scholarly journals A Moving Target Tracking Control of Quadrotor UAV Based on Passive Control and Super-Twisting Sliding Mode Control

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Wentao Xue ◽  
Xunnan Zhu ◽  
Xiaofei Yang ◽  
Hui Ye ◽  
Xuan Chen
Keyword(s):  
Control System ◽  
Target Tracking ◽  
Attitude Control ◽  
Passive Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Moving Target ◽  
Parameter Uncertainties ◽  
Moving Target Tracking

A novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle (UAV) is proposed to solve a moving target tracking problem. Firstly, the control system is decoupled into the position control system and the attitude control system. Secondly, a method combined artificial potential field with passivity control (APF&PC) is introduced for the positioning system to achieve high-precision tracking of moving target at a fixed distance. Thirdly, a super-twisting sliding mode (STSM) method with an improved reaching law for the attitude system is applied to ensure that the attitude converges to the desired value. Furthermore, the stabilities of two subsystems are proved, and sufficient stability conditions are derived based on the passive method and Lyapunov method, respectively. Finally, simulation results of the moving target tracking verify the superiority and robustness of the proposed control method in the presence of parameter uncertainties and external disturbances.

scholarly journals Designing a predictive guidance and control system for maneuverable ground moving target tracking in 3D space using a Hexarotor

2020 ◽  
Vol 14 (3) ◽  
pp. 63-74
Author(s):  
Abolfazl Eskandarpour ◽  
S.M. Mehdi Dehghan ◽  
Jalal Karimi ◽  
◽  
◽  
...  
Keyword(s):  
Control System ◽  
Target Tracking ◽  
Moving Target ◽  
Moving Target Tracking ◽  
Guidance And Control ◽  
3D Space ◽  
And Control

Position and Attitude Control of Remote Ultrasonic Scanner Based on Sliding Mode Approach

2010 ◽  
Vol 139-141 ◽  
pp. 1910-1914
Author(s):  
Han Bing Yan ◽  
Hui Ju
Keyword(s):  
Control System ◽  
Time Delay ◽  
Attitude Control ◽  
Ultrasonic Testing ◽  
Control Method ◽  
Sliding Mode ◽  
Control Function ◽  
Control Approach ◽  
The Stability ◽  
Ultrasonic Scanner

For the purpose of inspecting workpieces or equipments under severe environment, remote ultrasonic testing is of great significance to realize online inspection for processing products or vital equipments. The key problem to apply the remote ultrasonic testing is to keep the stability of the control system for the scanner. Therefore, how to eliminate the uncertain effect of time delay to keep the stability of the control system is the main difficulty in the online ultrasonic testing process. This paper proposed a slide mode approach to realize the position and attitude control for remote ultrasonic scanner. The implement of sliding mode controller with uncertain time delay, the solution of sliding surface and control function are studied. With the dynamic model of the scanner, the controller system is established according to the analysis of the control approach. The simulating results of the system proved the proposed sliding mode control method satisfies the requirements of stability for the remote control system.

Quaternion-based position control of a quadrotor unmanned aerial vehicle using robust nonlinear third-order sliding mode control with disturbance cancellation

2019 ◽  
Vol 234 (4) ◽  
pp. 997-1013 ◽  
Author(s):  
Jitu Sanwale ◽  
Prasiddh Trivedi ◽  
Mangal Kothari ◽  
Appasaheb Malagaudanavar
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Higher Order ◽  
Effective Control ◽  
Third Order ◽  
Outer Loop ◽  
Mode Control

In this paper, we propose a robust nonlinear position and attitude control method for quadrotor using higher order sliding mode control concept. The control of quadrotor is realized in an inner- and outer-loop structure. Both inner- (attitude control) and outer (position control)-loop controllers are synthesized using third-order sliding mode control. The attitude control is designed in a quaternion framework to avoid gimbal lock and for better computational efficiency. A low-pass filter is used to reduce the effect of chattering in higher order sliding mode. A disturbance observer is designed for disturbance estimation. The robustness of proposed control method is ensured by providing the disturbance compensation term in the control law. Lyapunov stability analysis is provided for both inner- and outer-loop controls. Numerical results show that the proposed method provides effective control solution under continuous disturbance/uncertainties due to unmodeled dynamics, parameter variations, and external disturbance with high position accuracy.

Sliding Mode Predictive Control Method for Attitude Control of Networked Launch Vehicle

2011 ◽  
Vol 467-469 ◽  
pp. 962-967
Author(s):  
Yu Chen ◽  
Guang Li ◽  
Chao Yang Dong ◽  
Qing Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Predictive Control ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Launch Vehicle ◽  
Uncertain Parameters ◽  
Attitude Control System ◽  
Mode Control

A novel adaptive fuzzy sliding mode predictive control (AFSMPC) method for solving the networked launch vehicle attitude control system with network-induced delay, uncertain parameters and outer disturbances is proposed in this paper for the attitude stabilization of the networked launch vehicle control system. The proposed sliding mode surface includes a predictor to compensate for the network-induced delay of the NCS. Then, for the networked Launch vehicle attitude control system with uncertain parameters and outer disturbances, a total sliding-mode control system is proposed, which is designed without the reaching phase of a conventional sliding-mode control. In order to attenuate the chattering phenomena brought by the proposed control, a fuzzy logic system is designed to mimic the good behavior of a total sliding-mode predictive control system. Finally, Simulation results show that the proposed control scheme is effective.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

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