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371 results on '"Zong, Qun"'

1. Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor

Author

Xu, Liwen, Tian, Bailing, Wang, Cong, Lu, Junjie, Wang, Dandan, Li, Zhiyu, and Zong, Qun

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is proposed to estimate the lumped disturbances. The bi-limit homogeneity and Lyapunov techniques are employed to ensure the convergence of estimation error within a fixed convergence time, independent of the initial estimation error. Then, an observerbased model predictive control strategy is formulated to achieve robust trajectory tracking of quadrotor, attenuating the lumped disturbances and model uncertainties. Finally, simulations and real-world experiments are provided to illustrate the effectiveness of the proposed method.

Published
2024

7. Adaptive High-Order Sliding Mode Based Fault Tolerant Control of RLV

Author

Li, Zhiyu, Zhang, Xiaojin, Tian, Bailing, Zong, Qun, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Deng, Yimin, editor

Published
2023
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8. Autonomous Flight for Multi-UAV in GPS-Denied Environment

Author

Lu, Junjie, Shen, Hongming, Pan, Lianrong, Zhang, Xuewei, Tian, Bailing, Zong, Qun, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Ren, Zhang, editor, Wang, Mengyi, editor, and Hua, Yongzhao, editor

Published
2023
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9. Adaptive Finite-Time Reconfiguration Control for Spacecraft Formation with Collision Avoidance

Author

Yang, Xicheng, Zong, Qun, Zhang, Xiuyun, Liu, Wenjing, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Yu, Xiang, editor

Published
2022
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16. Global Finite-Time Adaptive Attitude Control for Coupled Spacecraft With Model Uncertainty and Actuator Faults

Author

Zhu, Wanwan, Yang, Yukai, Tian, Bailing, and Zong, Qun

Abstract

In this brief, a global finite-time adaptive attitude control algorithm is investigated for flexible spacecraft with slosh structure under model uncertainty, external disturbance, and actuator fault. First, the arctangent function (AF) surface is designed to realize the faster convergence time of quaternion-descripted attitude control system. Then, based on AF, an adaptive fault-tolerant control (FTC) algorithm is proposed to realize global finite-time attitude control of coupled spacecraft. The merit of the designed control algorithm is that it assumes that the upper bound of the lumped uncertainty (including model uncertainty related to angular velocity) is less than the combination of a positive constant, angular velocity, and control torque, rather than just less than a positive constant. The Lyapunov technique is used to prove the stability of whole closed-loop system. Numerical examples are performed to prove the efficiency of the designed control algorithm.

Published
2024
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17. Velocity-Free Attitude Control for Flexible Spacecraft With Global Finite-Time Convergence

Author

Zhu, Wanwan, Yang, Yukai, Tian, Bailing, and Zong, Qun

Abstract

In this brief, a global finite-time attitude control algorithm is proposed for flexible spacecraft without angular velocity measurement. First, a global finite-time observer is designed to estimate unknown angular velocity, eliminating the assumption that the derivative of attitude angle or initial angular velocity is bounded. Based on the proposed observer, a non-overestimated adaptive terminal sliding mode control (ATSMC) algorithm is designed to realize global finite-time attitude control. The main feature of this brief is that the upper bound of lumped uncertainty considered in this brief is related to angular velocity rather than constant, which is more practical. The stability of entire closed-loop system is guaranteed by Lyapunov function. Finally, numerical simulations are given to illustrate the efficiency of the proposed control algorithm.

Published
2024
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47. Event-Based Robust Optimal Consensus Control for Nonlinear Multiagent System With Local Adaptive Dynamic Programming

Author

Wang, Jie, Zhang, Zitao, Tian, Bailing, and Zong, Qun

Abstract

This article investigates the robust optimal consensus for nonlinear multiagent systems (MASs) through the local adaptive dynamic programming (ADP) approach and the event-triggered control method. Due to the nonlinearities in dynamics, the first part defines a novel measurement error to construct a distributed integral sliding-mode controller, and the consensus errors can approximately converge to the origin in a fixed time. Then, a modified cost function with augmented control is proposed to deal with the unmatched disturbances for the event-based optimal consensus controller. Specifically, a single network local ADP structure with novel concurrent learning is presented to approximate the optimal consensus policies, which guarantees the robustness of the MASs and the uniform ultimate boundedness (UUB) of the neural network (NN) weights’ estimation error and relaxes the requirement of initial admissible control. Finally, an illustrative simulation verifies the effectiveness of the method.

Published
2024
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48. Distributed Practical Finite-Time Formation Control of Quadrotor UAVs Based on Finite-Time Event-Triggered Disturbance Observer

Author

Wang, Fang, He, Shan, Zhou, Chao, Gao, Yali, and Zong, Qun

Abstract

In this article, a finite-time event-triggered disturbance observer (FTETDO) is first designed to handle external disturbance of multiple quadrotor UAVs (QUAVs). The designed FTETDO can effectively reduce update number of observer and the estimation error achieves practical finite-time stability without Zeno behavior. Then a distributed finite-time tracking control strategy is proposed to realize the practical finite-time stability of multiple QUAVs formation. In order to overcome the computational explosion problem, the finite-time filter is employed and the error compensation mechanism is developed to eliminate the influence of filter error on tracking error. Based on the Lyapunov theory, it is proved that the designed control strategy can guarantee practical finite-time stability of the closed-loop system. Finally, simulation is carried out to testify the efficiency of the developed control scheme.

Published
2024
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