scholarly journals Adaptive Backstepping Sliding Mode Control of Air-Breathing Hypersonic Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Shuo Wang ◽  
Ju Jiang ◽  
Chaojun Yu
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Hypersonic Vehicles ◽  
Control Input ◽  
Backstepping Method ◽  
Trajectory Tracking Control ◽  
Air Breathing ◽  
Mode Control

In this paper, a controller combining backstepping and adaptive supertwisting sliding mode control method is proposed for altitude and velocity tracking control of air-breathing hypersonic vehicles (AHVs). Firstly, the nonlinear longitudinal model of AHV is introduced and transformed into a strict feedback form, to which the backstepping method can be applied. Considering the longitudinal trajectory tracking control problem (altitude control and velocity control), the altitude tracking control system is decomposed to several one-order subsystems based on the backstepping method, and an adaptive supertwisting sliding mode controller is designed for each subsystem, in order to obtain the virtual control variables and actual control input. Secondly, the overall stability of the closed-loop system is proved by the Lyapunov stability theory. At last, the simulation is carried out on an AHV model. The results show that the proposed controller has good control performances and good robustness in the parameter perturbation case.

scholarly journals INTEGRAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING CONTROL OF ROBOTIC MANIPULATORS USING AN ADAPTIVE TWISTING ALGORITHM

2019 ◽  
Vol 17 (12.2) ◽  
pp. 42
Author(s):  
Anh Tuan Vo ◽  
Ngoc Hoai An Nguyen ◽  
Duy Duong Pham
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

This paper proposes an integral sliding mode for trajectory tracking control of robotic manipulators. Our proposed control method is developed on the foundation of the benefits in both integral sliding mode control and adaptive twisting control algorithm, such as high robustness, high accuracy, estimation ability, and chattering elimination. In this paper, the proposed integral sliding mode controller is designed with the elimination of the reaching phase to offer better trajectory tracking precision and to stabilize the robot system. To reduce the calculation burden along with chattering rejection, an adaptive twisting controller with only one simple adaptive rule is employed to estimate the upper-boundary values of the lumped uncertainties. Accordingly, the requirement of their prior knowledge is removed and then decrease the computation complexity. Consequently, this control method provides better trajectory tracking accuracy to handle the dynamic uncertainties and external disturbances more strongly. The system global stability of the control system is guaranteed by using Lyapunov criteria. Finally, simulated examples are performed to analyze the effectiveness of our control approach for position pathway tracking control of a 2-DOF parallel manipulator.

scholarly journals Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1289
Author(s):  
Dongdong Yuan ◽  
Yankai Wang
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Data Driven ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Model Free

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.

Chaotic Gyros Synchronization

2011 ◽  
pp. 183-209
Author(s):  
M. Roopaei ◽  
M. J. Zolghadri ◽  
B. S. Ranjbar ◽  
S. H. Mousavi ◽  
H. Adloo ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Dead Zone ◽  
Control Input ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Robust Adaptive ◽  
Fuzzy Parameter

In this chapter, three methods for synchronizing of two chaotic gyros in the presence of uncertainties, external disturbances and dead-zone nonlinearity are studied. In the first method, there is dead-zone nonlinearity in the control input, which limits the performance of accurate control methods. The effects of this nonlinearity will be attenuated using a fuzzy parameter approximator integrated with sliding mode control method. In order to overcome the synchronization problem for a class of unknown nonlinear chaotic gyros a robust adaptive fuzzy sliding mode control scheme is proposed in the second method. In the last method, two different gyro systems have been considered and a fuzzy controller is proposed to eliminate chattering phenomena during the reaching phase of sliding mode control. Simulation results are also provided to illustrate the effectiveness of the proposed methods.

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