Moving-horizon-estimator-integrated adaptive hierarchical sliding mode control for flexible hypersonic vehicles considering aeroservoelastic effect

2020 ◽  
pp. 095441002097755
Author(s):  
Erkang Chen ◽  
Wuxing Jing ◽  
Changsheng Gao
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Mode Control ◽  
Gain Adaptation ◽  
Sliding Mode Disturbance Observer ◽  
Control Scheme ◽  
Hierarchical Sliding Mode ◽  
Adaptation Law

In order to solve the attitude control problem of flexible hypersonic vehicles with consideration of aeroservoelastic effect, uncertainty and external disturbance, a novel moving-horizon-estimator-integrated adaptive hierarchical sliding mode control scheme is presented in this paper. First, the measurement model considering flexibility is established and the influence of aeroservoelastic effect on system stability is analyzed. Then moving horizon estimator is developed to reconstruct full state information from sensor measurements, while sliding mode disturbance observer and gain adaptation law is proposed to enhance the robustness and attenuate the chattering. Via combining moving horizon estimator, sliding mode disturbance observer, gain adaptation law and baseline hierarchical sliding mode controller, the moving-horizon-estimator-integrated adaptive hierarchical sliding mode control scheme that is able to achieve the control objective of both precise attitude control and active flexible vibration suppression is developed. Finally, Lyapunov theory is used to prove the stability of the proposed control scheme, and the numerical simulations are carried out, which further verify the effectiveness of the proposed control scheme against aeroservoelastic effect, uncertainty and external disturbance.

Adaptive Sliding Mode Control of MEMS Vibrational Gyroscope

2006 ◽  
Author(s):  
J. Fei ◽  
C. Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Angular Rate ◽  
External Disturbance ◽  
Adaptive Sliding Mode Control ◽  
Angular Velocity Vector ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
On Line

This paper presents a new sliding mode adaptive controller for MEMS z-axis gyroscope. The proposed adaptive sliding mode control algorithm can on-line estimate the component of the angular velocity vector, which is orthogonal to the plane of oscillation of the gyroscope (the z-axis) and the linear damping and stiffness model coefficients. The stability of the closed-loop system can be guaranteed with the proposed control strategy. The numerical simulation for MEMS Gyroscope is investigated to verify the effectiveness of the proposed adaptive sliding mode control scheme. It is shown that the proposed adaptive sliding mode control scheme offers several advantages such as on-line estimation of gyroscope parameters including angular rate and large robustness to parameter variations and external disturbance.

Attitude Control of Flapping Wing Micro Aerial Vehicle Based on Double Fuzzy Sliding Mode Control

2012 ◽  
Vol 468-471 ◽  
pp. 704-707
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Zhi Yi Chen ◽  
Lei Lei ◽  
Yi Xuan Zhang
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

An adaptive Double Fuzzy Sliding Mode Control scheme for attitude control of Flapping Wing Micro Aerial Vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, another fuzzy controller is designed to adaptively tune the switch part of sliding mode control. The system stability is proved by Lyapunov principle. Simulation results show that the proposed control scheme is effective.

scholarly journals Nonlinear Integral Sliding Mode Control for a Second Order Nonlinear System

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Xie Zheng ◽  
Xie Jian ◽  
Du Wenzheng ◽  
Cheng Hongjie
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Second Order ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
Sliding Manifold

A nonlinear integral sliding-mode control (NISMC) scheme is proposed for second order nonlinear systems. The new control scheme is characterized by a nonlinear integral sliding manifold which inherits the desired properties of the integral sliding manifold, such as robustness to system external disturbance. In particular, compared with four kinds of sliding mode control (SMC), the proposed control scheme is able to provide better transient performances. Furthermore, the proposed scheme ensures the zero steady-state error in the presence of a constant disturbance or an asymptotically constant disturbance is proved by Lyapunov stability theory and LaSalle invariance principle. Finally, both the theoretical analysis and simulation examples demonstrate the validity of the proposed scheme.

scholarly journals Adaptive Sliding Mode Control of a Nonlinear Electro-hydraulic Servo System for Position Tracking

Mechanika ◽  
2019 ◽  
Vol 25 (4) ◽  
pp. 283-290
Author(s):  
Mingxing YANG ◽  
Qi ZHANG ◽  
Xinliang LU ◽  
Ruru XI ◽  
Xingsong WANG
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Servo System ◽  
Projection Algorithm ◽  
Adaptive Sliding Mode Control ◽  
Unknown Parameters ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

