PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.      

Design structure matrix (DSM) method application to issue of modeling and analyzing the fault tree of a wind energy asset

The perpetual energy production of a wind farm could be accomplished (under proper weather conditions) if no failures occurred. But even the best possible design, manufacturing, and maintenance of a system cannot eliminate the failure possibility. In order to understand and minimize the system failures, the most crucial components of the wind turbines, which are prone to failures, should be identified. Moreover, it is essential to determine and classify the criticality of the system failures according to the impact of these failure events on wind turbine safety. The present study is processing the failure data from a wind farm and uses the Fault Tree Analysis as a baseline for applying the Design Structure Matrix technique to reveal the failure and risk interactions between wind turbine subsystems. Based on the analysis performed and by introducing new importance measures, the “readiness to fail” of a subsystem in conjunction with the “failure riskiness” can determine the “failure criticality.” The value of the failure criticality can define the frame within which interventions could be done. The arising interventions could be applied either to the whole system or could be focused in specified pairs of wind turbine subsystems. In conclusion, the method analyzed in the present research can be effectively applied by the wind turbine manufacturers and the wind farm operators as an operation framework, which can lead to a limited (as possible) design‐out maintenance cost, failures' minimization, and safety maximization for the whole wind turbine system.     

A multilevel sampled‐data approach for resilient navigation and control of autonomous systems

Autonomous systems are rapidly becoming an integrated part of the modern life. Safe and secure navigation and control of these systems present significant challenges in the presence of uncertainties, physical failures, and cyber attacks. In this paper, we formulate a navigation and control problem for autonomous systems using a multilevel control structure, in which the high‐level reference commands are limited by a saturation function, whereas the low‐level controller tracks the reference by compensating for disturbances and uncertainties. For this purpose, we consider a class of nested, uncertain, multiple‐input–multiple‐output systems subject to reference command saturation, possibly with nonminimum phase zeros. A multirate output‐feedback adaptive controller is developed as the low‐level controller. The sampled‐data (SD) design of this controller facilitates the direct implementation on digital computers, where the input/output signals are available at discrete time instances with different sampling rates. In addition, stealthy zero‐dynamics attacks become detectable by considering a multirate SD formulation. Robust stability and performance of the overall closed‐loop system with command saturation and multirate adaptive control are analyzed. Simulation scenarios for navigation and control of a fixed‐wing drone under failures/attacks are provided to validate the theoretical findings.     

Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy.     

Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor helicopter control is proposed in presence of actuator faults. Radial Base Function Neural Network (RBFNN), Fuzzy Logic Control approach (FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Fault Tolerant Control (FTC), for each subsystem of the octorotor helicopter. The proposed FTC scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the proposed FTC can greatly alleviate the chattering effect, good tracking in presence of actuator faults.     

基于复杂网络边负载分配理论的化工过程级联故障风险传播路径

依据复杂网络边负载分配相关理论，建立化工过程级联故障传播理论模型，用于解决化工过程中日益突出的级联故障传播问题。本文首先将化工生产系统抽象成网络模型，对网络中的节点进行重要性排序；其次对网络进行随机攻击并对重要性靠前的节点进行蓄意攻击，求解两种攻击方式下的最高风险传播路径；最后假设其发生边负载故障，根据风险传播路径故障概率对两种攻击方式下的最高风险传播路径进行评估，确定危险性较大的风险传播路径。经案例验证分析表明：该方法可有效确定生产过程中故障发生后的故障传播路径以及风险性较大的路径，为预防化工生产过程中故障传播提供一定的理论依据和决策支持。     

Barriers to energy efficiency in shipping: A triangulated approach to investigate the principal agent problem

