Attitude Control System Research Articles

Bionic fish position control with the desired heading angle of the target position

This paper proposes an underdriven bionic fish position control system with the desired heading angle at the target position. The developed position control system controls the bionic fish to reach the desired target position while maintaining the heading angle at the target position. The system comprises a virtual waypoint-based line-of-sight (VW-LOS) guidance system, an inner-loop control system, and a linear extended state observer (LESO). First, the VW-LOS system generates a virtual waypoint behind the target position, transforming the bionic fish's position control problem into a straight-line path tracking problem. The heading and speed guidance laws are used to generate the desired heading angle and speed required during the tracking process. An inner-loop controller is subsequently used to regulate the controlled reference, including a heading tracking controller, a speed tracking controller, and a fuzzy inference module that converts forces and moments into inputs to the bionic fish's central pattern generator (CPG) network. Moreover, the LESO estimates the unmeasurable speed and sideslip angle and feeds back to the VW-LOS system and the inner-loop controller. Finally, simulation and experimental results verify the effectiveness of the proposed control system.

Design and Implementation of a Linear Active Disturbance Rejection Control-Based Position Servo Control System of an Electromotive Valve for Exhaust Gas Recirculation.

An exhaust gas recirculation (EGR) valve is used to quickly and dynamically adjust the amount of recirculated exhaust gas, which is critical for improving engine fuel economy and reducing emissions. To address problems relating to the precise positioning of an electromotive (EM) valve under slowly varying plant dynamics and uncertain disturbances, we propose a servo control system design based on linear active disturbance rejection control (LADRC) for the EGR EM valve driven by a limited angle torque motor (LATM). By analyzing the structure of the LATM and the transmission, the dynamic model of the system is derived. In addition, to solve the problems caused by slowly varying plant dynamics and uncertain disturbances, we combine the effects of uncertain model parameters and external disturbances as the total disturbance, which is estimated in real time by an extended state observer (ESO) and then compensated. In addition, accurate angular information is obtained using a non-contact magnetic angle measurement method, and a high-speed digital communication channel is established to help implement a closed-loop position control system with improved responsiveness and accuracy. Simulation and experimental results show that the proposed servo system design can effectively ensure the precision and real-time performance of the EM valve under slowly changing plant dynamics and uncertain disturbances. The proposed servo system design achieves a full-stroke valve control accuracy of better than 0.05 mm and a full-stroke response time of less than 100 ms. The controlled valve also has good robustness under shock-type external disturbances and excellent airflow control capability. The repeatability of the airflow control is generally within 5%, and the standard deviation is less than 0.2 m3/h.

Development of a Position Control System for Wheeled Humanoid Robot Movement Using the Swerve Drive Method Based on Fuzzy Logic Type-2

A humanoid robot is capable of mimicking human movements, which poses a challenge for researchers. This has led some to utilise wheels to facilitate its motion. However, achieving smooth and accurate movements at desired positions remains a challenge, necessitating the development of an optimal control system and movement method. In this study, solutions to address these challenges include the use of type-2 fuzzy logic controller (FLC) and the swerve drive method. During the steering rotation movement testing, type-1 FLC exhibits the fastest response time of 0.8 seconds, but oscillations occur, reaching up to 117 degrees to achieve the set point of 90 degrees. Additionally, type-1 FLC cannot reach the set point of -90 degrees. On the contrary, type-2 FLC aligns successfully with both set points of 90 and -90 degrees. In coordinate movement testing, type-1 FLC still shows an error between 1 cm and 2 cm compared to type-2 FLC, particularly with 3 and 5 members, which are equal to the given set point. The results of the tests indicate that type-2 FLC is reliable, showing a small steady-state error, stability, and no overshoot, despite its longer response time and processing duration compared to type-1 FLC.

