scholarly journals The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode

Aerospace ◽  
2021 ◽  
Vol 8 (11) ◽  
pp. 337
Author(s):  
Jiulong Xu ◽  
Yongping Hao ◽  
Junjie Wang ◽  
Lun Li
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Model Parameters ◽  
External Interference ◽  
Mode Control ◽  
Coaxial Rotor ◽  
Non Linear ◽  
Backstepping Sliding Mode Control

In view of the uncertainty of model parameters, the influence of external disturbances and sensor noise on the flight of coaxial rotor aircraft during autonomous flight, a robust backstepping sliding mode control algorithm for the position and attitude feedback control system is studied to solve the trajectory tracking problem of an aircraft in the case of unknown external interference. In this study, a non-linear dynamic model based on a disturbed coaxial rotor aircraft was established for an unknown flight. Then, a non-linear robust backstepping sliding mode controller was designed, which was divided into two sub-controllers: the attitude controller and the position controller of the coaxial rotor aircraft. In the controller, virtual control was introduced to construct the Lyapunov function to ensure the stability of each subsystem. The effectiveness of the proposed controller was verified through numerical simulation. Finally, the effectiveness of the backstepping sliding mode control algorithm was verified by flight experiments.

scholarly journals Adaptive Neural Backstepping Sliding Mode Heading Control for Underactuated Ships with Drift Angle and Ship-Bank Interaction

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Xue Han
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Adaptive Backstepping ◽  
Unknown Parameters ◽  
Sea State ◽  
Environmental Disturbances ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

In order to track the desired path under unknown parameters and environmental disturbances, an adaptive backstepping sliding mode control algorithm with a neural estimator is proposed for underactuated ships considering both ship-bank interaction effect and shift angle. Using the features of radial basis function neural network, which can approximate arbitrary function, the unknown parameters of the ship model and environmental disturbances are estimated. The trajectory tracking errors include stabilizing sway and surge velocities errors. Based on the Lyapunov stability theory, the tracking error will converge to zero and the system is asymptotically stable. The controlled trajectory is contractive and asymptotically tends to the desired position and attitude. The results show that compared with the basic sliding mode control algorithm, the overshoot of the adaptive backstepping sliding mode control with neural estimator is smaller and the regulation time of the system is shorter. The ship can adjust itself and quickly reach its desired position under disturbances. This shows that the designed RBF neural network observer can track both the mild level 3 sea state and the bad level 5 sea state, although the wave disturbance has relatively fast time-varying disturbance. The algorithm has good tracking performance and can realize the accurate estimation of wave disturbance, especially in bad sea conditions.

scholarly journals Neural Network PID Algorithm for a Class of Discrete-Time Nonlinear Systems

2018 ◽  
Vol 14 (02) ◽  
pp. 103 ◽  
Author(s):  
Huifang Kong ◽  
Yao Fang
Keyword(s):  
Neural Network ◽  
Nonlinear System ◽  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Model Parameters ◽  
Pid Algorithm ◽  
Mode Control ◽  
Model Free

<p class="0abstract"><span lang="EN-US">The control of nonlinear system is the hotspot in the control field. The paper proposes an algorithm to solve the tracking and robustness problem for the discrete-time nonlinear system. The completed control algorithm contains three parts. First, the dynamic linearization model of nonlinear system is designed based on Model Free Adaptive Control, whose model parameters are calculated by the input and output data</span><span lang="EN-US"> of system</span><span lang="EN-US">. Second, the model error is estimated using the Quasi-sliding mode control algorithm</span><span lang="EN-US">, hence, the whole model of system is estimated</span><span lang="EN-US">. Finally, the neural network </span><span lang="EN-US">PID </span><span lang="EN-US">controller is designed to get the optimal control law. The convergence and BIBO stability of the control system is proved by the Lyapunov function. The simulation results </span><span lang="EN-US">in</span><span lang="EN-US"> the </span><span lang="EN-US">linear and </span><span lang="EN-US">nonlinear system validate the effectiveness and robustness of the algorithm.</span><span lang="EN-US"> The robustness </span><span lang="EN-US">effort </span><span lang="EN-US">of </span><span lang="EN-US">Quasi-sliding mode control algorithm</span><span lang="EN-US"> in nonlinear system is also verified in the paper.</span></p>

Trajectory-following of a 4WID-4WIS vehicle via feedforward–backstepping sliding-mode control

