Multi-modes control method for spacecraft formation establishment and reconfiguration near the libration points

This paper studies Multi-modes control method for libration points formation establishment and reconfiguration. Firstly, relations between optimal impulse control and Floquet modes are investigated. Method of generating modes is proposed. Characteristics of the mode coefficients stimulated at different time are also given. Studies show that coefficients of controlled modes can be classified into four types, and formation establishment and reconfiguration can be achieved by multi-impulse control with the presented method of generating modes. Then, since libration points formation is generally unstable, mutli-modes keeping control method which can stabilize five Floquet modes simultaneously is proposed. Finally, simulation on formation establishment and reconfiguration are carried out by using method of generating modes and mutli-modes keeping control method. Results show that the proposed control method is effective and practical.     

最优轨迹规划方法及其平动点航天器编队均衡耗能重构应用

由于均衡耗能航天器编队能够提高整体航天器编队服役时间,针对平动点航天器编队重构的均衡耗能最优轨迹规划问题,提出一种以状态、协态和控制三类变量插值为核心的求解非线性最优控制问题的新方法。基于连续时间表达的非线性最优控制问题通过变分原理转化为非线性方程组的求解,并进一步推导非线性方程组显示格式的Jacobi矩阵提高非线性方程组的计算效率。本文方法既满足最优控制理论的一阶必要条件又具有较大的收敛域;同时,不需要对协态初值准确猜测,避免了大规模非线性规划问题的求解。通过对中心航天器位置固定和无中心航天器两种情况的数值模拟,结果表明,本文方法对航天器编队重构轨迹规划问题能够达到均衡耗能的目标,具有一定的应用价值。     

Decentralized coordinated attitude control for satellite formation flying via the state-dependent Riccati equation technique

The goal of the present study is to develop a decentralized coordinated attitude control algorithm for satellite formation flying. To handle the non-linearity of the dynamic system, the problems of absolute and relative attitude dynamics are formulated for the state-dependent Riccati equation (SDRE) technique. The SDRE technique is for the first time utilized as a non-linear controller of the relative attitude control problem for satellite formation flying, and then the results are compared to those from linear control methods, mainly the PD and LQR controllers. The stability region for the SDRE-controlled system was obtained using a numerical method. This estimated stability region demonstrates that the SDRE controller developed in the present paper guarantees the globally asymptotic stability for both the absolute and relative attitude controls. Moreover, in order to complement a non-selective control strategy for relative attitude error in formation flying, a selective control strategy is suggested. This strategy guarantees not only a reduction in unnecessary calculation, but also the mission-failure safety of the attitude control algorithm for satellite formation. The attitude control algorithm of the formation flying was tested in the orbital-reference coordinate system for the sake of applying the control algorithms to Earth-observing missions. The simulation results illustrate that the attitude control algorithm based on the SDRE technique can robustly drive the attitude errors to converge to zero.     

三峡库区巫山移民新城址松散堆积体成因机制研究

以巫山移民新城址松散堆积体成因类型为例 ,对三峡库区分布较广的松散堆积体进行了研究。通过对大量新开挖剖面的调查测绘 ,在许多地段发现了堆积与基岩之间的滑坡主滑带 ,说明了在该区分布较广的松散堆积体成因具有复合性。它是构造和岩溶作用前提下形成的滑坡体、崩塌体、泥石流堆积体和岩溶坍陷堆积体。运用高分辨率浅层地震勘探揭示堆积体发育深度可达 40 m至 6 0 m ,通过面波测试可按波速将之划分为三层。最后 ,建立了松散堆积体形成演化的概念模型 ,并运用目前最新版本的离散元软件 (UDEC3.0 )对其中最为重要的一种类型滑崩堆积体的形成演化过程进行了模拟。结果表明 ,该区的层状岩体在长江河流下切过程中 ,形成了区域性的卸荷松动 ,而在岩体下部形成压碎张裂带 ;地下水沿卸荷拉裂带渗入 ,并与压裂带贯通 ,形成了岩溶发育带 ,为滑坡、崩塌、塌陷等表生改造提供了条件。     

Solution set on the natural satellite formation orbits under first-order earth＇s non-spherical perturbation

Using the reference orbital element approach, the precise governing equations for the relative motion of formation flight are formulated. A number of ideal formations with respect to an elliptic orbit can be designed based on the relative motion analysis from the equations. The features of the oscillating reference orbital elements are studied by using the perturbation theory. The changes in the relative orbit under perturbation are divided into three categories, termed scale enlargement, drift and distortion respectively. By properly choosing the initial mean orbital elements for the leader and follower satellites, the deviations from originally regular formation orbit caused by the perturbation can be suppressed. Thereby the natural formation is set up. It behaves either like non-disturbed or need little control to maintain. The presented reference orbital element approach highlights the kinematics properties of the relative motion and is convenient to incorporate the results of perturbation analysis on orbital elements. This method of formation design has advantages over other methods in seeking natural formation and in initializing formation.     