Energy efficiency is a key policy strategy to meet some of the challenges being faced today and to plan for a sustainable future. Numerous empirical studies in various sectors suggest that there are cost-effective measures that are available but not always implemented due to existence of barriers to energy efficiency. Several cost-effective energy efficient options (technologies for new and existing ships and operations) have also been identified for improving energy efficiency of ships. This paper is one of the first to empirically investigate barriers to energy efficiency in the shipping industry using a novel framework and multidisciplinary methods to gauge implementation of cost-effective measures, perception on barriers and observations of barriers. It draws on findings of a survey conducted of shipping companies, content analysis of shipping contracts and analysis of energy efficiency data. Initial results from these methods suggest the existence of the principal agent problem and other market failures and barriers that have also been suggested in other sectors and industries. Given this finding, policies to improve implementation of energy efficiency in shipping need to be carefully considered to improve their efficacy and avoid unintended consequences.     

Crankshaft failure analysis of a boxer diesel motor

This paper reports a failure mode analysis of a boxer diesel engine crankshaft. Crankshafts are components which experiment severe and complex dynamic loadings due to rotating bending combined with torsion on main journals and alternating bending on crankpins. High level stresses appear on critical areas like web fillets, as well as the effect of centrifugal forces and vibrations. Since the fatigue fracture near the crankpin-web fillet regions is one of the primary failure mechanisms of automotive crankshafts, designers and researchers have done the best for improving its fatigue strength. The present failure has occurred at approximately 2000 manufactured engines, and after about 95,000 km in service. The aim of this work is to investigate the damage root cause and understand the mechanism which led to the catastrophic failure. Recommendations for improving the engine design are also presented.     

Structural and piezoelectric properties of textured NLKNS-CZ thick films and their application in planar piezoactuator

0.97(Na_0.5-xLi_xK_0.5)(Nb_0.89Sb_0.11)O₃-0.03CaZrO₃ [(N_0.5-xL_xK)(NS)-CZ] piezoceramic (x = 0.325) has a pseudocubic-tetragonal-orthorhombic (PC-T-O) multi-structure. The PC structure formed in this piezoceramic was identified as the R3m rhombohedral structure. This piezoceramic showed the large piezoelectric charge constant (d₃₃) of 515 pC/N due to the PC-T-O multi-structure. The NaNbO₃ (NN) templates were used to texture the (N_0.5-xL_xK)(NS)-CZ thick films along the (001) direction, and the textured thick film (x = 0.0375) had a large Lotgering factor of 95.6%. The PC-T-O multi-structure was observed in this thick film (x = 0.0375), but the thick film (x = 0.0325) showed a PC-O structure owing to the diffusion of the NN templates into the thick film. The textured thick film (x = 0.0375) exhibited an increased d₃₃ of 625 pC/N because of the PC-T-O multi-structure and the lineup of grains along the [001] direction. A textured thick film (x = 0.0375) was used to fabricate a planar-type actuator to confirm its applicability to electrical devices. This actuator exhibits large acceleration (580.3 G) and displacement (150 μm) at a low electric field of 0.2 kV/mm with a short response time of 3.0 ms. Therefore, the (N_0.5-xL_xK)(NS)-CZ thick films are excellent lead-free piezoceramics.     

龙游大型古洞室群变形破坏方式及加固方法研究

位于中国浙江省西部龙游县的龙游大型古地下洞室群由24个洞室组成,该发现引起了国内外有关专家的关注。对该洞室群进行了多次现场工程地质调查,发现该洞室群已产生了程度不一的破坏,其破坏方式主要表现为洞顶及岩柱的破坏。对完整洞室1#～5#洞而言,也存在着一定的安全隐患。调查发现,在这5个洞室内,洞顶、边墙上的裂缝较为发育,其中1#洞洞顶靠近柱子周围部分、1#,2#洞公共墙上、2#洞洞顶以及3#,4#洞西边墙上的裂缝均较为发育,对洞室群的整体稳定极为不利。为了更好地保护这一人类文化瑰宝,采用FLAC3D数值计算,对洞室变形破坏机理进行了研究。在此基础上,以1#,2#洞为例,本着安全第一,整旧如旧的原则,提出了以支顶为主的加固方法。