Temat: finite-time optimal control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Finite-time SDRE control of F16 aircraft dynamics
Autorzy:: Chodnicki, Marcin
Pietruszewski, Paweł
Wesołowski, Mariusz
Stępień, Sławomir
Powiązania:: https://bibliotekanauki.pl/articles/2175113.pdf
Data publikacji:: 2022
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: aircraft modelling
state-dependent Riccati equations
finite-time optimal control
Opis:: This paper proposes a finite-time horizon suboptimal control strategy based on state-dependent Riccati equation (SDRE) to control of F16 multirole aircraft. Flight stabilizer control of super maneuverable aircraft is modelled and simulated. For aircraft modelling purpose a full 6 DOF model is considered and described by nonlinear state-space approach. Also a stable state-dependent parametrization (SDP) necessary for solution of the SDRE control problem is proposed. Solution of the SDRE control problem with adequate defined weighting matrices in performance index shows possibility of fast and optimal aircraft control in finite-time. The method in this form can be used for stabilization of aircraft flight and aerodynamics.
Źródło:: Archives of Control Sciences; 2022, 32, 3; 557--576
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Kinematically optimal robust control of redundant manipulators
Autorzy:: Galicki, M.
Powiązania:: https://bibliotekanauki.pl/articles/266099.pdf
Data publikacji:: 2017
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: redundant robotic manipulator
task space trajectory tracking
robust optimal finite-time control
Lyapunov stability
manipulator
przestrzeń robocza manipulatora
Stabilność Lapunowa
Opis:: This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
Źródło:: International Journal of Applied Mechanics and Engineering; 2017, 22, 4; 839-865
1734-4492
2353-9003
Pojawia się w:: International Journal of Applied Mechanics and Engineering
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Spacecraft attitude fault tolerant control based on multi-objective optimization
Autorzy:: Moradi, Rouzbeh
Alikhani, Alireza
Fathi Jegarkandi, Mohsen
Powiązania:: https://bibliotekanauki.pl/articles/1839618.pdf
Data publikacji:: 2020
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: active fault-tolerant control
spacecraft attitude control
finite time convergence
Pareto-optimal set
Opis:: An active fault tolerant controller is designed for the attitude control of a faulty spacecraft. Feedback linearization and Lyapunov’s direct method are used to solve angular velocity equations and to ensure convergence of the system outputs to reference inputs, respectively. In order to ensure finite time convergence, final time constraints are proposed. Three con- structive objective functions are considered as performance measures and optimized using multi-objective optimization. The results show that the outputs converge to the reference attitudes, even for severe actuator faults/failures.
Źródło:: Journal of Theoretical and Applied Mechanics; 2020, 58, 4; 983-996
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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