Homing Trajectory planning is a core task of autonomous homing parafoil system. This paper analyzes and establishes mathematical model, then proposes trajectory method system based on quantum genetic algorithm. By using the bit with superposition state to encode control law introducing rotation gate realize evolution chromosomes, proposed guides realizes optimization design. Simulation results under different initial states indicate that this effective for Compared chaos particle swarm...

Focusing on the problems in process of simulation and experiment a parafoil nonlinear dynamic system, such as limited methods, high cost low efficiency we present semi-physical platform. It is designed by connecting parts physical objects to computer, remedies defect that computer divorced from real environment absolutely. The main components platform its functions, well flows, are introduced. feasibility validity verified through experiment. experimental results show has significance for...

According to the flight characteristics of powered parafoil, thought multi-phase design traditional parafoil system is used for trajectory planning parafoil. On basis three phases homing, phase task execution added homing according working condition. The problem transformed parameter optimizing on geometric relationship each trajectory. situation that initial height too low cannot fly target point also considered. Applying Quantum genetic algorithm (QGA) calculate objective function,...

Voltage flicker is an important parameter to evaluate the quality of power supply. Measuring voltage using digitized method leads defect huge storage data. Especially modern detection method, disadvantage more significant. A based on IEC standard proposed. The improved square adopted detect fluctuation, and data are filtered before statistics analysis, which improve precision fluctuation efficiency processing. simulation results verify correctness method. It provides simple effective for...

This paper presents a method of altitude control the powered parafoil with uncertainties and disturbances based on sliding-mode backstepping combined linear extended state observer (LESO). First, dynamics is derived in longitudinal plane using its inclination angle. The problem converted to issue angle control. Next, are considered as total disturbance. An LESO used estimate disturbance form an inner-loop compensation. Backstepping employed regulate follow desired value. A fractional sliding...

As a kind of flexible aircraft, the aerodynamic configuration airship is maintained by superpressure internal gas completely. And pressure difference must be controlled in safe range. Aiming at these issues, models and solar radiation are built. Combining with thermodynamic model, control achieved. A method direct presented. According to value atmosphere desired difference, that needs can figured out. change obtained accordingly. hovering phase, simulated. The results properties obtained,...

This paper investigates the problem of horizontal path-following control for parafoil systems with error constraint. Frist, by introducing guidance theory, position is converted to azimuth angle system. The signal transformed a new variable, such that constrained into prescribed boundaries. Next, methods backstepping and output feedback are employed in controller design. uncertainties system modeling external disturbances estimated using lineaer extended state observer (LESO). stability...

This paper presents a control strategy to reject disturbances for permanent magnet synchronous motor (PMSM) system based on the equivalent-input-disturbance (EID) approach. Two EID estimators are devised handle imposed current loop: one is used estimate low-frequency components of disturbances, while other employed medium- and high-frequency disturbances. Another estimator developed speed loop motor. The estimates compensation input channel loop. It shows that estimated separately suppressed...

The flexible joint of a robotic arm is sensitive to internal and external disturbances, which may cause mechanical vibration degrade control performance. This paper proposes strategy suppression disturbance rejection for the based on equivalent input (EID) approach. First, dynamic model derived. Internal disturbances are treated as an EID channel. Then, structure EID-based conctrol system developed. A state observer estimator devised produce estimate EID. An inner compensation added reject...

This work considers the finite-time control problem for a class singular Markovian jump delayed systems subject to saturating actuators. By employing local sector conditions and an appropriate Lyapunov function, observer-based state feedback controller is designed guarantee that resulted closed-loop constrained system mean-square locally stabilizable. Some sufficient solution this are derived in terms of linear matrix inequalities. Finally, two numerical examples provided demonstrate...

This paper presents a new method to achieve fast and precise positioning performance for motion control system with an exogenous disturbance plant uncertainty. The equivalent-input-disturbance approach is employed reject the attenuate uncertainty in inner-loop way. feedforward designed improve transient response considering nominal model of system. feedback devised guarantee stability closed-loop Performance analysis reveals mechanism rejection attenuation. Simulation results numerical...