Control of VTOL aircraft with position state constraints using the Barrier Lyapunov Function

Zhao, Da; Liu, Jinkun

doi:10.1002/asjc.1978

Cited by 10 publications

(6 citation statements)

References 22 publications

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“…Then the matching conditions between the two can be further obtained. We choose a Ĝ matrix with the same form as gyroscopic forces matrix G , the relation of Ĝ and G is given as follows 11) into (10), we obtain:…”

Section: Determination Of Matching Conditionsmentioning

confidence: 99%

“…With the development of control theory, the control problem of the underactuated system has become a hot spot in the field of nonlinear control [7]. The control researches of such system have been widely used in the fields of robots [8], ships [9], and aircraft [10]. Similarly, if there is a failure of the actuators on the train causing some power input units to fail, the actual control input of the system will turn from a fully actuated system into an underactuated one.…”

Section: Introductionmentioning

confidence: 99%

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Fault-tolerant controller design of electric multiple unit system for braking based on controlled Lagrangian method

Wang,

Li,

Wang

2024

Third International Conference on Advanced Manufacturing Technology and Electronic Information (AMTEI 2023)

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A control strategy based on Controlled Lagrangians (CL) is designed for the Electric Multiple Unit (EMU) with a power unit's actuator complete failure to realize fault-tolerant control in this acticle. Firstly, the multi-particle EMU model is established, which is nonlinear, coupled, and underactuated. Then, the desired controlled energy and generalized forces are used to construct an expected controlled system. By equating the original system with the controlled system, the matching condition and controller structure are confirmed. A smooth nonlinear feedback control law is obtained from simplifying and solving the partial differential equations and algebraic equations of the matching conditions. The control law ensures simultaneous global asymptotic stability of position and velocity, and precision stopping of each power unit. Finally, the controlled energy is selected as the Lyapunov function, and the LaSalle invariance principle is used to prove the asymptotic stability. Simulations demonstrate the effectiveness of the theoretical results and that the controller has a large convergence range.

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Section: Determination Of Matching Conditionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fault-tolerant controller design of electric multiple unit system for braking based on controlled Lagrangian method

Wang,

Li,

Wang

2024

Third International Conference on Advanced Manufacturing Technology and Electronic Information (AMTEI 2023)

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“…Without considering the external disturbance torque and coupling coefficient, a simplified dynamic model of VTOL aircraft is established by using the mechanism analysis method [3].…”

Section: Mathematical Model Of Vtol Aircraftmentioning

confidence: 99%

PD control of VTOL aircraft trajectory tracking based on double-loop design

Wang

Bai

Li³

2022

J. Phys.: Conf. Ser.

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In this design, a VTOL aircraft system is used as the controlled object. Aiming at the trajectory tracking problem of its position and attitude output, a trajectory tracking control method based on double closed-loop PD control is adopted to design. The trajectory tracking system of VTOL aircraft is decomposed into a track tracking subsystem and a roll tracking subsystem. At the same time, a double closed-loop PD control structure based on position outer loop and attitude inner loop is constructed, and a PD controller based on feedforward compensation is designed. The pole assignment method is used to set and select PD parameters. The stability of the double closed-loop system is ensured by the engineering method of making the reaction speed of the inner loop greater than that of the outer loop. Then, MATLAB software is used to simulate whether the control system can track the given trajectory. Simulation results show that this method simplifies the design process of the control system and makes certain that VTOL aircraft can track arbitrary trajectory outputs with three state outputs as soon as possible, thus meeting the needs of underactuated VTOL aircraft for arbitrary trajectory tracking.

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“…Considering the uncertain model parameters, such as mass and moment of inertia, a novel minimum phase output is constructed in Chen et al [14], and then a sliding‐mode control law is designed to stabilize the new output. In consideration of the position constraints, a nonlinear controller is derived by employing barrier Lyapunov function in Zhao and Liu [15]. For a PVTOL aircraft with crosswind, a robust controller is proposed to realize the trajectory tracking by combining input–output feedback linearization and active disturbance rejection control in Aguilar‐Ibanez et al [16].…”

Section: Introductionmentioning

confidence: 99%

A simple nonlinear stabilization control of planar vertical take‐off and landing aircraft based on finite‐time control and Controlled Lagrangians

Li¹

2021

Asian Journal of Control

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A simple nonlinear stabilization controller for the planar vertical take-off and landing (PVTOL) aircraft is proposed by employing finite-time control method and Controlled Lagrangians method in this paper. Compared with other results, the new form of the proposed controller is simpler, the parameters selection of the proposed controller is more flexible and the stability analysis of the closed system is easier. The control strategy consists of two controllers. The first controller is designed based on finite-time control method to make the states of the fully actuated system converge to zero within a finite time. After that, the system can be simplified to a 2-DOF underactuated system. And the second controller is designed based on Controlled Lagrangians method to make the states of the underactuated system asymptotically stable. The simulation results verify the effectiveness and superiority of the proposed controller.

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Control of VTOL aircraft with position state constraints using the Barrier Lyapunov Function

Cited by 10 publications

References 22 publications

Fault-tolerant controller design of electric multiple unit system for braking based on controlled Lagrangian method

Fault-tolerant controller design of electric multiple unit system for braking based on controlled Lagrangian method

PD control of VTOL aircraft trajectory tracking based on double-loop design

A simple nonlinear stabilization control of planar vertical take‐off and landing aircraft based on finite‐time control and Controlled Lagrangians

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