High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics

Nonlinear Dynamics - This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all,...     

四旋翼飞行器建模及位置跟踪控制(英文)

相对其他无人飞行器平台,四旋翼飞行器有其独特的优势,因而受到广泛的关注。位置跟踪控制对四旋翼飞行器的应用非常重要。在阐述四旋翼飞行器的飞行原理和操控机制的基础上,研究了其动力学模型,并提出了一种简化的数学模型。四旋翼飞行器是欠驱动耦合系统,为了实现系统解耦并得到清晰的控制回路,设计了多回路PID控制方案,其控制目标是位置和偏航角,而姿态角和横滚角由位置误差调节。最后,通过仿真验证了控制方法的有效性。     

Robust trajectory tracking control for a laboratory helicopter

This paper presents a robust nonlinear control strategy to deal with the trajectory tracking control problem for a laboratory helicopter. The helicopter model is considered as a nominal one with uncertainties such as unmodeled nonlinear dynamics, parametric uncertainties, and external disturbances. The proposed control approach incorporates the feedback linearization technique (FLT) and the signal compensation technique. The FLT is first applied to achieve the linearization of the nominal nonlinear model for reducing the conservation of the robust compensator design. A nominal controller based on the linear quadratic regulation method is designed for the linearized nominal system, whereas a robust compensator is introduced to restrain the influences of the uncertainties. It is shown that the trajectory tracking errors of the closed-loop system are ultimately bounded, and the boundaries can be specified by choosing the controller parameters. Simulation and experimental results on the lab helicopter verify the effectiveness of the proposed method.     

Adaptive fixed-time trajectory tracking control for Mars entry vehicle

Nonlinear Dynamics - This paper develops a fixed-time trajectory tracking control scheme for Mars entry vehicle under uncertainty. First, a novel fixed-time nonsingular terminal sliding mode...     

Coupling effect-triggered control strategy for hypersonic flight vehicles with finite-time convergence

Nonlinear Dynamics - This paper investigates a novel control strategy of addressing coupling issue for attitude tracking control of hypersonic flight vehicle. By using a defined coupling effect...     

Robust trajectory tracking control of cable-driven parallel robots

Nonlinear Dynamics - In this paper, a robust tracking controller is designed for fully constrained cable-driven parallel robots (CDPRs). One of the main challenges of controller design for this...     

Fixed-time disturbance observer-based robust fault-tolerant tracking control for uncertain quadrotor UAV subject to input delay

Nonlinear Dynamics - This study focuses on the design of a fixed-time disturbance observer-based robust fault-tolerant tracking control scheme for an uncertain quadrotor unmanned aerial vehicle...     

Observer-based adaptive fuzzy finite-time prescribed performance tracking control for strict-feedback systems with input dead-zone and saturation

This paper considers the problems of finite-time prescribed performance tracking control for a class of strict-feedback nonlinear systems with input dead-zone and saturation simultaneously. The unknown nonlinear functions are approximated by fuzzy logic systems and the unmeasurable states are estimated by designing a fuzzy state observer. In addition, a non-affine smooth function is used to approximate the non-smooth input dead-zone and saturated nonlinearity, and it is varied to the affine form via the mean value theorem. An adaptive fuzzy output feedback controller is developed by backstepping control method and Nussbaum gain method. It guarantees that the tracking error falls within a pre-set boundary at finite time and all the signals of the closed-loop system are bounded. The simulation results illustrate the feasibility of the design scheme.

     

Nonlinear adaptive control for quadrotor flying vehicle

In this work, we deal with autonomous tracking and disturbance rejection problem of quadrotor vehicle flying in uncertain environment. The vehicles kinematic and modeling error uncertainties are associated with external disturbance, inertia, mass, and nonlinear aerodynamic forces and moments. The proposed method integrate the techniques from adaptive control and robust control theory. Robust and adaptive control algorithms for translational and orientation tracking are derived using Lyapunov method. It is shown in our analysis that the altitude, position, and attitude tracking errors are bounded and their bounds asymptotically converge to zero in Lyapunov sense. Simulation results on a commercial quadrotor flying vehicle are given to demonstrate the effectiveness of theoretical arguments for real world application.     