Design of anti-unwinding attitude coupling controller for flexible spacecraft using positive position feedback control

Flexible vibration has a great impact on flexible spacecraft attitude control, which will reduce the pointing accuracy of the spacecraft platform and bring severe challenges to the design of a high-precision attitude control system for flexible spacecraft. Aiming at the problem of attitude and vibration coupling control of flexible spacecraft, an anti-unwinding attitude coupling controller using the positive position feedback (PPF) control is proposed in this paper. The model compensation control term is constructed based on the prior information to improve the tracking performance. The proposed attitude coupling control method can effectively suppress the flexible vibration while achieving more accurate attitude control. The obtained closed-loop system under the proposed control scheme is asymptotically stable, which is proved by the Lyapunov stability theory. The numerical simulation illustrates that the proposed method can effectively improve the attitude control accuracy of the flexible spacecraft and is capable of large-angle attitude maneuver control because of its prominent performance in attitude tracking and its unwinding-free performance.

Design and Implementation of Continuous Bounded Finite-Time Attitude Control of Reusable Launch Vehicle

In this paper, a novel continuous bounded finite-time control algorithm is proposed for reusable launch vehicle (RLV) attitude control system with mismatched disturbances and unknown control coefficients. The remarkable feature of the developed algorithm is to ensure the finite-time stability of RLV attitude system with uniformly continuous bounded control torque signal. Meanwhile, a multivariable finite-time observer is designed to estimate the unknown mismatched disturbances, and the combination of the developed controller and observer could offer better robustness without losing control boundedness. Finally, numerical simulations and experimental results based on three-axis turntable are provided to verify the effectiveness and advantages of the proposed continuous bounded finite-time control method.

Analysis of Energy and Thermal Performance of High-Altitude Airship under Variable Attitude

The thermal problem of high-altitude airships has an essential impact on position control and energy system performance. Adjusting the airship’s attitude angle causes differences in thermal performance during position alterations. This paper studies an airship’s energy and thermal performance under variable attitudes. We establish an airship solar radiation and thermal model to analyze power output under different thermal conditions. The thermal performance of airships at varying pitch angles is investigated using computational fluid dynamic (CFD) software (Fluent V6.3.26). To determine the optimal distribution of pitch angles under various conditions, we have developed an optimization model that considers both the presence and absence of thermal influence. We have also assessed the impact of airship geometric parameters on the optimal pitch angle, considering the diversity of airship shapes. Our results demonstrate that pitch angle alterations significantly influence airships’ temperature and flow field distribution. But the degree of necessity of considering the thermal effect in calculating the optimal pitch angle distribution varies depending on the date and latitude, with the most vital need observed during low-latitude summer and the weakest during high-latitude winter. The findings of this research have significant reference value in selecting operation strategies and the control of operating performance for high-altitude airships.

Finite‐time command filter control for dynamic positioning of remotely operated vehicles based on disturbance observer

AbstractTo deal with the problems of low positioning accuracy and poor stability caused by model parameter uncertainty and external disturbances in the remotely operated vehicle (ROV) dynamic positioning control system, the adaptive fuzzy control is combined with a disturbance observer to estimate the lumped disturbances and the error compensation mechanism is introduced to design the ROV dynamic positioning controller based on the finite‐time command filter. The combination of finite‐time command filter control and the backstepping method ensures that the positioning error converges to a smaller neighborhood near zero in finite time. The stability of the closed‐loop system is demonstrated according to the Lyapunov stability theory. The simulation results show that a 13% performance improvement over traditional backstepping methods is achieved by the designed controller, effectively suppressing system lumped disturbances and achieving fast and accurate positioning of the desired positions.

Power Positioning System Control Study of “Intelligent Research and Internship Vessel” Based on Terminal Sliding Mode

