Flight quality characteristics and observer-based anti-windup finite-time terminal sliding mode attitude control of aileron-free full-wing configuration UAV

Sun, Ruijie; Zhou, Zhou; Zhu, Xiaoping

doi:10.1016/j.ast.2021.106638

Cited by 15 publications

(4 citation statements)

References 58 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Readers can refer to [26,27,28,29,30,31] for the advantages of this composite approach in the flight control systems. In the low-level, by properly reconstructing the barrier function from [32], a dual-layer QP-based control allocator is proposed to relieve the conflict between tracking objectives and actuator constraints.…”

Section: Low-level Allocatormentioning

confidence: 99%

Dual-layer optimization-based control allocation for a fixed-wing UAV

Yan

Liu

et al. 2021

Aerospace Science and Technology

View full text Add to dashboard Cite

Section: Low-level Allocatormentioning

confidence: 99%

Dual-layer optimization-based control allocation for a fixed-wing UAV

Yan

Liu

et al. 2021

Aerospace Science and Technology

View full text Add to dashboard Cite

“…Let x 3 = x 3c + ε 1 , and substitute it into Equation (18). Thus, the following equation is obtained.…”

Section: The Design Of Guidance Lawmentioning

confidence: 99%

“…Additionally, the finite-time sliding mode control method has faster convergence and better robustness to model uncertainties and external disturbances. Inspired by this attractive characteristic, the finite-time stability sliding mode control has been applied in the speed and altitude control of air-breathing hypersonic vehicles [17], the attitude control of unmanned aerial vehicles [18], and spacecraft steering rendezvous [19]. Therefore, the sliding mode guidance law with finite-time convergence is worth further studying.…”

Section: Introductionmentioning

confidence: 99%

A Novel Guidance Law for Intercepting a Highly Maneuvering Target

Zhang

2021

International Journal of Aerospace Engineering

View full text Add to dashboard Cite

Given the resolution of the guidance for intercepting highly maneuvering targets, a novel finite-time convergent guidance law is proposed, which takes the following conditions into consideration, including the impact angle constraint, the guidance command input saturation constraint, and the autopilot second-order dynamic characteristics. Firstly, based on the nonsingular terminal sliding mode control theory, a finite-time convergent nonsingular terminal sliding mode surface is designed. On the back of the backstepping control method, the virtual control law appears. A nonlinear first-order filter is constructed so as to address the “differential expansion” problem in traditional backstepping control. By designing an adaptive auxiliary system, the guidance command input saturation problem is dealt with. The RBF neural network disturbance observer is used for estimating the unknown boundary external disturbances of the guidance system caused by the target acceleration. The parameters of the RBF neural network are adjusted online in real time, for the purpose of improving the estimation accuracy of the RBF neural network disturbance observer and accelerating its convergence characteristics. At the same time, an adaptive law is designed to compensate the estimation error of the RBF neural network disturbance observer. Then, the Lyapunov stability theory is used to prove the finite-time stability of the guidance law. Finally, numerical simulations verify the effectiveness and superiority of the proposed guidance law.

show abstract

“…The supertwisting algorithm (STA) is a typical second-order sliding mode controller. However, if actuator saturation exists in the system, the STA will be affected by the windup problem [33]. In order to solve the windup problem, Seeber et al [34] designed a conditioned STA (CSTA) controller based on the feasible reference proposed by Hanus et al [35].…”

Section: Introductionmentioning

confidence: 99%

Quadrotor Trajectory-Tracking Control with Actuator Saturation

2023

View full text Add to dashboard Cite

As a very serious problem for control systems, actuator saturation often leads to an unstable system. The maneuvering flight of quadrotors may lead to actuator saturation, which commonly affects the flight quality, including trajectory-tracking accuracy. Quadrotors usually adopt double-closed-loop control, of which the outer loop is the position control used to calculate the desired attitude angle and the inner loop is the attitude control used to generate control actions for the vehicle. To address actuator saturation during the maneuvering flight of quadrotors, an attitude controller based on the conditioned super-twisting algorithm (CSTA) was designed. The sign functions in CSTA were replaced by a hyperbolic tangent function, which suppresses the chattering of CSTA. In order to improve the rapidity of the improved controller, the tanh-CSTA (TCSTA), a gain adjustment factor was utilized. The rapidity and smoothness of the controller can be satisfied by adjusting the gain factor. Additionally, a sliding surface was designed according to the characteristics of the quadrotor control structure, so that the TCSTA controller can be applied to the second-order system. The performances of the designed improved controller were simulated using MATLAB, and the results showed that the designed controller is more robust than the PID controller. Moreover, compared with the CSTA controller, the chattering of the designed controller was obviously suppressed without reducing the control accuracy.

show abstract

Flight quality characteristics and observer-based anti-windup finite-time terminal sliding mode attitude control of aileron-free full-wing configuration UAV

Cited by 15 publications

References 58 publications

Dual-layer optimization-based control allocation for a fixed-wing UAV

Dual-layer optimization-based control allocation for a fixed-wing UAV

A Novel Guidance Law for Intercepting a Highly Maneuvering Target

Quadrotor Trajectory-Tracking Control with Actuator Saturation

Contact Info

Product

Resources

About