Rigid-Flexible Coupled Dynamics and PD-Robust Control Design for the Spacecraft with Rotating Solar Panels

2021 ◽  
Author(s):  
Yuteng Cao ◽  
Dengqing Cao ◽  
Guiqin He ◽  
Yuxin Hao ◽  
Xinsheng Ge
Keyword(s):  
Robust Control ◽  
Dynamical Equation ◽  
Vibration Suppression ◽  
Control Method ◽  
Ritz Method ◽  
Solar Panels ◽  
Central Platform ◽  
Attitude Maneuver ◽  
Control Scheme ◽  
Robust Control Design

The dynamical model for the spacecraft with multiple solar panels and the cooperative controller for such spacecraft are studied in this paper. The spacecraft consists of a rigid platform and two groups of flexible solar panels, where solar panels could be driven to rotate by the connecting shaft. The flexible solar panel involves the use of the orthogonal polynomial in two directions to describe its elastic deformation. By using the Rayleigh–Ritz method, the characteristic equation is derived to obtain natural frequencies and modal shapes of the whole spacecraft. Then the discrete rigid-flexible coupled dynamical equation of the spacecraft is obtained by using the Hamiltonian principle. The equation involves the coupling of the attitude maneuver, solar panels’ driving and vibration suppression. These dynamical behaviors are addressed by the rigid-flexible coupled mode for the first time in this paper. Based on the dynamical equation, the cooperative control scheme is designed by combing the proportional-differential and robust control method. Numerical results show the accuracy of the present modelling method and the validation of the control strategy. The modal analysis implies the complex rigid-flexible coupled characteristic between the central platform and flexible solar panels. The proposed control scheme can maintain the attitude stability while solar panels are being driven, as well as the vibration suppression of flexible solar panels.

scholarly journals A Robust Control Scheme for Renewable-Based Distributed Generators Using Artificial Hydrocarbon Networks

Energies ◽  
2019 ◽  
Vol 12 (10) ◽  
pp. 1896 ◽  
Author(s):  
Antonio Rosales ◽  
Pedro Ponce ◽  
Hiram Ponce ◽  
Arturo Molina
Keyword(s):  
Robust Control ◽  
Control Algorithm ◽  
Solar Panels ◽  
Lyapunov Techniques ◽  
Distributed Generators ◽  
Stability Robustness ◽  
Network Controller ◽  
Control Scheme ◽  
Power Regulation ◽  
The Stability

Distributed generators (DGs) based on renewable energy systems such as wind turbines, solar panels, and storage systems, are key in transforming the current electric grid into a green and sustainable network. These DGs are called inverter-interfaced systems because they are integrated into the grid through power converters. However, inverter-interfaced systems lack inertia, deteriorating the stability of the grid as frequency and voltage oscillations emerge. Additionally, when DGs are connected to the grid, its robustness against unbalanced conditions must to be ensured. This paper presents a robust control scheme for power regulation in DGs, which includes inertia and operates under unbalanced conditions. The proposed scheme integrates a robust control algorithm to ensured power regulation, despite unbalanced voltages. The control algorithm is an artificial hydrocarbon network controller, which is a chemically-inspired technique, based on carbon networks, that provides stability, robustness, and accuracy. The robustness and stability of the proposed control scheme are tested using Lyapunov techniques. Simulation, considering one- and three-phase voltage sags, is executed to validate the performance of the control scheme.

A novel multivariable nonlinear robust control design for turbofan engines

2021 ◽  
pp. 014233122110396
Author(s):  
Dingding Cheng ◽  
Lijun Liu ◽  
Zhen Yu
Keyword(s):  
Robust Control ◽  
Closed Loop ◽  
Control Method ◽  
Operating Conditions ◽  
Large Region ◽  
Control Performance ◽  
Nonlinear Robust Control ◽  
Turbofan Engines ◽  
Robust Control Design ◽  
Nonlinear Robust

Traditional steady-state control methods are applied to turbofan engines operating in the small region near certain operating conditions, which need to switch controllers for operating in the large region and then may lead to instability and performance degradation of the closed-loop system. In this paper, a novel multivariable nonlinear robust control method for turbofan engines is proposed to improve the control performance within the large region. To enlarge the controllable region, a polynomial state-space model describes the nonlinear characteristics of turbofan engines. Based on the analysis of the closed-loop control system, by using the Lyapunov function theorems, a polynomial robust controller is designed to ensure the stability and desired nonlinear control performance of turbofan engines. Compared with the classical PI, mixed sensitivity, and H∞ control, simulation results show that the proposed method has better transient responses, disturbance rejection, and other control performance for the turbofan engine within the large region.

Model-based robust control design and experimental validation of SCARA robot system with uncertainty

2022 ◽  
pp. 107754632110421
Author(s):  
ShengChao Zhen ◽  
MuCun Ma ◽  
XiaoLi Liu ◽  
Feng Chen ◽  
Han Zhao ◽  
...  
Keyword(s):  
Robust Control ◽  
Control Algorithm ◽  
Lyapunov Method ◽  
Control Method ◽  
External Disturbance ◽  
Scara Robot ◽  
Model Based ◽  
Robust Control Design ◽  
Robot Performance ◽  
The Stability

In this paper, we design a novel robust control method to reduce the trajectory tracking errors of the SCARA robot with uncertainties including parameters such as uncertainty of the mechanical system and external disturbance, which are time-varying and nonlinear. Then, we propose a deterministic form of the model-based robust control algorithm to deal with the uncertainties. The proposed control algorithm is composed of two parts according to the assumed upper limit of the system uncertainties: one is the traditional proportional-derivative control, and the other is the robust control based on the Lyapunov method, which has the characteristics of model-based and error-based. The stability of the proposed control algorithm is proved by the Lyapunov method theoretically, which shows the system can maintain uniformly bounded and uniformly ultimately bounded. The experimental platform includes the rapid controller prototyping cSPACE, which is designed to reduce programming time and to improve the efficiency of the practical operation. Moreover, we adopt different friction models to investigate the effect of friction on robot performance in robot joints. Finally, numerical simulation and experimental results indicate that the control algorithm proposed in this paper has desired control performance on the SCARA robot.

