and subjects to uncertainty and sensorless conditions. To overcome this problem, a sensorless speed tracking control is proposed for the FTPMM with general uncertainties, e.g. perturbing or time-varying parameters, unknown nonlinearities and bounded disturbances. Based on adaptive nonlinear damping, a robust adaptive observer is constructed to estimate the FTPMM speed. The proposed scheme ensures that all the dynamic signals of the closed system are bounded and it is not needed to estimate the uncertain parameters and disturbances of the system. Furthermore, the estimation errors and the tracking errors can converge to arbitrarily small values by adjusting design parameters. The effectiveness of the proposed scheme is verified by the simulation and experiment results. Furthermore, the stability of the control system and the robustness for the parameter uncertainty and load torque disturbance can be guaranteed.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"1 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Observer-based Attitude Maneuver Control of Flexible Spacecraft: A Parametric Approach 基于观测器的柔性航天器姿态机动控制：参数方法

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-29 DOI: 10.1007/s12555-022-0707-2

Liu Zhang, Quan-Zhi Liu, Guo-Wei Fan, Xue-Ying Lv, Yu Gao, Yang Xiao

{"title":"Observer-based Attitude Maneuver Control of Flexible Spacecraft: A Parametric Approach","authors":"Liu Zhang, Quan-Zhi Liu, Guo-Wei Fan, Xue-Ying Lv, Yu Gao, Yang Xiao","doi":"10.1007/s12555-022-0707-2","DOIUrl":"https://doi.org/10.1007/s12555-022-0707-2","url":null,"abstract":"To address the problem of control performance degradation caused by flexible attachment vibrations and external disturbances during attitude maneuvering of flexible spacecraft, this paper proposes a parametric method for improving flexible spacecraft attitude maneuver control (AMC) based on a functional observer. The objective was to enhance the control accuracy and disturbance rejection. First, state expansion was carried out for flexible spacecraft systems affected by disturbances. A functional observer was designed for the system, and sufficient conditions for the existence of the observer were obtained. Furthermore, a controller was designed by using the state information of the observer, which included state feedback and feed-forward compensation. Based on the parametric solution of a class of generalized Sylvester equations (GSEs), the parametric expressions of the controller and observer were established. Finally, a numerical example of a flexible spacecraft proved the effectiveness of the design method. The method can effectively suppress flexible vibrations and external disturbances while also meeting the high-precision control requirements of the flexible spacecraft.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"70 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nonlinear Disturbance Observer Incorporated Model Predictive Strategy for Wheeled Mobile Robot’s Trajectory Tracking Control 轮式移动机器人轨迹跟踪控制的非线性扰动观测器模型预测策略

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-29 DOI: 10.1007/s12555-023-0207-z

Jiguang Peng, Hanzhen Xiao, Guanyu Lai

引用次数: 0

Exponential Stability of Time-varying Switched Impulsive Nonlinear Systems Using Comparison Theorem 利用比较定理实现时变开关脉冲非线性系统的指数稳定性

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-29 DOI: 10.1007/s12555-022-1205-2

Min Fan, Mengqian Liang, Yazhou Tian

引用次数: 0

Prescribed Performance Control for the Lower Limb Exoskeleton With Time-varying State Constraints and Input Saturation 具有时变状态约束和输入饱和的下肢外骨骼规定性能控制