scholarly journals Robust Adaptive Control for an Aircraft Landing Gear Equipped with a Magnetorheological Damper

2020 ◽  
Vol 10 (4) ◽  
pp. 1459 ◽  
Author(s):  
Quoc Viet Luong ◽  
Dae-Sung Jang ◽  
Jai-Hyuk Hwang
Keyword(s):  
Hybrid Control ◽  
Sliding Mode ◽  
Landing Gear ◽  
Robust Adaptive Control ◽  
Magnetorheological Damper ◽  
Parametric Uncertainties ◽  
Active System ◽  
Damping Force ◽  
Passive Damper ◽  
Robust Adaptive

A landing gear of an aircraft is required to function at touchdown in different landing scenarios with parametric uncertainties. A typical passive damper in a landing gear has limited performance in differing landing scenarios, which can be overcome with magnetorheological (MR) dampers. An MR damper is a semi-active system that can adjust damping force by changing the amount of electric current applied to it. This paper proposes a new robust controller based on model reference sliding mode control and adaptive hybrid control to improve the efficiency of absorbing landing impact energy, not only considering the variables of aircraft weight and sink speed but also managing uncertainties, such as ambient temperature and passive damping coefficient. To verify the effectiveness of the proposed controller, comparative numerical simulations were performed with a passive damper, a skyhook controller, and the proposed controller under various landing scenarios. The simulation results show that the proposed controller improves the total energy absorber efficiency by up to 10% higher than that of the skyhook controller. In addition, the proposed controller is demonstrated to have better adaptability and robustness than the other control algorithms in the differing landing scenarios and parametric uncertainties.

scholarly journals Intelligent Control Based on a Neural Network for Aircraft Landing Gear with a Magnetorheological Damper in Different Landing Scenarios

2020 ◽  
Vol 10 (17) ◽  
pp. 5962 ◽  
Author(s):  
Quoc Viet Luong ◽  
Dae-Sung Jang ◽  
Jai-Hyuk Hwang
Keyword(s):  
Neural Network ◽  
Mr Damper ◽  
Landing Gear ◽  
Magnetorheological Damper ◽  
Damping Force ◽  
Hybrid Controller ◽  
Aircraft Landing ◽  
Neural Network Controller ◽  
Passive Damper ◽  
Aircraft Landing Gear

A typical oleo-pneumatic shock-absorbing strut (classic traditional passive damper) in aircraft landing gear has a metering pin extending through the orifice, which can vary the orifice area with the compression and extension of the damper strut. Because the metering pin is designed in a single landing condition, the traditional passive damper cannot adjust its damping force in multiple landing conditions. Magnetorheological (MR) dampers have been receiving significant attention as an alternative to traditional passive dampers. An MR damper, which is a typical semi-active suspension system, can control the damping force created by MR fluid under the magnetic field. Thus, it can be controlled by electric current. This paper adopts a neural network controller trained by two different methods, which are genetic algorithm and policy gradient estimation, for aircraft landing gear with an MR damper that considers different landing scenarios. The controller learns from a large number of trials, and accordingly, the main advantage is that it runs autonomously without requiring system knowledge. Moreover, comparative numerical simulations are executed with a passive damper and adaptive hybrid controller under various aircraft masses and sink speeds for verifying the effectiveness of the proposed controller. The main simulation results show that the proposed controller exhibits comparable performance to the adaptive hybrid controller without any needs for the online estimation of landing conditions.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Robust Adaptive Control of Nonlinear Output Feedback Systems Under Disturbances With Unknown Bounds

2004 ◽  
Vol 126 (1) ◽  
pp. 229-235 ◽  
Author(s):  
Dong H. Kim ◽  
Hua O. Wang ◽  
Hai-Won Yang
Keyword(s):  
Output Feedback ◽  
State Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Adaptation Strategy ◽  
Robust Adaptive Control ◽  
Feedback Systems ◽  
Adaptive Controllers ◽  
Robust Adaptive ◽  
And Control

This paper describes a systematic procedure to design robust adaptive controllers for a class of nonlinear systems with unknown functions of unknown bounds based on backstepping and sliding mode techniques. These unknown functions can be unmodeled system nonlinearities, uncertainties and disturbances with unknown bounds. Both state feedback and output feedback designs are addressed. In the design procedure, the upper bounds of the unknown functions are estimated using an adaptation strategy, and the estimates are used to design stabilizing functions and control inputs based on the backstepping design methodology. The proposed controllers guarantee that the tracking errors converge to a residual set close to zero exponentially for both state feedback and output feedback designs, while maintaining the boundedness of all other variables.

A Semi-Active Controller for an Aircraft Landing Gear Equipped with Magnetorheological Damper

2019 ◽  
Vol 894 ◽  
pp. 29-33
Author(s):  
Luong Quoc Viet ◽  
Jai Hyuk Hwang
Keyword(s):  
Numerical Simulation ◽  
Force Control ◽  
Hybrid Control ◽  
Mr Damper ◽  
Landing Gear ◽  
Operating Conditions ◽  
Magnetorheological Damper ◽  
Numerical Simulation Result ◽  
Aircraft Landing ◽  
Aircraft Landing Gear

The magnetorheological (MR) damper is the newest approach to replace the traditional passive damper which cannot change their dynamics in response to different operating conditions of the aircraft landing gear. This paper presents the simulation study of a semi-active controller for a landing gear equipped MR damper. Furthermore, a new method combined skyhook control with force control, called hybrid control, is developed to improve the performance of the MR damper landing gear. Finally, the numerical simulation result of the landing gear using SIMSCAPE-Simulink is discussed.

