Adaptive backstepping control for optimal descent with embedded autonomy

Abstract

This version is available at https://strathprints.strath.ac.uk/28957/ Strathprints is designed to allow users to access the research output of the University of Strathclyde. Unless otherwise explicitly stated on the manuscript, Copyright © and Moral Rights for the papers on this site are retained by the individual authors and/or other copyright owners. Please check the manuscript for details of any other licences that may have been applied. You may not engage in further distribution of the material for any profitmaking activities or any commercial gain. You may freely distribute both the url (https://strathprints.strath.ac.uk/) and the content of this paper for research or private study, educational, or not-for-profit purposes without prior permission or charge.Any correspondence concerning this service should be sent to the AbstractUsing Lyapunov stability theory, an adaptive backstepping controller is presented in this paper for optimal descent tracking. Unlike the traditional approach, the proposed control law can cope with input saturation and failure which enables the embedded autonomy of lander system. In addition, this control law can also restrain the unknown bounded terms (i.e., disturbance).To show the controller's performance in the presence of input saturation, input failure and bounded external disturbance, simulation was carried out under a lunar landing scenario

Distributed Adaptive Control for UAV Formation With Input Saturation and Actuator Fault

“…Therefore, e i1 → 0 and e i2 = z i2 − k 1 e i1 − r i → 0 as t → ∞. Remark 1: Compared with the results in [19], [20], our results do not need the assumption that no input saturation occur after finite time. Moreover the asymptotic stability is achieved under the proposed controllers instead of uniform ultimate bounded stability.…”

“…By incorporating the command filter and adaptive control technique, Farrel et al [17] and Sonneveldt et al [18] solve the input saturation problem in aircraft adaptive flight control design. In [19], Li et al propose an adaptive backstepping control algorithm for optimal descent tracking. Recently, Zheng et al present the robust adaptive backstepping control schemes for autonomous attitude cooperative control to overcome the input constraint, model uncertainties, and external disturbances in [20].…”

“…(1) In the research of input saturation problem, backstepping control combined with command filter is a common approach due to the advantages of simple and reliable characteristic in application. Therefore this method is employed to design formation control algorithms in some literature such as [19], [20]. However, the assumption that no input satura-tion occurs after finite time is needed to assure the stability in [19], [20].…”

“…Therefore this method is employed to design formation control algorithms in some literature such as [19], [20]. However, the assumption that no input satura-tion occurs after finite time is needed to assure the stability in [19], [20]. In this paper, this assumption is removed in the developed adaptive backstepping control algorithm.…”

Trajectory tracking control for a quadrotor UAV via extended state observer

“…The DOB that serves as a compensator is incorporated with backstepping technique. In Li, Jing, Macdonald, and Mcinnes (2011), an adaptive backstepping control law was proposed to track the optimal descent orbit and attitude trajectories. It is shown that this control law is robust against the input saturation and unknown bounded disturbance.…”