Binzhou Vocation College

Binzhou, China

Binzhou Vocation College

Binzhou, China
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Wang H.,Civil Aviation University of China | Hu Q.,Beihang University | Shi Z.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College | Gao Q.,Civil Aviation University of China
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | Year: 2015

Backstepping-based finite-time control strategies are investigated for spacecraft attitude tracking subject to external disturbances, control saturation and actuator faults. A finite-time fault-tolerant attitude tracking controller is developed by introducing a novel integral-type sliding mode with finite-time convergence, and it is further shown that the controller is independent from a prior knowledge of spacecraft inertia or bound of external disturbances with parameter adaptations. It is important to note that the designed fault-tolerant controller does not require any fault information detection, isolation online even controller reconstruction, and saturation magnitude of actuator output is explicitly taken into account. The stability analysis shows that the finite-time convergence of spacecraft attitude tracking can be ensured by the designed controller with superior fault tolerant capability for actuator faults, even with respect to the multi-constraints such as control saturation and even faults. The control performance of the proposed controller is further evaluated through the numerical simulation analysis, with the robustness to external disturbances and system uncertainties. ©, 2015, AAAS Press of Chinese Society of Aeronautics and Astronautics. All right reserved.


Li B.,Civil Aviation University of China | Li B.,Harbin Institute of Technology | Hu Q.-L.,Harbin Institute of Technology | Shi Z.,Civil Aviation University of China | And 2 more authors.
Yuhang Xuebao/Journal of Astronautics | Year: 2013

A backstepping design based adaptive control algorithm is developed for attitude stabilization of a rigid spacecraft, in which the uncertainties of actuators misalignment and external disturbances are considered. Lyapunov stability analysis shows that the attitude and angular velocity converge to zero, and an novel updating law is employed to implement attitude control law as well, in which the possible singularity problem caused by the estimation of uncertainties due to actuator misalignment is avoided effectively. In addition, a dynamic control allocation is investigated to distribute the desired control command among redundant actuators. This method extends the conventional quadratic-programming control allocation by penalizing the previous step before sampling intervals and minimize the energy consume. Finally, a numerical simulation example for a spacecraft attitude control system is included to illustrate effectiveness and feasibility of the proposed control scheme.


Sri Z.,Civil Aviation University of China | Sri Z.,Binzhou Vocation College | Jiang B.-Y.,Civil Aviation University of China | Hu Q.-L.,Harbin Institute of Technology
2013 25th Chinese Control and Decision Conference, CCDC 2013 | Year: 2013

In this paper, an adaptive control approach combined with time-varying sliding mode technique is developed for attitude maneuver of a rigid spacecraft, in which multi constraints are simultaneous considered, such as thruster uncertainties including thrust misalignment and magnitude error, external disturbances, uncertainty of the inertia of the spacecraft, and even the control saturation. By explicitly considering the saturation magnitude of the available control input to the thruster, the maximum value of thrust is used in the designed control law. Finally Lyapunov stability analysis shows that the closed-loop system is stable and numerical examples illustrate that the effectiveness and robustness of using the proposed controller. © 2013 IEEE.


Shi Z.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College | Wang H.,Civil Aviation University of China | Li L.,Harbin Institute of Technology | Hu Q.-L.,Harbin Institute of Technology
26th Chinese Control and Decision Conference, CCDC 2014 | Year: 2014

In this paper, a simple robust saturation controller is developed for attitude maneuver of a rigid spacecraft, in which external disturbances and control input constraint are simultaneously taken into account. Precisely, a class of novel nonlinear saturation functions, called power saturation function, is investigated to rigorously enforce actuator-magnitude saturation constraints. Although control smoothness is preserved at all times, it is important to note that the results of this paper that are derived with respect to magnitude saturation place no additional restrictions on the body inertias and make no other small-angle assumptions. The novelty of the approach is in the strategy to construct such a Lyapunov function that ensures not only stability of closed-loop system but also an L2-gain constraint on the performance, which provides a closed-form solution for spacecraft attitude control problem, compared with the conventional methods. Finally numerical examples illustrate the effectiveness and robustness of the proposed controller. © 2014 IEEE.