As most of the current dynamic positioning systems are based on model ships, they cannot accurately reflect the motion state, position changes, and mutual influence of each part of the dynamic positioning system of actual ships in complex environments. Other actual ships such as cargo ships cannot add various sensors and auxiliary equipment to verify and analyze the positioning system. This article takes the intelligent research and training dual-use ship of Dalian Maritime University, which integrates scientific research and training, as the object of study. This ship will not be affected by the voyage period and route and can choose a suitable sea area for research. Therefore, in order to improve the accuracy and reliability of the dynamic positioning system, research on the ship’s dynamic positioning system was carried out. Firstly, an accurate mathematical model was developed to simulate ship motion, focusing on the use of the Dalian Maritime University’s intelligent and practical training dual-purpose vessel as the modeling object. Through this approach, a more detailed understanding of the effects of actual environmental perturbations on ship control and positioning can be obtained, as well as more realistic ship control and positioning results. The hydrodynamic derivatives of ship model motion were obtained by numerical calculation and applied to the three-degree-of-freedom model of the intelligent research and training dual-use ship. Then, the model was used as part of the closed-loop simulation model of the ship’s dynamic positioning system, and the terminal sliding mode controller was used for simulation and emulation, thereby obtaining ideal simulation test results. Our results deepen the understanding of DPS accuracy and are consistent with the theory of terminal slip modes for ship power positioning control systems. This has implications for improving the accuracy of ship power positioning systems, as previously discussed in previous authors. In conclusion, this study not only improves the accuracy and reliability of the DPS but also proposes the use of the terminal slip film for a ship power positioning control system modeled on the Dalian Maritime University intelligent and practical dual-purpose vessel. These contributions are significant in improving the efficiency, safety, and environmental sustainability of ship operations.

Refined sliding mode disturbance observer‐based finite‐time composite control for Euler–Lagrange systems with multiple disturbances

AbstractA wide range of practical control systems such as robot manipulators and spacecrafts can be modeled by Euler–Lagrange systems. On one hand, the requirements for system control accuracy, response speed, and robustness are ever increasing. On the other hand, the control performances are inevitably degraded by multiple disturbances. In this paper, a novel finite‐time composite control law is proposed for a class of Euler–Lagrange systems subject to multiple heterogeneous disturbances including a neutrally stable disturbance and a norm‐bounded disturbance. More specifically, a refined sliding mode disturbance observer (RSMDO) is proposed to estimate and reject the neutrally stable disturbance in the feedforward channel, while an adaptive nonsingular backstepping control (ANBC) is designed in the feedback channel to stabilize the system and attenuate the observer error as well as the norm‐bounded disturbance. The proposed RSMDO can not only fully utilize the disturbance information, but also quantify the convergence time and steady‐state accuracy of the estimation error. The finite‐time stability analysis is carried out for the closed‐loop system. Finally, an example of spacecraft attitude control system is given to demonstrate the effectiveness of the proposed methods.

Миссия к Марсу на базе универсальной малогабаритной платформы с ЭРДУ

In the preprint, the concept of a mission to Mars is developed based on the micro-class space platform, a standardized spacecraft with a dry mass of no more than 100 kg equipped with a unified electric propulsion system for orbital maneuvering and attitude control. The spacecraft bus design and the possible payload are described in detail. The preliminary flight dynamics analysis proves the feasibility of the proposed concept.

Development of an Air-Bearing Testbed for Nanosatellite Attitude Determination and Control Systems

Development of an Air-Bearing Testbed for Nanosatellite Attitude Determination and Control Systems

Orbit-injection Strategy to a Multistage Launch Vehicle Based on Six-Degree of Freedom and Coupled Axes Attitude Control System

Orbit-injection Strategy to a Multistage Launch Vehicle Based on Six-Degree of Freedom and Coupled Axes Attitude Control System

A data-driven configurability evaluation method for spacecraft control systems

<p style='text-indent:20px;'>To release severe constraints of spacecraft on orbit resources (in-cluding computing resources, hardware resources and energy resources), the data-driven reconfigurability evaluation of spacecraft attitude control system is studied in this paper. Firstly, the reconfiguration capability is quantitatively described based on the data forms of stable kernel representation and stable image representation of spacecraft control system subject to noise. Then, based on the obtained reconfigurability index, the maximum boundary of system re-configurability is given, which provides theoretical guidance for the design of autonomous reconfiguration strategy. Finally, an example is employed to verify the effectiveness and correctness of the proposed method.</p>

Novel Sliding Innovation Filter Inspired Fault Detection for Hydrofoil Attitude Control Systems

Novel Sliding Innovation Filter Inspired Fault Detection for Hydrofoil Attitude Control Systems

Simulation of an x-y pneumatic position control system using a smart control algorithm

Simulation of an x-y pneumatic position control system using a smart control algorithm