A time-specified nonsingular terminal sliding mode control approach for trajectory tracking of robotic airships

Nonlinear Dynamics - The robotic airships provide potential aerial platforms for various applications and require robust trajectory tracking to support these tasks. A time-specified nonsingular...     

Adaptive sliding mode disturbance observer-based composite trajectory tracking control for robot manipulator with prescribed performance

Nonlinear Dynamics - In this paper, the problem of the composite trajectory tracking control for robot manipulator with lumped uncertainties including unmodeled dynamics and external disturbances...     

Distributed cooperative control for multiple quadrotor systems via dynamic surface control

This paper addresses the cooperative control problems of multiple quadrotor systems under fixed directed communication topologies. Dynamic surface control (DSC) is utilized to design nonlinear consensus controllers to make multiple quadrotors construct and keep a formation during flying. The control scheme is distributed so that each quadrotor updates the values of its information states based on the information states of its neighbors and its own states. Moreover, the leader–follower case is also discussed. In this case, distributed continuous schemes are also proposed with distributed sliding-mode observers, whose function is to estimate two linear combinations of the leader’s velocity and acceleration accurately in finite time. Finally, the effectiveness of the theoretical results is demonstrated via two examples.     

四旋翼飞行器分散PID神经元网络控制

针对四旋翼飞行器的非线性控制问题,提出了一种分散PID神经元网络(PIDNN)控制方法。首先通过牛顿—欧拉方程建立了四旋翼飞行器的动力学模型。其次,提出了一种嵌套控制器,内环基于分散PIDNN方法以实现姿态控制,外环采用经典的PID控制方法,PIDNN控制器的在线学习通过误差反向传播法实现。搭建了自主研制的四旋翼飞行器系统,并通过实验的方式研究了控制器的控制性能。实验结果表明控制器具有较强的控制稳定性、机动性和鲁棒性。     

Robust finite-time tracking for a square fully actuated class of nonlinear systems

In this paper, the robust finite-time tracking problem is addressed for a square fully actuated class of nonlinear systems subjected to disturbances and uncertainties. Firstly, two applicable lemmas are derived and novel nonlinear sliding surfaces (manifolds) are defined by applying these lemmas. Secondly, by developing the nonsingular terminal sliding mode control, two different types of robust nonlinear control inputs are designed to meet and accomplish the aforementioned finite-time tracking objective. The global finite-time stability of the closed-loop nonlinear system is evaluated analytically and mathematically. The proposed control inputs are utilized to tackle and solve two interesting issues containing (a): the finite-time tracking problem of the unified chaotic system and (b): the finite-time synchronization of two non-identical hyperchaotic systems. Finally, based on MATLAB software, two numerical simulations are carried out to illustrate and demonstrate the effectiveness and performance of the proposed robust finite-time nonlinear control schemes.

     

Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot

Nonlinear Dynamics - The dynamics modeling and trajectory optimization of a segmented linkage cable-driven hyper-redundant robot (SL-CDHRR) become more challenging, since there are multiple...     

Automated hazard escaping trajectory planning/tracking control framework for vehicles subject to tire blowout on expressway

Nonlinear Dynamics - This paper proposes an automated hazard escaping trajectory planning/tracking control framework for the vehicle subject to tire blowout on expressway by hierarchically...     

Direct yaw-moment control for 4WID electric vehicle via finite-time control technique

This paper is concerned with the yaw-moment stabilization for four-wheel independent-drive electric vehicle. A second-order sliding mode observer is first designed to estimate the required sideslip angle in a finite time. Then, the finite-time control technique and nonlinear disturbance observer are applied to construct the upper controller to drive both yaw rate and sideslip angle to their desired values. Finally, the lower controller is developed to distribute the torques to the independent four wheels according to the desired yaw moment obtained by the given upper controller. Comparisons among linear, discontinuous and nonsmooth controllers under different working conditions are given by using CarSim software.     

Generalized quantized intermittent control with adaptive strategy on finite-time synchronization of delayed coupled systems and applications

Nonlinear Dynamics - This paper is concerned with the finite-time synchronization problem of coupled drive-response systems with time-varying delays via quantized adaptive aperiodically...