scholarly journals Combining Stable Inversion and H∞ Synthesis for Trajectory Tracking and Disturbance Rejection Control of Civil Aircraft Autolanding

2020 ◽  
Vol 10 (4) ◽  
pp. 1224 ◽  
Author(s):  
Xudong Wang ◽  
Yuanjun Sang ◽  
Guangrui Zhou
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Wind Condition ◽  
Stable Inversion ◽  
Disturbance Rejection Control ◽  
Automatic Landing ◽  
Civil Aircraft ◽  
Trajectory Tracking Controller ◽  
Large Wind ◽  
Landing Control

The landing phase during a flight probably is the most dangerous part, as most of the accidents occur in this phase. A robust trajectory tracking controller is presented to autoland a civil aircraft subjected to severe wind disturbances to improve the aircraft’s safety. Firstly, the dynamic models of the aircraft and windshear are built. Secondly, a stable inversion (SI) based robust autolanding controller (SIRAC) is proposed. In this architecture, the SI algorithm is used to improve the output tracking precision, while the H ∞ synthesis is applied for enhancing robust stability against uncertainties caused by wind disturbances. Finally, two scenario simulations are carried out for the automatic landing control of a large civil aircraft. Significant performances on the system have been achieved without any disturbance. In addition to that, the proposed SIRAC can also track the desired autolanding trajectory with high precision, even under large wind condition.

scholarly journals A TRAJECTORY-TRACKING CONTROLLER FOR IMPROVING THE SAFETY AND STABILITY OF FOUR-WHEEL STEERING AUTONOMOUS VEHICLES

Transport ◽  
2021 ◽  
Vol 0 (0) ◽  
pp. 1-17
Author(s):  
Runqiao Liu ◽  
Minxiang Wei ◽  
Nan Sang ◽  
Jianwei Wei
Keyword(s):  
Trajectory Tracking ◽  
Autonomous Vehicles ◽  
Lateral Displacement ◽  
Autonomous Vehicle ◽  
Tracking Errors ◽  
Disturbance Rejection Control ◽  
Tracking Controller ◽  
Turning Radius ◽  
Trajectory Tracking Controller ◽  
Yaw Angle

To achieve anti-crosswind, anti-sideslip, and anti-rollover in trajectory-tracking for Four-Wheel Steering (4WS) autonomous vehicles, a trajectory-tracking controller based on a four-channel Active Disturbance Rejection Control (ADRC) was used to track the desired lateral displacement, longitudinal displacement, yaw angle, and roll angle, and minimize the tracking errors between the actual output values and the desired values through static decoupling steering and braking systems. In addition, the anti-crosswind, anti-sideslip, and anti-rollover simulations were implemented with CarSim®. Finally, the simulation results showed that the 4WS autonomous vehicle with the controller still has good anti-crosswind, anti-sideslip, and anti-rollover performance in path tracking, even under a small turning radius or lowadhesion curved roads.

A hybrid high-performance trajectory tracking controller for unmanned hexrotor with disturbance rejection

2018 ◽  
Vol 42 (3) ◽  
pp. 239-251
Author(s):  
Li Ding ◽  
Jinyu Zhou ◽  
Wentao Shan
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
High Performance ◽  
Nonlinear Dynamical ◽  
System A ◽  
Disturbance Rejection Control ◽  
Control Scheme ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

This article addresses the problem of designing and experimentally validating a controller for steering an unmanned hexrotor along a trajectory while rejecting the lumped disturbance. Based on the developed nonlinear dynamical model, a hybrid high-performance trajectory tracking controller is designed. In this control scheme, a linear active disturbance rejection control technology is introduced to stabilize the attitude loop, and an integral backstepping control methodology is employed to control the position loop. Subsequently, the performance of the proposed flight control strategy is tested in a simulation environment. The developed algorithms are then transplanted to a real system. A prototype and a flight experiment are established to verify its effectiveness. Experimental results are presented to show that the actual trajectory closely matches well with the ideal one. It demonstrates that the proposed controller provides good performance and robustness.

Airship horizontal trajectory tracking control based on Active Disturbance Rejection Control (ADRC)

2013 ◽  
Vol 75 (4) ◽  
pp. 725-734 ◽  
Author(s):  
Erlin Zhu ◽  
Jinfeng Pang ◽  
Na Sun ◽  
Haitao Gao ◽  
Qinglin Sun ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Active Disturbance Rejection Control ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

A trajectory tracking controller with dynamic gains for mobile robots

2011 ◽  
Author(s):  
Cassius Z. Resende ◽  
F. Espinosa ◽  
I. Bravo ◽  
Mario Sarcinelli-Filho ◽  
Teodiano F. Bastos-Filho
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1551-1570 ◽  
Author(s):  
Hossein Mirzaeinejad ◽  
Ali Mohammad Shafei
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Tracking Accuracy ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Control Approach ◽  
Prediction Time

SUMMARYThis study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

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