Shi Z.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College | Wang Y.-Z.,Civil Aviation University of China | Hu Q.-L.,Harbin Institute of Technology
Yuhang Xuebao/Journal of Astronautics | Year: 2011

A nonholonomic motion planning methodology for Free-Floating Space Robot (FFSR) is proposed by using polynomial interpolation combined with particle swarm optimization algorithm. More specifically, under the nonholonomic constrained conditions of system, the optimal control technique is applied for FFSR trajectory planning, in which the dissipative energy of the manipulator joint angles is considered as an objective function. Moreover, the high order polynomial is used to approach the trajectories of the joint angles, and set the coefficients of the interpolation polynomial as optimization parameters. The particle swarm optimization is implemented to achieve the optimal trajectory, such that the planned joint angle trajectories are smooth and continuous, and the angular velocities and the accelerations of joints at the initial and final equal to zero. Numerical simulation results demonstrate that the proposed method is effective and available for solving the Free-Floating trajectory planning problem.


Li B.,Civil Aviation University of China | Hu Q.-L.,Harbin Institute of Technology | Shi Z.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College | Ma G.-F.,Harbin Institute of Technology
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | Year: 2012

We develop a robust adaptive controller based on the backstepping method for the attitude maneuver of the spacecraft with unknown rotational inertia and unknown external disturbances. The stability of the closed-loop system is validated by using Lyapunov analysis. In considering the redundancy of the actuators-the reaction fly-wheels, we propose a dynamic allocation algorithm based on the constrained optimal quadratic programming for distributing the control command to the proper fly-wheel. This eliminates the physical restrictions on the fly-wheel characteristics and the limitation of the maximal torque, which are required in the conventional pseudo-inverse method. In addition, it also effectively suppresses the measurement noises and rejects the abnormal data from attitude sensors, improving the smoothness of the control torque. The proposed scheme has been applied to control the attitude maneuver of a wheel-control rigid spacecraft. Simulation results validate the efficacy of the proposed method.


Shi Z.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College | Li B.,Civil Aviation University of China | Hu Q.-L.,Harbin Institute of Technology | Gao Q.-J.,Civil Aviation University of China
Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012 | Year: 2012

The reaction wheels (RWs) play an important role in conducting spacecraft attitude control commands, and redundant RWs are dominantly configurated for spacecraft missions to ensure the pointing accuracy and reliability. In this work, firstly, for the rigid spacecraft with uncertain inertia matrix and bounded disturbances, a robust adaptive controller based-on backstepping is proposed to achieve the high pointing accuracy, and the Lyapunov functions are introduced to analyze the stability of the closed-loop system. In addition, a dynamic control allocation scheme based-on constrained quadratic programming for energy optimal is implemented to redistribute the control command of the overactuated system. In this way, the unexpected signals and noise can be removed. Finally, the schemes proposed are applied to a attitude maneuver mission of rigid spacecraft with redundant RWs, and the numerical simulation results verify the effectiveness and feasibility of the proposed control schemes. © 2012 IEEE.


Wang Y.-Z.,Civil Aviation University of China | Hu Q.-L.,Harbin Institute of Technology | Shi Z.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | Year: 2011

Considering the problem of spacecraft attitude disturbance due to the motion of manipulator, a trajectory planning scheme based on particle swarm optimization (PSO) algorithm is proposed for free floating space robot (FFSR) to minimize the disturbance. By analyzing the system angular momentum conservation equation, the objective function for minimizing the disturbance is presented. High order polynomial is used to approximate the trajectories of manipulator joints, and the coefficients of the polynomial are set as optimization parameters. To guarantee the trajectory planning algorithm convergence, the PSO algorithm with constriction factor is used to search the optimal trajectory. Simulation results show that the spacecraft attitude disturbance is effectively restrained with accomplishing the position and attitude adjusting mission, which verifies the validity of the proposed method.


Li D.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College
2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011 - Proceedings | Year: 2011

The modeling and control problem of networked control systems(NCSs) with bounded time-delay and data packet dropout are discussed. Using a full-order observer to compensate networked-induced delay, the system is modeled as an asynchronous dynamical system(ADS) with rate constraints on events by defining an augmented state vector. The criterion for the exponential stability of the networked control systems is presented. Finally, the simulation results are given to show the effectiveness of the presented method. © 2011 IEEE.


Shi Z.,Civil Aviation University of China | Shi Z.,Binzhou Vocation College | Zhang H.,Civil Aviation University of China | Ha D.,Civil Aviation University of China | Gao Q.,Civil Aviation University of China
IET Conference Publications | Year: 2012

According to the problem that the traditional map-building method has high complexity, a map-matching method based on the combination of normal distribution transform (NDT) and environment feature extraction is proposed. The real-time environment information is obtained by two dimension laser sensors, from which the geometric feature is extracted and it will be transformed into normal distribution using NDT method, then the map is matched the by Newton' s algorithm. The method can reduce the complexity of the traditional NDT process, improving the efficiency of the map-matching. The experiment results demonstrate the effectiveness and superiority of the method.

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