A Robust Control Algorithm of a Descent Vehicle Angular Motion in the Earth’s Atmosphere

Зубов, Н. Е.; Lapin, Alexey V.; Ryabchenko, V. N.; Proletarsky, Andrey; Selezneva, M. S.; Neusypin, K. A.

doi:10.3390/app12020731

Cited by 3 publications

(1 citation statement)

References 22 publications

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“…Let the nominal aircraft dynamics is described by a linear model ,  = + x Ax Bu (1) where  is the discrete one step forward shift operator, x is the n-dimensional completely known state vector, u is the m-dimensional control vector, A is the state matrix, and B is the control matrix [8].…”

Section: The Problem Statementmentioning

confidence: 99%

On reachability of nominal aircraft flight dynamics by data-based control reconfiguration in case of actuator failures

Lapin,

Zybin,

Kosyanchuk

2023

E3S Web Conf.

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The paper proposes the data-based method for reaching and maintaining the nominal aircraft flight dynamics in in case of actuator failures. The method is based on aircraft control reconfiguration and uses input and output data of flight control system only. The novelty of the proposed method lies in the reachability of nominal dynamics not in one, but in several discrete steps from the moment the reconfiguration starts. This makes it possible to ensure the reachability of the desired states for any controllability index of the linear discrete model, as well as to reduce the norms of reconfigured control vectors.

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Section: The Problem Statementmentioning

confidence: 99%

On reachability of nominal aircraft flight dynamics by data-based control reconfiguration in case of actuator failures

Lapin,

Zybin,

Kosyanchuk

2023

E3S Web Conf.

Self Cite

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Generalization of Ackermann Formula for a Certain Class of Multidimensional Dynamic Systems with Vector Input

Lapin,

Zubov,

Proletarskii

2023

HoBMSTU.SNS

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A compact analytical formula is obtained that determines the entire set of solutions of the modal control problem for a wide class of multidimensional dynamical systems with vector input, where the number of states is divisible by the number of control inputs, and the controllability index is equal to the quotient of this division. This formula generalizes to systems with the vector input the Ackermann formula applied to multidimensional systems with scalar input. The basis to obtaining the generalized Ackermann formula lies in the original concepts of the Luenberger generalized canonical form and operations of the matrices block transposition. For the most convenient calculation of controller, the original system with vector input is reduced to the generalized Luenberger canonical form using the two successive similarity transformations. A lemma is proved that demonstrates the compact analytical form of the inverse transformation matrix. Transition equivalence makes it possible to obtain a complete countably infinite parametrized set of solutions to the modal control problem under consideration. Its parametrization is provided by selecting block coefficients of the matrix polynomial, which determinant corresponds to the given scalar characteristic polynomial. In cases, where the matrix polynomial involved in parametrization is not reduced to the multipliers, the generalized Ackermann formula contains solutions to the modal control problem that could not be obtained using the existing decomposition method. Examples are presented demonstrating both suitability of the proposed formula for analytical synthesis of modal controllers by state in systems with vector input and its advantages in comparison with the decomposition method

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A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot

Wang

Katupitiya

2023

Actuators

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As people further develop space with advanced technology, space robots have played a significant role in on-orbit servicing missions. Space robots can carry out more risky and complicated missions with less cost than astronauts. Dual-arm space robots can perform complex on-orbit space missions more effectively than single-arm space robots. Since the coupled dynamics between the free-floating base and the arms exist in space robots, accurate coordinate control of the base and the arms is essential. Spacecraft release missions have been proposed to berth/deberth a spacecraft to a space station. Based on the existing release missions, a tangent release strategy is introduced in this paper, which can release a space object in the tangent direction of the final link of a space manipulator. This strategy can control a dual-arm space robot to deploy cargo/spacecraft in variable directions in 3D space without thrusters and the associated fuel consumption. For instance, this tangent release operation can transport cargo or modules of large-scale spacecraft needing on-orbit assembly. Considering model uncertainties, robust controllers again model uncertainties that are used to control the dual-arm space robot with high accuracy. Hence, a robust sliding mode controller (SMC) is utilized to accurately control the space robot to carry out the proposed tangent release strategy. For comparison, we select a conventional computed torque control (CTC) implemented by a PD-type controller. In the simulations, the SMC performs better in tracking accuracy and robustness against the model uncertainties than the PD controller. Numerical simulations indicate the feasibility and effectiveness of the tangent release manipulation of a space object by a dual-arm space robot.

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A Robust Control Algorithm of a Descent Vehicle Angular Motion in the Earth’s Atmosphere

Cited by 3 publications

References 22 publications

On reachability of nominal aircraft flight dynamics by data-based control reconfiguration in case of actuator failures

On reachability of nominal aircraft flight dynamics by data-based control reconfiguration in case of actuator failures

Generalization of Ackermann Formula for a Certain Class of Multidimensional Dynamic Systems with Vector Input

A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot

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