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In this paper, the optimal control problem to achieve lunar module soft landing with least fuel consumption is considered. The precise three dimensional dynamics is employed to describe the motion of the lunar module. By introducing two new state equations, a closed loop optimal control law is designed with a parameter matrix K to be determined which is the solution of a riccati like differential...
A partially linearized model for the underactuated Euler-Lagrangian system composed of two single linear inverted pendulums is obtained based on the feedback linearization method. Then, the small deviation linearization technique is applied to the partially linearized model to obtain the linear model. For the linear model which is completely controllable, we propose a method to construct a synchronization...
An exact mathematical description of spacecraft attitude motion driven by double-gimbaled control moment gyroscopes(DGCMGs) is proposed. With this mathematical description, a nonlinear control law is designed based on the second method of Lyapunov for spacecraft large angle attitude maneuvers. In the design process, stability of the attitude control system is proved. The singularity robustness (SR)...
The recursive filtering of discrete-time nonlinear systems in the presence of unknown noise statistical parameters is studied. By embedding the modified Sage-Husa noise statistics estimator into the iterated Kalman filter, an adaptive iterated Kalman filter is obtained. With iterative operations as well as the online estimation of unknown covariance of virtual noise, linearized error can be reduced...
The pneumatic valve is a position control plant with uncertain parameters and unknown disturbances such as friction and discharge fluctuation. An adaptive nonlinear switching-type robust control strategy is proposed to adjust the valve position in a closed loop manner. The controller consists of a feedforward compensator, a linear state feedback term, a parameter and constant disturbance identifier,...
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