Barrier Lyapunov function-based robust flight control for the ultra-low altitude airdrop under airflow disturbances

Su, Zikang; Li, Chuntao; Wang, Honglun

doi:10.1016/j.ast.2018.10.008

Cited by 27 publications

(6 citation statements)

References 30 publications

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“…Tao et al [4] studied parafoil path following in a windy environment based on generalized predictive control. Su et al [5] studied the anti-disturbance constrained trajectory flight control for an ultra-low altitude airdrop system based on the barrier Lyapunov function. Luo et al [6] proposed an accurate flight track control approach for a parafoil, which combined ADRC with wind feedforward compensation.…”

Section: Related Workmentioning

confidence: 99%

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

Sun

Zhao

et al. 2019

IEEE Access

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The airdropping of multi-parafoil systems is of great significance to earthquake relief and military material transportation. In order to achieve the coordinated motion of multiple parafoils, a formation guidance strategy based on a virtual structure is proposed, which enables the formation of multiple parafoils to follow the planned trajectory and land at the target precisely. Firstly, since the main movement mode of a parafoil is turning and gliding, a multiphase homing trajectory for the reference point is planned, which mainly consists of a turning and gliding phase. Then, the trajectories of all the points on the virtual structure are generated by superimposing the relative positions of the virtual structure on the planned trajectory. Based on Lyapunov stability theory, a guidance strategy is designed to guide all parafoils to track the corresponding points on the virtual structure and complete the desired formation task. The simulation results show that the guidance strategy based on a virtual structure can effectively guide multiple parafoils to achieve coordinated formation movement. Parafoils dropped from different positions and heading angles can gradually gather together and form a formation, track the planned trajectories, land at the target point precisely and align up against the wind.

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Section: Related Workmentioning

confidence: 99%

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

Sun

Zhao

et al. 2019

IEEE Access

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“…In accordance with Hooke's law, the tension at the connection point between the hose and the UAV depends to some extent on the relative positions of the tanker and the UAV, indicating the requirement for a specific formation configuration between the two aircraft. However, the RFSHC is susceptible to encountering intricate external airflow disturbances, such as atmospheric turbulences and gusts [15], during flight. As a result, ensuring that the desired formation configuration between the tanker and the UAV is maintained requires careful consideration of state constraint control in RFSHC.…”

Section: Introductionmentioning

confidence: 99%

Finite-time tracking control of tanker/UAV formation with hose connection based on constraint space

Liu,

Meng,

et al. 2024

Preprint

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This paper investigates the problem of finite-time tracking control for refueling formations under hose connection constraints subsequent to the docking of a receiving unmanned aerial vehicle (UAV) and a tanker in autonomous aerial refueling missions. The inclusion of hose connections not only imposes constraints to prevent disconnection but also introduces disturbances to the UAV. Initially, a model for the tension constraints at the hose-UAV connection point is first introduced, transforming complex hose constraints into relative state constraints between the UAV and the tanker. Meanwhile, a modified barrier function that incorporates the UAV's state and formation tracking errors is designed to deal with the decomposed hose constraints. Furthermore, an extended state observer is deployed to estimate external complex disturbances. Subsequently, leveraging dynamic surface control techniques, a finite-time control scheme is proposed to meet the dual requirements of preventing hose disconnection and achieving rapid convergence in the refueling formation. Compared to traditional hose constraint solutions, this scheme enhances the safety of refueling formation systems. Both theoretical proofs and simulation results substantiate the efficacy of the proposed control scheme.

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“…BLF-based adaptive finite-time control was proposed in [25], which guaranteed the robust response in the presence of uncertainties. Anti-disturbance exact flight control based on the BLF-based back-stepping technique with the mash-up of a high-order sliding mode observer was proposed for ultra-low-altitude airdrop [26], but it did not consider the actuator fault. In the field of neural network control, reference [27] proposes an innovative control strategy, namely observer-based adaptive fuzzy finite-time attitude control.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, a multivariable adaptive control-based consensus flight control method with parametric uncertainties and unknown external disturbances was proposed for formation UAVs [30]. These controls have downsides in term that although they take the uncertainties or disturbances into account [25], they did not consider the actuator faults in the formation control [24,26]. These methods are using back-stepping control [24], BLF-based adaptive finite-time control [25], and BLF-based back-stepping control [26] to deal with uncertainties and disturbances.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Event-Triggrred Control for Multiple UAVs with Predefined Tracking Performance

Ma,

Gong,

Wang

2024

Drones

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This paper proposes an event-triggered fault-tolerant time-varying formation control method dedicated to multiple unmanned aerial vehicles (UAVs). We meticulously design a formation-tracking controller with a predefined tracking performance to accommodate the presence of actuator faults and external disturbances. Firstly, the formation-tracking controller acquires the desired heading using the line-of-sight algorithm. Secondly, in the presence of actuator faults and external disturbances, we introduce the radial basis function neural network (RBFNN) and adaptive law tracking control to effectively compensate for their effects. Additionally, we design adaptive tracking controllers and event-triggering conditions to increase the computational frequency. The predefined tracking performance, implemented via a Lyapunov function, ensures the convergence of the tracking error over time. Finally, we conduct a thorough analysis of the system’s stability, successfully eliminating the possibility of Zeno behavior. The simulation results thoroughly validate the effectiveness of the theoretical analysis.

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Barrier Lyapunov function-based robust flight control for the ultra-low altitude airdrop under airflow disturbances

Cited by 27 publications

References 30 publications

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

Finite-time tracking control of tanker/UAV formation with hose connection based on constraint space

Fault-Tolerant Event-Triggrred Control for Multiple UAVs with Predefined Tracking Performance

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