Robust Backstepping Control for Longitudinal Flight Dynamics

2013 ◽  
Vol 300-301 ◽  
pp. 1589-1592
Author(s):  
Ming Suo Li ◽  
Mou Chen ◽  
Rong Mei
Keyword(s):  
Flight Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Flight Dynamics ◽  
Backstepping Technique ◽  
Control Performance ◽  
Sliding Mode Disturbance Observer ◽  
Control Scheme ◽  
Simulation Results ◽  
Robust Flight Control

In this paper, the robust longitudinal flight control is developed for the fighter using the backstepping technique. To improve the robust control performance for the unknown external disturbance, the sliding mode disturbance observer is employed to estimate the unknown external disturbance. Utilizing the disturbance estimate output, the robust backstepping flight control scheme is proposed for the fighter with the unknown external disturbance. Finally, simulation results are given to show the effectiveness of the proposed robust flight control scheme for longitudinal flight dynamics.

scholarly journals A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Jing Zhao ◽  
Sen Jiang ◽  
Fei Xie ◽  
Zhen He ◽  
Jian Fu
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Actuator Fault ◽  
Adaptive Technology ◽  
Control Scheme ◽  
Simulation Results

A fault tolerant control (FTC) scheme based on adaptive sliding mode control technique is proposed for manipulator with actuator fault. Firstly, the dynamic model of manipulator is introduced and its actuator faulty model is established. Secondly, a fault tolerant controller is designed, in which both the parameters of actuator fault and external disturbance are estimated and updated by online adaptive technology. Finally, taking a two-joint manipulator as example, simulation results show that the proposed fault tolerant control scheme is effective in tolerating actuator fault; meanwhile it has strong robustness for external disturbance.

scholarly journals Sliding mode control for quadrotor with disturbance observer

2018 ◽  
Vol 10 (7) ◽  
pp. 168781401878233 ◽  
Author(s):  
Nigar Ahmed ◽  
Mou Chen
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Unstable State ◽  
Control Performance ◽  
Mode Control ◽  
Exogenous Disturbance ◽  
Control Scheme ◽  
Simulation Results ◽  
Unknown Disturbance

In this article, a sliding mode control scheme is proposed for a quadrotor in the presence of an exogenous disturbance. A nonlinear sliding mode surface is constructed based on the estimate output of a disturbance observer to reject the effect of the unknown disturbance in the quadrotor. The desired control performance is achieved by bringing the state from unstable state to stable ones. To show the effectiveness of the developed control scheme, simulation results are provided for illustration of the designed controller based on disturbance observer.

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.

CONTROLLING THE UNCERTAIN MULTI-SCROLL CRITICAL CHAOTIC SYSTEM WITH INPUT NONLINEAR USING SLIDING MODE CONTROL

2009 ◽  
Vol 23 (16) ◽  
pp. 2021-2034 ◽  
Author(s):  
XINGYUAN WANG ◽  
DA LIN ◽  
ZHANJIE WANG
Keyword(s):  
Chaotic System ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Dead Zone ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Global Stabilization ◽  
Structure Control ◽  
Control Scheme ◽  
Simulation Results

In this paper, control of the uncertain multi-scroll critical chaotic system is studied. According to variable structure control theory, we design the sliding mode controller of the uncertain multi-scroll critical chaotic system, which contains sector nonlinearity and dead zone inputs. For an arbitrarily given equilibrium point of the uncertain multi-scroll chaotic system, we achieve global stabilization for the equilibrium points. Particularly, a class of proportional integral (PI) switching surface is introduced for determining the convergence rate. Furthermore, the proposed control scheme can be extended to complex multi-scroll networks. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

Adaptive altitude flight control of quadcopter under ground effect and time-varying load: theory and experiments

2021 ◽  
pp. 107754632110501
Author(s):  
Ji-Won Lee ◽  
Nguyen Xuan-Mung ◽  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Flight Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Ground Effect ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Time Varying ◽  
Control Performance ◽  
Parameter Uncertainties ◽  
Altitude Control

