Robustness of ISS systems to inputs with limited moving average: Application to spacecraft formations

We provide a theoretical framework that fits realistic challenges related to spacecraft formation with disturbances. We show that the input‐to‐state stability of such systems guarantees some robustness with respect to a class of signals with bounded average‐energy, which encompasses the typical disturbances acting on spacecraft formations. Solutions are shown to converge to the desired formation, up to an offset, which is somewhat proportional to the considered moving average of disturbances. In the presence of fast peaking perturbations, the approach provides a tighter evaluation of the disturbances' influence, which allows for the use of more parsimonious control gains. Copyright © 2015 John Wiley & Sons, Ltd.     

Formation stabilization and resizing based on the control of inter‐agent distances

We propose a control strategy that could steer the group of mobile agents in the plane to achieve a specified formation. The control law could be implemented in a fully decentralized manner so that each agent moves on their own local reference frame. Under the acyclic minimally persistent graph topology, each agent measures the relative displacements of neighboring agents and then adjusts the distances between them to achieve the desired formation. As well as achieving a fixed formation, we could resize the formation only by changing the leader edge, which connects the leader with the first‐follower in acyclic minimally persistent graph, without changing the structures of the control law. Copyright © 2014 John Wiley & Sons, Ltd.     

High‐precision formation control of nonlinear multi‐agent systems with switching topologies: A learning approach

Arbitrary high precision is considered one of the most desirable control objectives in the relative formation for many networked industrial applications, such as flying spacecrafts and mobile robots. The main purpose of this paper is to present design guidelines of applying the iterative schemes to develop distributed formation algorithms in order to achieve this control objective. If certain conditions are met, then the control input signals can be learned by the developed algorithms to accomplish the desired formations with arbitrary high precision. The systems under consideration are a class of multi‐agent systems under directed networks with switching topologies. The agents have discrete‐time affine nonlinear dynamics, but their state functions do not need to be identical. It is shown that the learning processes resulting from the relative output formation of multi‐agent systems can converge exponentially fast with the increase of the iteration number. In particular, this work induces a distributed algorithm that can simultaneously achieve the desired relative output formation between agents and regulate the movement of multi‐agent formations as desired along the time axis. The illustrative numerical simulations are finally performed to demonstrate the effectiveness and performance of the proposed distributed formation algorithms. Copyright © 2014 John Wiley & Sons, Ltd.     

Energy-efficient control of nanosatellites during distributed region formation flying

In this paper, we present an energy-efficient method for distributed region formation flying of nanosatellites. The proposed framework consists of two concurrent sub-schemes that include estimation and formation. In the estimation sub-scheme, unlike the existing methods on satellite formation flying, that assume the availability of the reference orbital elements to all followers, here, a distributed estimator is developed so that the follower nanosatellites estimate the position of the leader in its orbital slot. In the formation sub-scheme, we consider a region formation strategy which is an efficient method in dealing with the formation of a large number of nanosatellites. We propose an optimal region following formation method based on the receding horizon control (RHC) using the estimated reference orbital elements. Subsequently, an algorithm is presented to solve the proposed energy-efficient formation flying method. Finally, the simulation result is presented that illustrates the purposed method improves the power consumption for each nanosatellite with respect to the existing non-optimal region formation flying controllers.     

Safe Autonomous Agent Formation Operations Via Obstacle Collision Avoidance

In this paper, we consider the problem of flocking and shape‐orientation control of multi‐agent systems with inter‐agent and obstacle collision avoidance. We first consider the problem of forcing a set of autonomous agents to form a desired formation shape and orientation while avoiding inter‐agent collision and collision with convex obstacles, and following a trajectory known to only one of the agents, namely the leader of the formation. Then we build upon the solution given to this problem and solve the problem of guaranteeing obstacle collision avoidance by changing the size and the orientation of the formation. Changing the size and the orientation of the formation is helpful when the agents want to go through a narrow passage while the existing size or orientation of the formation does not allow this. We also propose collision avoidance algorithms that temporarily change the shape of the formation to avoid collision with stationary or moving nonconvex obstacles. Simulation results are presented to show the performance of the proposed control laws.     

临涣煤矿穿层钻孔水力压裂技术应用研究

针对临涣煤矿存在瓦斯抽采率低、打钻数量过多且瓦斯抽采周期短的问题,提出了采用穿层钻孔实施水力压裂工艺的方法。实验结果表明,临涣煤矿实验区瓦斯标况纯量平均提高了19倍,瓦斯抽采周期延长了3倍多,说明此次井下水力压裂实验基本形成了适用于临涣煤矿矿井的穿层钻孔水力压裂工艺,该煤矿适宜通过水力压裂卸压增透,减少打钻钻孔数量。     

基于矿压监测动态特征的瓦斯突出预警系统设计

根据采煤工作面突出灾害发生规律与动态安全信息采集技术,设计了采煤工作面基于矿压监测动态特征的瓦斯突出预警系统。该系统能够自动获取海量矿压监测实时数据,实现了采煤工作面煤与瓦斯突出危险性的智能分析与实时预警,同时还具备日常矿压数据资料高效管理功能。系统在现场试验中取得了较好的应用效果。     

压力和温度对瓦斯扩散规律的影响研究

针对瓦斯吸附解吸法测定瓦斯扩散系数时局限于颗粒煤、无法施加围压且气体压力不能任意设定等问题,采用规则块煤结合气相色谱分析法测定瓦斯在块煤中的扩散系数,分析了不同气体压力、温度下块煤瓦斯扩散规律。实验结果表明,随着气体压力的增大,煤基质吸附气体增加且发生膨胀变形,从而孔隙减小,扩散阻力增大,扩散系数减小;随着温度的升高,气体分子运动速度增大,扩散动力增强,扩散系数变大。     

一种用于冲床的压力测试系统设计

冲床的输出主要依靠设定平衡器来实现,为了克服传统冲床调试过程中主要依赖技术人员进行理论值估算或者经验进行调节平衡器的输出而存在估算误差大的弊端和局限性,设计了一种用于冲床调试的高精度压力测试系统方案;系统中自行设计了由轮辐式应变片来构成的压力传感器,该压力传感器的结构设计可有效消除环境温度等对系统的影响,采用STM32F051芯片为核心构成压力测试数据的处理模块;该压力测试系统的压力测试范围为0～2 000 kg,阈值可以灵活设定,测试系统的线性度约为1.3％,分辨率为1 kg,标称误差可达0.1％;该压力测试系统经实际测试表明:具有成本低、性能稳定,抗干扰能力强等优点,可用于各类低速冲床的压力数据采集和处理.     

On input‐to‐state stability‐based design for leader/follower formation control with measurement delays

This paper addresses the design of low‐level controllers for leader–follower formations of nonholonomic vehicles in the presence of bounded measurement delays. The concept of input‐to‐state stability is extended to encompass the effect of bounded delays and restrictions on the input. A method is proposed to integrate a Smith predictor in a backstepping design on the basis of nested saturations and nonlinear small‐gain assignment, which allows for time delays in the feedback loop. Robustness analysis under uncertain bounded time delays is provided, and design tradeoffs resulting from the use of bounded controls are discussed. Illustrative simulations are shown to validate the design and robustness analysis in the context of a simple leader–follower trailing control problem. Copyright © 2012 John Wiley & Sons, Ltd.