In view of the electro-hydraulic position servo system with parameter uncertainty and bounded disturbances, an improved adaptive sliding mode control scheme is proposed. The mathematical model of the valve-controlled system is first constructed with consideration of the external disturbance, matched and mismatched unknown parameters. Then, the parametric adaptive estimation laws are established by Lyapunov technique to estimate the generalized uncertainty parameters, and the discontinuous projection algorithm is used to ensure the boundedness of parameter estimation. In order to eliminate the chattering phenomenon in sliding mode control, the saturation function is designed to replace the sign function and the gain coefficient is adjustable on the sliding surface. Finally, the comparative experimental results clarify that the proposed control scheme has better control performance than the PID controller and the SMC controller.

Sliding-Mode Control With Switching-Gain Adaptation for Trajectory Tracking of Underactuated Unmanned Surface Vessels

2019 ◽  
Author(s):  
Rui Yu ◽  
Haochen Qi ◽  
Kamal Upadhyay ◽  
Hua Zhou
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Wave Loads ◽  
Environmental Disturbances ◽  
Mode Control ◽  
Gain Adaptation ◽  
Surface Vessels ◽  
Adaptation Law

Abstract Robust trajectory tracking is a vitally important issue to underactuated unmanned surface vessels (USVs). In this paper, a sliding-mode control method with switching-gain adaptation is proposed to force an underactuated USV to track a predefined trajectory, despite the presence of parametric uncertainties and unknown environmental disturbances induced by the wave loads, the wind and the ocean currents. The proposed controller is designed using sliding-mode control (SMC) and backstepping and switching-gain adaptation techniques. In this methodology, SMC and backstepping technique are combined to enhance the robustness of the system, and the switching-gain adaptation law based on the ideal switching-gain is employed to alleviate the chattering problem. In addition, we have proved the global asymptotic stability of the closed-loop system under the discontinuous thruster forces or the varying uncertain terms related to the velocities and the environmental disturbances. Finally, numerical simulations are provided to demonstrate the robustness and effectiveness of the proposed method for trajectory tracking of underactuated USVs.

scholarly journals High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Juanxiu Liu ◽  
Yifei Wu ◽  
Jian Guo ◽  
Qingwei Chen
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
External Disturbance ◽  
High Order ◽  
Lyapunov Theory ◽  
Stair Climbing ◽  
Synchronous Control ◽  
Mode Control

For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is designed, which can improve the performance of the system under conditions of uncertainties and torque perturbations and also can guarantee the synchronization of the system. Firstly, a robust high-order sliding mode control law is designed to track the desired position trajectories effectively. Secondly, considering the coordination of the multiple joints, a high-order sliding mode synchronization controller is designed to reduce the synchronization errors and tracking errors based on the controller designed previously. Stability of the closed-loop system is proved by Lyapunov theory. The simulation is performed by MATLAB to verify the effectiveness of the proposed controller. By comparing the simulation results of two controllers, it is obvious that the proposed scheme has better performance and stronger robustness.

scholarly journals Adaptive Sliding Mode Control Based on Equivalence Principle and Its Application to Chaos Control in a Seven-Dimensional Power System

2020 ◽  
Vol 2020 ◽  
pp. 1-13 ◽  
Author(s):  
Jiangbin Wang ◽  
Ling Liu ◽  
Chongxin Liu ◽  
Xiaoteng Li
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Design Process ◽  
Equivalence Principle ◽  
Sliding Mode ◽  
Chaotic Oscillation ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

The main purpose of the paper is to control chaotic oscillation in a complex seven-dimensional power system model. Firstly, in view that there are many assumptions in the design process of existing adaptive controllers, an adaptive sliding mode control scheme is proposed for the controlled system based on equivalence principle by combining fixed-time control and adaptive control with sliding mode control. The prominent advantage of the proposed adaptive sliding mode control scheme lies in that its design process breaks through many existing assumption conditions. Then, chaotic oscillation behavior of a seven-dimensional power system is analyzed by using bifurcation and phase diagrams, and the proposed strategy is adopted to control chaotic oscillation in the power system. Finally, the effectiveness and robustness of the designed adaptive sliding mode chaos controllers are verified by simulation.

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