考虑控制延时影响的相邻建筑结构的离散变结构振动控制方法

研究了基于离散变结构控制算法的考虑控制延时影响的相邻建筑结构体系地震反应半主动控制的基本设计和计算方法。首先,建立了相邻结构体系的力学模型及连续运动状态方程,并将其离散化成标准离散状态方程形式。其次,简要地讨论了离散变结构控制器的设计方法,包括切换平面的选择及离散趋近率的构成．最后,应用本文方法对主楼12层,裙房5层的实例结构进行了数值仿真分析,结果表明,该控制方法不仅能有效抑制相邻结构地震反应的鞭梢效应,而且在控制延时存在的情况下,仍能保证系统的减震性能和稳定性。     

Leaderless maneuver guidance and event-triggered formation control for distributed multi-space-robot systems

In this paper, the distributed displacement-based formation and leaderless maneuver guidance control problems of multi-space-robot systems are investigated by introducing event-triggered control update mechanism. A distributed formation and leaderless maneuver guidance control framework is first constructed, which includes two parallel controllers, namely an improved linear quadratic regulator and a distributed consensus-based formation controller. By applying this control framework, the desired formation configuration of multi-space-robot systems can be achieved and the center of leaderless formation can converge to the target point globally. Second, a pull-based event triggering mechanism is introduced to the distributed formation controller, which makes the control update independent of the events of neighboring robots, avoids unnecessary control updates, and saves the extremely limited energy of space robots. Furthermore, the potential Zeno behaviors have been excluded by proving a positive lower bound for the inter-event times. Finally, numerical simulation verifies the effectiveness of the theoretical results.

     

BLS-based formation control for nonlinear multi-agent systems with actuator fault and input saturation

This paper studies the formation control of a nonlinear multi-agent system based on a broad learning system under actuator fault and input saturation. Firstly, the multi-agent tracking error is proposed based on graph theory. Besides, fault tolerance should be considered when actuator fault exists. Meanwhile, the broad learning system is put forward to approximate the unknown nonlinear function in the multi-agent system. Then, an input saturation auxiliary system is introduced to reduce the adverse effects of input saturation constraints. At the same time, the disturbance observer technology is used to estimate the actuator failure as a lumped uncertainty. At last, dynamic surface control is introduced to realize formation control with actuator fault and input saturation. Obviously, it is difficult to design a controller with unknown nonlinear function, input saturation, and actuator fault existing in the multi-agent system. The Lyapunov method can prove the stability of the formation control. The simulation results verify the effectiveness of the controller.

     

Task-space time-varying formation tracking for networked heterogeneous Euler–Lagrange systems via hierarchical predefined-time control approach

This paper studies the task-space predefined-time time-varying formation tracking (TVFT) problem in networked heterogeneous Euler–Lagrange systems (NHELSs) subject to parametric uncertainties and external disturbances. A novel hierarchical predefined-time control algorithm based on the use of non-singular terminal sliding mode control method is proposed, which can achieve the TVFT with digraphs in a predefined time. In this way, the settling time can be predetermined arbitrarily in advance as a control parameter. By virtue of the Lyapunov stability and the nearest neighbor-interactions rules, some sufficient criteria for realizing the task-space predefined-time TVFT of the NHELSs are obtained. Eventually, numerical simulation results are provided to demonstrate the effectiveness of the provided results.

     

Application of flow suction for controlling the shedding of large-scale vortices at boundary-layer separation

A wind-tunnel study of the influence of flow suction on laminar boundary-layer separation behind a two-dimensional step on the surface is performed. Hot-wire measurements are carried out at low subsonic flow velocities. It is demonstrated that this method of flow control allows suppressing the formation of large-scale vortices determined by global stability properties of the separation region. __________ Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 47, No. 4, pp. 60–65, July–August, 2006.     

Modeling and simulation of an acoustic well stimulation method

This paper presents a mathematical model and a numerical procedure to simulate an acoustic well stimulation (AWS) method for enhancing the permeability of the rock formation surrounding oil and gas wells. The AWS method considered herein aims to exploit the well-known permeability-enhancing effect of mechanical vibrations in acoustically porous materials, by transmitting time-harmonic sound waves from a sound source device—placed inside the well—to the well perforations made into the formation. The efficiency of the AWS is assessed by quantifying the amount of acoustic energy transmitted from the source device to the rock formation in terms of the emission frequency and the well configuration. A simple methodology to find optimal emission frequencies for a given well configuration is presented. The proposed model is based on the Helmholtz equation, a sound-hard boundary condition at the casing, and an impedance boundary condition that effectively accounts for the porous solid–fluid interaction at the interface between the rock formation and the well perforations. Exact non-reflecting boundary conditions derived from Dirichlet-to-Neumann maps are utilized to truncate the circular cylindrical waveguides considered in the model. The resulting boundary value problem is then numerically solved by means of the finite element method. A variety of numerical examples are presented in order to demonstrate the effectiveness of the proposed procedure for finding optimal emission frequencies.     

Robust attitude control for rapid multi-target tracking in spacecraft formation flying

A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the antenna is tracking the follower spacecraft. By an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively. To simplify the control design problem, this paper first derives the desired inverse system （DIS）, which can convert the attitude tracking problem of 3D space into the regulator problem. Based on DIS and sliding mode control （SMC）, a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stability theory, the closed loop system stability can be achieved. The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.     