H2/H∞ Robust Control Design for Rotary Inverted Pendulum

2020 ◽  
Author(s):  
Luís Felipe Vieira Silva ◽  
Thiago Damasceno Cordeiro ◽  
Ícaro Bezerra Queiroz de Araújo ◽  
Heitor Judiss Savino
Keyword(s):  
Robust Control ◽  
Inverted Pendulum ◽  
Control Design ◽  
Lyapunov Theory ◽  
Pole Placement ◽  
Linear Matrix ◽  
Lagrange Formulation ◽  
Control Scheme ◽  
Robust Control Design ◽  
Rotary Inverted Pendulum

This works presents a H2/H∞ robust control scheme for a rotary inverted pendulum using Linear Matrix Inequality (LMI) approach based on Lyapunov theory and taking into account the uncertainty of the position of the pendulum to the servo-basis of the system. The dynamic model of the system is obtained by Euler-Lagrange formulation and the controller is obtained by solving a convex optimization problem. Experiments using this control scheme with changes in the position of the pendulum were made to compare the performance with another controller using pole placement control design. Results show that only H2/H∞ controller is able to maintain the stability of the system for all experiments performed in this work.

scholarly journals Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Robust Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Dynamic Control ◽  
Fixed Time ◽  
Inverse Dynamic ◽  
Time Control ◽  
Control Scheme ◽  
Inverse Dynamic Control

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme.

scholarly journals Robust Control Design for Autonomous Vehicles Using Neural Network-Based Model-Matching Approach

Energies ◽  
2021 ◽  
Vol 14 (21) ◽  
pp. 7438
Author(s):  
Dániel Fényes ◽  
Tamás Hegedus ◽  
Balázs Németh ◽  
Péter Gáspár
Keyword(s):  
Neural Network ◽  
Robust Control ◽  
Control Method ◽  
Reference Signal ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Control Input ◽  
Model Matching ◽  
Test Scenario ◽  
Robust Control Design

In this paper, a novel neural network-based robust control method is presented for a vehicle-oriented problem, in which the main goal is to ensure stable motion of the vehicle under critical circumstances. The proposed method can be divided into two main steps. In the first step, the model matching algorithm is proposed, which can adjust the nonlinear dynamics of the controlled system to a nominal, linear model. The aim of model matching is to eliminate the effects of the nonlinearities and uncertainties of the system to increase the performances of the closed-loop system. The model matching process results in an additional control input, which is computed by a neural network during the operation of the control system. Furthermore, in the second step, a robust H∞ is designed, which has double purposes: to handle the fitting error of the neural network and ensure the accurate tracking of the reference signal. The operation and efficiency of the proposed control algorithm are investigated through a complex test scenario, which is performed in the high-fidelity vehicle dynamics simulation software, CarMaker.

CSVS Method for Spacecraft with Two Flexible Appendages during Attitude Maneuver

2014 ◽  
Vol 1049-1050 ◽  
pp. 939-944
Author(s):  
Guan Yu Wang ◽  
Wei Ping Ge ◽  
Guang Wei Yang ◽  
Sheng Chao Wang
Keyword(s):  
Control Strategy ◽  
Vibration Suppression ◽  
Control Method ◽  
Control Strategies ◽  
Rigid Motion ◽  
Vibration Modes ◽  
Attitude Maneuver ◽  
Dc Motor Control ◽  
Simulation Results ◽  
Flexible Appendages

An angle maneuver control strategy of spacecraft with two flexible appendages based on component synthesis vibration suppression (CSVS) method is put forward. Unwanted flexible vibration modes can be eliminated while desired rigid motion can be achieved by this method. Jet device and Momentum wheel system are used as the actuator of the spacecraft’s angle maneuver. Several time-fuel control strategies are designed for spacecraft with flexible appendages. Simulation results validate the feasibility of the CSVS method. The DC motor control method is researched in order to combine momentum wheel system with CSVS method.

Concise Robust Control for MIMO System Based on Frequency Domain Analysis

2013 ◽  
Vol 278-280 ◽  
pp. 1555-1560
Author(s):  
Wei Guan ◽  
Zuo Jing Su ◽  
Guo Qing Zhang
Keyword(s):  
Robust Control ◽  
Frequency Domain ◽  
Weighting Function ◽  
Mimo System ◽  
Design Procedure ◽  
Frequency Domain Analysis ◽  
Design Procedures ◽  
Control Scheme ◽  
Robust Control Design ◽  
Selection Of

In this paper, a concise nonlinear robust control scheme based on the frequency domain is proposed. Compared with the arbitrary selection of weighting function in classical H∞ mixed sensitivity robust control design procedures, the CGSA methods gives a relatively more straightforward and concise design procedure for MIMO robust control problem. In the simulations, the CGSA is applied to an integrated rudder and fin control loop to indicate that the integrated rudder and fin CGSA control scheme is very feasible for future practical application.

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