2021 ◽  
pp. 095440702110212
Author(s):  
Yu-long Lei ◽  
Guanzheng Wen ◽  
Yao Fu ◽  
Xingzhong Li ◽  
Boning Hou ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Luenberger Observer ◽  
Mode Control ◽  
Comprehensive Method ◽  
Backstepping Sliding Mode Control ◽  
Flexible Operation

Realisation of high-precision trajectory tracking is the key technology to achieve unmanned driving, which has an important impact on vehicle handling stability, safety and comfort. However, many confounding factors seriously restrict tracking performance and pose a great challenge to the design of the controller for tracking the desired trajectory. A comprehensive method that combines feedforward and backstepping sliding mode control is proposed for a four-wheel independent driving–four-wheel independent steering (4WID-4WIS) vehicle, which has the advantages of over-coupling, multiple degrees of freedom and flexible operation. The desired value is the target for the feedforward output of the controller, and the backstepping sliding mode control is used to overcome all kinds of disturbances. A mature and reliable Luenberger observer is designed to achieve good trajectory tracking performance for reducing some sensors. The proposed method is verified via MATLAB/Simulink simulation, which proved that the method has an excellent trajectory tracking performance.

Hybrid Adaptive Backstepping-Sliding Mode Control Design for Non-linear Under-Actuated Systems

2021 ◽  
pp. 589-603
Author(s):  
Doghmane Mohamed Zinelabidine ◽  
Kidouche Madjid ◽  
Riache Samah ◽  
Aibeche Abderrazek
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Adaptive Backstepping ◽  
Mode Control ◽  
Non Linear ◽  
Backstepping Sliding Mode Control

scholarly journals Improved Model-Free Sliding Mode Control Algorithm for Control Non-Linear Systems

2020 ◽  
Vol 27 (4) ◽  
pp. 79-89
Author(s):  
Hasnaa Wasouf ◽  
Jomana Diab
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Control Signal ◽  
Direct Lyapunov Method ◽  
Mode Control ◽  
Model Free ◽  
Non Linear ◽  
The Stability ◽  
Non Linear System

When testing the performance of the model-free sliding mode control algorithm, it was found that it could not maintain good performance when the system was exposed to noise. this research suggests designing a noise-resistant model-free sliding mode control algorithm. The importance of this algorithm is that it takes into account the effect of the noise, where the noise value is implemented in the model-free algorithm. The sliding surface of the controller is designed based on the improved relationship and to ensure the stability of the system in the closed-loop the control signal was derived based on the direct Lyapunov method. To minimize the effects of chattering in the control signal, the control law was reconfigured using a boundary layer. The improved algorithm was implemented to a second-order non-linear system and the simulation results showed the system's ability to track the desired signal in spite of the presence of the noise as well as its ability to maintain the stability of the controlled system

scholarly journals Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm

2018 ◽  
Vol 25 (3) ◽  
pp. 26-34 ◽  
Author(s):  
Yong Liu ◽  
Renxiang Bu ◽  
Xiaori Gao
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Guidance System ◽  
Motion Path ◽  
Sliding Mode Controller ◽  
Trajectory Tracking Control ◽  
Mode Control

Abstract The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.

scholarly journals Longitudinal Attitude Control Decoupling Algorithm Based on the Fuzzy Sliding Mode of a Coaxial-Rotor UAV

Electronics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 107 ◽  
Author(s):  
Kewei Li ◽  
Yiran Wei ◽  
Chao Wang ◽  
Hongbin Deng
Keyword(s):  
Sliding Mode Control ◽  
Flight Control ◽  
Sliding Mode ◽  
Underactuated System ◽  
External Interference ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Coaxial Rotor ◽  
Fuzzy Sliding Mode ◽  
Decoupling Algorithm

A longitudinal attitude decoupling algorithm based on the fuzzy sliding mode control for a small coaxial rotor unmanned aerial vehicle (UAV) is presented in this paper. The attitude system of a small coaxial rotor UAV is characterized by nonlinearity, strong coupling and uncertainty, which causes difficulties pertaining to its flight control. According to its six-degree-of-freedom model and structural characteristics, the dynamic model was established, and a longitudinal attitude decoupling algorithm was proposed. A fuzzy sliding mode control was used to design the controller to adapt to the underactuated system. Compared with the uncoupled fuzzy sliding mode control, simulation results indicated that the proposed method could improve the stability of the system, presented with a better adapting ability, and could effectively suppress the modeling error and external interference of the coaxial rotor aircraft attitude system. The proposed method also has the advantages of high accuracy, good stability, and the ease of implementation.

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