基于市场机制的TLCD半主动控制方案

基于市场机制控制是利用市场来模拟复杂的控制系统,用销售商和消费者来代替控制器和受控结构,从而将整个控制系统离散化,对结构的振动实施有效的控制。本文将基于市场机制的控制理论应用于TLCD半主动控制,提出了一种新的TLCD的半主动控制方案,即基于市场机制的TL CD半主动控制方案。首先建立TLCD-结构控制体系的运动方程,给出了半主动控制方案,用一个单自由度结构为例来阐述基于市场机制的TLCD半主动控制方案并对控制系统进行分析。然后用一个五层结构来验证这种方法的有效性。结果表明,基于市场机制的半主动TLCD开关控制不仅减振效果好,而且节约能量,简单易行,便于在实际工程中应用。     

Water quality control by bank placement based on optimal control and finite element method

This paper presents a method for quality control by bank placement based on an optimal control theory and the finite element method. The shallow water equation is employed for the analysis of the flow condition and the advection‐diffusion equation is used for the analysis of pollutant concentration. The optimal control theory is utilized to obtain a control value for the objective state value. The shear‐slip mesh update method which is suitable for the rotational problem of body is employed. To solve the optimization problem, the time domain decomposition method is applied as a technique of storage requirements reduction. The Sakawa–Shindo method is employed as a minimization technique. The Crank–Nicolson method is applied to the temporal discretization. A method for optimal control of bank placement has been presented. Copyright © 2003 John Wiley & Sons, Ltd.     

SDRE-based near optimal nonlinear controller design for unified chaotic systems

This paper proposes a near optimal controller design method for unified chaotic systems based on state-dependent Riccati equation (SDRE) approach. A parameterization of the optimal nonlinear control gain is given in terms of the solution matrix of an SDRE. A simple algorithm to compute the near optimal control gain is proposed. The proposed near optimal control design method is also extended to the synchronization problem for unified chaotic systems. Finally, the effectiveness of the proposed design method is verified via numerical simulations.     

Control of large-scale structure formation and vortex pairing using photoacoustic forcing

A method making use of the photoacoustic effect to control the formation of large scale structures in an axisymmetric ethylene jet at Reynolds numbers ranging between 2,000 and 2,550 is described. The experiment involved modulating the beam of a CO₂ laser at Strouhal frequencies between 0.31 and 0.46 and focussing the beam into the gas jet. Time-averaged flow fields, perturbed with photoacoustic pulses are compared to that forced with a sinusoidal acoustic excitation and the results of a parametric study of the photoacoustic forcing are presented. Perturbations, achieved by laser heating the gas molecules are shown to force the flow into the jet-column fundamental and harmonic mode and to enhance vortex pairing. Time-averaged merging events at different phases of the process are displayed.     

Stochastic optimal control of cable vibration in plane by using axial support motion

A stochastic optimal control strategy for a slightly sagged cable using support motion in the cable axial direction is proposed.The nonlinear equation of cable motion in plane is derived and reduced to the equations for the first two modes of cable vibration by using the Galerkin method.The partially averaged Ito equation for controlled system energy is further derived by applying the stochastic averaging method for quasi-non-integrable Hamiltonian systems.The dynamical programming equation for the controlled system energy with a performance index is established by applying the stochastic dynamical programming principle and a stochastic optimal control law is obtained through solving the dynamical programming equation.A bilinear controller by using the direct method of Lyapunov is introduced.The comparison between the two controllers shows that the proposed stochastic optimal control strategy is superior to the bilinear control strategy in terms of higher control effectiveness and efficiency.     

An improved nonlinear control strategy for deep space formation flying spacecraft

This paper aims to provide further study on the nonlinear modeling and controller design of formation flying spacecraft in deep space missions. First, in the Sun-Earth system, the nonlinear formation dynamics for the circular restricted three-body problem （CRTBP） and elliptic restricted three-body problem （ERTBP） are presented. Then, with the Floquet mode method, an impulsive controller is developed to keep the Chief on the desired Halo orbit. Finally, a nonlinear adaptive control scheme based on Nonzero set- point LQR and neural network is proposed to achieve high precision formation maneuver and keeping. The simulation results indicate that the proposed nonlinear control strategy is reasonable as it considers not only the orbit keeping of the Chief, but also the formation modeling inaccuracy. Moreover, the nonlinear adaptive control scheme is effective to improve the control accuracy of the formation keeping.     

Stochastic Optimal Control of Nonlinear Systems via Short-Time Gaussian Approximation and Cell Mapping

A novel strategy to obtain global solutions of stochasticoptimal control problems with fixed state terminal conditions and controlbounds is proposed in this paper. The solution is global in the sense that theoptimal control solutions for all the initial conditions in a region of thestate space are obtained. The method makes use of Bellman's principle ofoptimality, the cumulant neglect closure method and the short-time Gaussianapproximation. A Markov chain with a control dependent transition probabilitymatrix is built using the generalized cell mapping method. This allows toevaluate the transient and steady state response of the controlled system. Themethod is applied to several linear and nonlinear systems leading to excellentcontrol performances.