Disturbance observer-based coordinated control for three dimensional formation of unmanned autonomous helicopter

2019 ◽  
Vol 40 (1) ◽  
pp. 155-162
Author(s):  
Rong Mei
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Coordinated Control ◽  
Lyapunov Theory ◽  
Formation Flight ◽  
Time Varying ◽  
Content Type ◽  
Sliding Mode Disturbance Observer ◽  
Autonomous Helicopter

Purpose This paper aims to study the issue of the three-dimensional formation coordinated control for the unmanned autonomous helicopter (UAH) by using the sliding mode disturbance observer. Under the designed formation coordinated controller, the desired formation can be maintained and the closed-loop system stability is analyzed by using the Lyapunov theory. Design/methodology/approach Considering the unknown time-varying external 10; disturbance in formation flight of UAHs, a sliding mode disturbance observer has been employed to estimate them. Findings This work is supported in part by the National Natural Science Foundation of China under Grant 61803207, and in part by the Fundamental Research Funds for the Central Universities under Grant LGZD201806. Originality/value A sliding mode disturbance observer has been designed to estimate the unknown time-varying external disturbance in formation flight of UAHs. Aiming at the leading UAH maneuver in three-dimensional space during the formation flight progress, the formation coordinated controller has been proposed based on the output of the disturbance observer to maintain the formation.

scholarly journals Adaptive Sliding Mode Fixed-Time Tracking Control Based on Fixed-Time Sliding Mode Disturbance Observer with Dead-Zone Input

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Hongbin Wang ◽  
Bo Su ◽  
Yueling Wang ◽  
Jing Gao
Keyword(s):  
Upper Bound ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Dead Zone ◽  
Fixed Time ◽  
High Order ◽  
Time Varying ◽  
Sliding Mode Disturbance Observer

Aiming at the problem of fixed-time trajectory tracking control for high-order dynamic systems with external time-varying disturbance and input dead-zone, an adaptive fixed-time sliding mode control algorithm is proposed by employing a fixed-time sliding mode disturbance observer (FTSMDO) and high-order fixed-time sliding mode algorithm. Firstly, a FTSMDO is presented for the problem that estimating the compound disturbance is composed of input dead-zone and time-varying external disturbance in the higher-order dynamic system, which cannot be measured accurately. Furthermore, for the case that the total disturbance of the system has an unknown upper bound, the corresponding adaptive law is designed to estimate the unknown upper bound, and the fixed-time controller is designed based on FTSMDO algorithm to make all state variables converge in a fixed-time. Based on Lyapunov technique, the fixed-time convergence performance of the proposed algorithm is proved. The effectiveness of the presented fixed-time control algorithm is verified by simulating the depth tracking control of the underactuated underwater vehicle.

Three-Dimensional Impact Angle Guidance Laws Based on Model Predictive Control and Sliding Mode Disturbance Observer

2016 ◽  
Vol 138 (8) ◽  
Author(s):  
Shaoming He ◽  
Wei Wang ◽  
Jiang Wang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Continuous Model ◽  
Guidance System ◽  
Guidance Law ◽  
Sliding Mode Disturbance Observer

This paper presents a suboptimal three-dimensional guidance law to intercept unknown maneuvering targets with terminal angle constraint using multivariable control design. The presented guidance law is essentially a composite control method, which is constructed through a combination of standard continuous model predictive control (MPC) and adaptive multivariable sliding mode disturbance observer (SMDO). More specifically, the MPC method is utilized to obtain optimal line-of-sight (LOS) angle tracking performance for nonmaneuvering targets, while the SMDO technique is used to estimate and compensate for the unknown target maneuver online. By virtue of the adaptive nature, the proposed guidance law does not require any information on the bounds of target maneuver and its gradient except for their existence. The stability of the closed-loop guidance system is also analyzed by using Lyapunov function method. Simulation results clearly confirm the effectiveness of the proposed formulation against a maneuvering target.

Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

2018 ◽  
Vol 233 (9) ◽  
pp. 3244-3259
Author(s):  
Jinyuan Wei ◽  
Jianping Yuan ◽  
Zheng Wang
Keyword(s):  
Finite Time ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Coordinated Control ◽  
Lyapunov Theory ◽  
Space Robot ◽  
Sliding Mode Disturbance Observer ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Twisting Algorithm

There often exist strong coupled characteristics between the space robot platform and the manipulators. The neglect of the coupled factors may induce undesired control performance or even lead to system crash. In this paper, a novel robust adaptive coordinated control scheme is developed for a space robot with coupled uncertainties and external disturbances. By proposing a multivariable generalized super-twisting algorithm, the bounded disturbances together with uncertainties could be compensated. An adaptation tuning approach is developed to deal with the unknown bounds. Meanwhile, the sliding mode disturbance observer is introduced to alleviate the system conservatism and improve convergence rate and accuracy. As a result, the accurate state tracking is achieved in finite time. A proof of the finite-time convergence is derived using the Lyapunov theory. Simulations are carried out on a space robot with a three-degrees-of-freedom manipulator to demonstrate the effectiveness and robustness of the proposed method.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

Predefined-time control for a horizontal takeoff and horizontal landing reusable launch vehicle

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Liang Zhang ◽  
Liang Jing ◽  
Liheng Ye ◽  
Xing Gao
Keyword(s):  
Disturbance Observer ◽  
Control Parameter ◽  
Sliding Mode ◽  
Fixed Time ◽  
Launch Vehicle ◽  
Convergence Time ◽  
Content Type ◽  
Reusable Launch Vehicle ◽  
Attitude Tracking ◽  
Tracking Controller

Purpose This paper aims to investigate the problem of attitude control for a horizontal takeoff and horizontal landing reusable launch vehicle. Design/methodology/approach In this paper, a predefined-time attitude tracking controller is presented for a horizontal takeoff and horizontal landing reusable launch vehicle (HTHLRLV). Firstly, the attitude tracking error dynamics model of the HTHLRLV is developed. Subsequently, a novel sliding mode surface is designed with predefined-time stability. Furthermore, by using the proposed sliding mode surface, a predefined-time controller is derived. To compensate the external disturbances or model uncertainties, a fixed-time disturbance observer is developed, and its convergence time can be defined as a prior control parameter. Finally, the stability of the proposed sliding mode surface and the controller can be proved by the Lyapunov theory. Findings In contrast to other fixed-time methods, this controller only requires three control parameters, and the convergence time can be predefined instead of being estimated. The simulation results also demonstrate the effectiveness of the proposed controller. Originality/value A novel predefined-time attitude tracking controller is developed based on the predefined-time sliding mode surface (SMS) and fixed-time disturbance observer (FxTDO). The convergence time of the system can be selected as a prior control parameter for SMS and FxTDO.

Adaptive altitude flight control of quadcopter under ground effect and time-varying load: theory and experiments

2021 ◽  
pp. 107754632110501
Author(s):  
Ji-Won Lee ◽  
Nguyen Xuan-Mung ◽  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Flight Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Ground Effect ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Time Varying ◽  
Control Performance ◽  
Parameter Uncertainties ◽  
Altitude Control

In recent years, the boom of the quadcopter industry resulted in a broad range of real-world applications which highlighted the urgent need to improve quadcopter control quality. Typically, external disturbances, such as wind, parameter uncertainties caused by payload variations, or the ground effect, can severely degrade the quadcopter’s altitude control performance. Meanwhile, widely used controllers like the proportional-integral-derivative control cannot guarantee control performance when the system is critically affected by factors that exhibit a high degree of variability with time. In this paper, an adaptive control algorithm is proposed to improve quadcopter altitude tracking performance in the presence of both the ground effect and a time-varying payload. First, we derive an adaptive altitude control algorithm using the sliding mode control technique to account for these uncertainties in the quadcopter dynamics model. Second, we apply Lyapunov theory to analyze the stability of the closed-loop system. Finally, we conduct several numerical simulations and experiments to validate the effectiveness of the proposed method.

Sign in / Sign up

Export Citation Format

Share Document