ADAPTIVE SYNCHRONIZATION OF CHAOTIC SYSTEMS VIA STATE OR OUTPUT FEEDBACK CONTROL

2001 ◽  
Vol 11 (04) ◽  
pp. 1149-1158 ◽  
Author(s):  
YIGUANG HONG ◽  
HUASHU QIN ◽  
GUNARONG CHEN
Keyword(s):  
Output Feedback ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Robust Adaptive Control ◽  
Adaptive Synchronization ◽  
Feedback Controls ◽  
Adaptive Controllers ◽  
Modification Technique ◽  
Robust Adaptive

This letter addresses the problem of robust adaptive control for synchronization of continuous-time coupled chaotic systems, which may be subjected to disturbances. A general model is studied via two different approaches, using either state feedback or measured output feedback controls. Adaptive controllers are designed, in which a sliding mode structure is employed to increase the robustness of the closed-loop systems. When only output variables are measurable for synchronization, the adaptive controllers are designed by incorporating with a filter and using the so-called σ-modification technique. Several numerical examples are presented to show the effectiveness of the proposed chaos synchronization methods.

Robust adaptive control and observer for a robot with pneumatic actuators

Robotica ◽  
2002 ◽  
Vol 20 (2) ◽  
pp. 167-173 ◽  
Author(s):  
F. Errahimi ◽  
H. Cherrid ◽  
N. K. M'Sirdi ◽  
H. Abarkane
Keyword(s):  
Adaptive Control ◽  
Sliding Mode ◽  
Upper Bounds ◽  
Robust Adaptive Control ◽  
Physical Parameters ◽  
Convergence Conditions ◽  
Pneumatic Actuators ◽  
Precise Knowledge ◽  
Robot Leg ◽  
Robust Adaptive

In this paper, the robust adaptive control and observer are considered for a pneumatic robot leg. This approach does not require a precise knowledge of the robot model physical parameters, only the adaptive upper bounds on the norm of the matrices model are used, which with the sliding mode guarantee the robustness of system. Convergence conditions and simulation results for the adaptive control and observer are presented.

scholarly journals A Discrete RMRAC-STSM Controller for Current Regulation of Three-Phase Grid-Tied Converters with LCL filter

2021 ◽  
Author(s):  
GUILHERME VIEIRA HOLLWEG ◽  
PAULO JEFFERSON DIAS DE OLIVEIRA EVALD ◽  
EVERSON MATTOS ◽  
RODRIGO VARELLA TAMBARA ◽  
HILTON ABíLIO GRüNDLING
Keyword(s):  
Control Structure ◽  
Reference Model ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Current Control ◽  
Robust Adaptive Control ◽  
Lcl Filter ◽  
Robust Model ◽  
Three Phase ◽  
Robust Adaptive

This article presents a discrete robust adaptive control structure, gathering a Robust Model Reference Adaptive Controller (RMRAC) with an adaptive Super-Twisting Sliding Mode (STSM) controller. The resulting control structure is applied to current control of a voltage-fed three-phase inverter, connected to the grid by an LCL filter. The main contribution of this control proposal is its adaptability, maintaining the robustness characteristics of the controllers that compose it with good regulation performance. Moreover, as the adaptive Sliding Mode action is high-order (Super-Twisting), the chattering phenomenon is significantly mitigated. Thereby, its implementation is simplified, using a first order reference model. For this, the dynamics of the LCL filter capacitors are neglected during the modeling process, considering it as an additive unmodeled dynamics. To validate the viability of the proposed control structure, Hardware in the Loop (HIL) results are presented.

Robust Adaptive Trajectory Control for an Omnidirectional Vehicle

2013 ◽  
Vol 284-287 ◽  
pp. 1919-1923
Author(s):  
Ya Chao Yang ◽  
Chi Cheng Cheng ◽  
Chin Yin Chen
Keyword(s):  
Sliding Mode ◽  
Trajectory Control ◽  
Robust Adaptive Control ◽  
Tracking Performance ◽  
Sliding Mode Controller ◽  
Vehicle System ◽  
Control Scheme ◽  
Asymptotic Tracking ◽  
Robust Adaptive ◽  
Adaptive Control Strategy

In this paper, a robust adaptive control strategy is proposed for trajectory control of an omnidirectional vehicle with three omni-wheels, which have the ability to move simultaneously with independently rotational motion. Actuators of the omnidirectional vehicle contain uncertainties and their parameters are unknown. By the Lyapunov stability, the asymptotic tracking performance can be assured. The proposed control scheme is demonstrated by actual tracking experiments using the omnidirectional vehicle system. Experimental results showed promising tracking performance for the proposed method as compared to traditional sliding mode controller.

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