A Sliding Mode LCO Regulation Strategy for Dual-Parallel Underactuated UAV Systems Using Synthetic Jet Actuators

Abstract

A sliding mode control-(SMC-) based limit cycle oscillation (LCO) regulation method is presented, which achieves asymptotic LCO suppression for UAVs using synthetic jet actuators (SJAs). With a focus on applications involving small UAVs with limited onboard computational resources, the controller is designed with a simplistic structure, requiring no adaptive laws, function approximators, or complex calculations in the control loop. The control law is rigorously proven to achieve asymptotic regulation of both pitching and plunging displacements for a class of systems in a dual-parallel underactuated form, where a single scalar control signal simultaneously affects two states. Since dual-parallel underactuated systems cannot be expressed in a strict feedback or cascade form, standard backstepping-based control techniques cannot be applied. This difficulty is mitigated through careful algebraic manipulation in the regulation error system development, along with innovative design of the sliding surface. A detailed model of the UAV LCO dynamics is utilized, and a rigorous analysis is provided to prove asymptotic regulation of the pitching and plunging displacements. Numerical simulation results are provided to demonstrate the performance of the control law.

Autopilot Design for a Compound Control Small-Scale Solid Rocket in the Initial Stage of Launch

“…The sliding mode method is a nonlinear control method which has great robustness against the model parameter variation and disturbance [10,11]. It is applicable to the condition of large aerodynamic disturbance caused by the lateral thrusters.…”

“…It is obvious that if s ′ Ts ′ < 0, the system is asymptotically stable. Substituting Equation (2), Equation (3), Equation (6), and Equation (11) into Equation (9) successively, one can obtain that Similar to the sliding-mode control, the discretization method makes the lateral thrusters turn on and off frequently when s ′ is close to 0, which wastes a lot of fuel and may cause the undesired vibration. The decreasing chattering approach for sliding-mode control can also be used when the thrust adjustment is determined.…”

Active Stall Flutter Suppression for a Revised Leishman–Beddoes Model

“…It is well known that sliding mode control (SMC) has inherent robustness against matched uncertainty [Utkin, 1992, Edwards andSpurgeon, 1998]. This robustness property has been exploited to ensure asymptotic and simultaneous convergence of both translational and torsional modes in LCOs [Ramos-Pedroza et al, 2015]. However, dynamic stall was not considered in the work.…”

Unsteady Simulation of a Synthetic Jet Actuator with Cylindrical Cavity Using a 3-D Lattice Boltzmann Method

“…A synthetic jet transfers linear momentum to the surroundings by alternately ingesting and expelling fluid from a cavity containing an oscillating diaphragm and has proven to be a useful active flow control device [1][2][3]. Compared with continuous jets, synthetic jets are low-weight, compact devices and do not require internal fluid supply lines [4][5][6].…”