Optimization Method for Magnetic-Head Positioning Control System in HDD Against Unexpected Plant Perturbations by Using Data Mining Techniques

Optimization Method for Magnetic-Head Positioning Control System in HDD Against Unexpected Plant Perturbations by Using Data Mining Techniques

Notice of Removal: Self-Sensing Actuation Circuit for PZT Micro-actuator in HDDs

This paper presents a new self-sensing actuation (SSA) circuit for using the piezoelectric (PZT) micro-actuator as both an actuator and a sensor simultaneously. The proposed SSA circuit senses the voltage signal generated by the PZT micro-actuator at operating frequencies, while the control voltage applied to the same PZT micro-actuator is not affected. The components of the proposed SSA circuit are minimized to allow easy balancing and implementation. In simulations, the proposed SSA circuit had similar characteristics to the conventional SSA circuit. In experiments, the proposed SSA circuit was tested with a commercial hard disk drive (HDD). The results show that the proposed SSA circuit does not affect the conventional read/write (R/W) head positioning control system. The frequency response of the PZT micro-actuator measured by the proposed SSA circuit had similar to the frequency response of the R/W head displacement at both the resonant frequency and the operating frequencies. The proposed SSA circuit was also tested at various operating temperatures of the HDD. Errors in the sensing voltage signal caused by the unbalanced SSA circuit clearly correlated to the temperatures from 10 °C to 60 °C.

Linear-Rotary Position Control System With Enhanced Disturbance Rejection for a Novel Total Artificial Heart

Linear-Rotary Position Control System With Enhanced Disturbance Rejection for a Novel Total Artificial Heart

Precision space telescope attitude determination and control system design principles

In order to preclude the impact of atmospheric factors on the quality of received data, state of the art astronomy research projects require spacecraft mounted telescopes. However, such designs entail the issue of sustaining the accuracy of telescope boresight attitude relative to the object of observation for the required period of time. This paper is a summary of design principles for an attitude determination and control system of a space telescope mounted rigidly onboard a spacecraft. The paper formulates requirements for attitude accuracy, and proposes a viable equipment configuration as well as a three- stage attitude control algorithm. The first stage of the algorithm ensures primary boresight pointing towards the target object prior to the object being captured in the telescope’s FoV based on star tracker and angular rate sensor data. The second stage of the algorithm ensures boresight positioning relative to the target object direction up to an error value allowing for the required image quality, based on telescope readings. The third stage of the algorithm ensures telescope boresight holding relative to the target object direction with a required accuracy for the duration of exposure. Interferences from operating satellite equipment are reviewed, and the principles of reducing their impact on sighting accuracy are formulated. Low inclination, low eccentricity geostationary orbit is recommended as the best operating environment for the space telescope’s scientific instrumentation, as well as for providing a continuous data interface between spacecraft and ground segment.

Performance improvement of DC servo motor using sliding mode controller

<p>Sliding mode control has emerged as a valuable technique for enhancing dynamic response in various fields, including load frequency regulation and remote vehicle applications. While the widely adopted PID controller has proven effective for optimizing control tasks in industries, sliding mode control offers distinct advantages. By controlling the slope of the dynamical trends of state variable behavior, it enables rapid dynamic response with minimal or no overshoot, as well as negligible steady-state error. The robustness of sliding mode control, which makes it highly resilient to changes in plant parameters and outside disturbances, is one of its main advantages. A digital computer simulation was run using Simulink in the MATLAB software, concentrating on a position control system using an armature voltage-controlled D.C. servo motor to assess how well it performed. To learn more about the operation of sliding mode control, several control laws were used and state trajectories were examined. When compared to the conventional tuned PID control, the findings and discussion conclusively show sliding mode control to be more successful. The sliding mode technique has exceptional effectiveness, including enhanced dynamic response, less overshoot, and almost no steady-state error. Furthermore, its robust nature ensures consistent operation even in the face of parameter fluctuations and external disturbances. This study underscores the immense potential of sliding mode control as a powerful alternative to conventional control methods. Its ability to enhance system performance, coupled with its inherent robustness, makes it a compelling choice for various industrial applications where precise control and resilient operation are crucial.</p>