In recent years, the boom of the quadcopter industry resulted in a broad range of real-world applications which highlighted the urgent need to improve quadcopter control quality. Typically, external disturbances, such as wind, parameter uncertainties caused by payload variations, or the ground effect, can severely degrade the quadcopter’s altitude control performance. Meanwhile, widely used controllers like the proportional-integral-derivative control cannot guarantee control performance when the system is critically affected by factors that exhibit a high degree of variability with time. In this paper, an adaptive control algorithm is proposed to improve quadcopter altitude tracking performance in the presence of both the ground effect and a time-varying payload. First, we derive an adaptive altitude control algorithm using the sliding mode control technique to account for these uncertainties in the quadcopter dynamics model. Second, we apply Lyapunov theory to analyze the stability of the closed-loop system. Finally, we conduct several numerical simulations and experiments to validate the effectiveness of the proposed method.

Integrated Aircraft Modeling Research for Accurate Flight Control System Design

2013 ◽  
Vol 791-793 ◽  
pp. 658-662
Author(s):  
Chao Zhang ◽  
Yi Nan Liu ◽  
Jian Hui Xu
Keyword(s):  
Control System ◽  
System Design ◽  
Flight Control ◽  
Time Delays ◽  
Flight Dynamics ◽  
Control System Design ◽  
Control Law ◽  
Flight Control System ◽  
Aircraft Model ◽  
Simulation Results

In order to realize accurate flight control system design and simulation, an integrated scheme of aircraft model which consists of flight dynamics, fly-by-wire (FBW) platform and flight environment is proposed. Flight environment includes gravity, wind, and atmosphere. And the actuator and sensors such as gyroscope and accelerometer models are considered in the FBW platform. All parts of the integrated model are closely connected and interacted with each other. Simulation results confirm the effectiveness of the integrated aircraft model and also indicate that the (Flight Control Law) FCL must be designed with robustness to sensor noise and time delays with the FBW platform in addition to the required robustness to model uncertainty in flight dynamics.

On Transient Improvement of Variable Structure Controlled Systems Using Multimodel Switching 1

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Mehmet Akar
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Multiple Model ◽  
Robust Tracking ◽  
Controlled Systems ◽  
Control Scheme ◽  
Transient Improvement ◽  
Simulation Results

This paper presents a multiple model/controller scheme for robust tracking of a class of nonlinear systems in the presence of large plant uncertainties and disturbance. Each model is associated with a sliding mode controller, and a switching logic is designed to pick the model that best approximates the plant at each instant. Theoretically, it is shown that the proposed control scheme achieves perfect tracking despite the existence of disturbance, whereas simulation results verify the improvement in the transient performance.

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.

scholarly journals Synchronization of Synchronous Reluctance Motors Using the Discrete Sliding Mode Control Technique

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Salahuddin Abdul Rahman ◽  
Mohamed Zribi ◽  
Nejib Smaoui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Chaotic Behavior ◽  
Initial Conditions ◽  
Control Technique ◽  
Mode Control ◽  
Synchronous Reluctance Motor ◽  
Control Scheme ◽  
Bounded Disturbances ◽  
Simulation Results

The synchronous reluctance motor (SynRM) drive system is known to exhibit chaotic behavior under specified conditions. In this paper, the discrete-time sliding mode control (DSMC) technique is used to synchronize two SynRMs starting from different sets of initial conditions. The mixed variable speed reaching law is adopted in the design of the controller scheme. The parameters of the designed control scheme are tuned using a genetic algorithm (GA). Simulation results are presented to demonstrate the effectiveness of the proposed controller. In addition, the performance of the proposed control scheme is studied through simulations when bounded disturbances and mismatches between the parameters of the systems and those of the control scheme exist. The simulation results show that the designed control scheme is robust to bounded external disturbances and to mismatches in the parameters of the systems.

scholarly journals Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Suiyuan Shen ◽  
Jinfa Xu
Keyword(s):  
Flight Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
External Disturbance ◽  
Parameter Tuning ◽  
Adaptive Genetic Algorithm ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Better Than

The internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system’s dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneously, an adaptive genetic algorithm-particle swarm optimization (AGA-PSO) is used to optimize the controller parameters to solve the problem that the controller parameters are difficult to tune. The performance of the proposed ADRC is compared with that of the sliding mode controller (SMC). The simulations revealed that the dynamic performance and robustness of the ADRC is better than that of the SMC.

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