Prediction-Based Adaptive Sliding Mode Control for Remotely Piloted System With Time Delay and Parameter Uncertainty

Abstract

This paper proposes a state prediction adaptive sliding mode (SPASM) control method for the remotely piloted system (RPS). With consideration of the time delay caused by the large transmission delay existing in the RPS, a prediction algorithm is proposed to provide the state prediction by using the state transition matrix. To approximate the uncertain lag of the remotely piloted vehicle (RPV) control augmentation system, an adaptive law is proposed to estimate the parameter uncertainties, and the overestimating problem is resolved efficiently. Meanwhile, to deal with the unmodeled dynamics and the predicted errors, a sliding mode controller is designed to guarantee the robustness of the whole closed-loop system. The simulation results show that the SPASM controller can not only guarantee the stability of the RPS in the presence of large time delay but also has a desirable performance of tracking the pilot's inputs while existing the unmodeled dynamics and parameter uncertainties.INDEX TERMS Remotely piloted system (RPS), remotely piloted vehicle (RPV), time delay, state prediction, adaptive sliding mode control.

Universal Adaptive Neural Network Predictive Algorithm for Remotely Piloted Unmanned Combat Aerial Vehicle in Wireless Sensor Network

“…In this paper, we use the nonlinear longitudinal dynamics model of a UCAV built in [7]; the details are shown as follows:…”

“…The latency in the pilot-wireless sensor-UCAV closed-loop system is defined as the time elapsed from pilot's command until an expected state feedback is displayed in the pilot/vehicle interface [7]. The time delay of the whole closed-loop system primarily includes two parts: uplink time delay Therefore, in this paper, the dynamics model, from the pilot's acceleration command to the acceleration response of the UCAV, is modeled as a nonlinear uncertain model, and it will be approximated in Section 3.…”

“…In [22], a fuzzy observer-based hybrid force/position predictive method was investigated for For the problem of time delay, many researchers have studied and proposed different methods. The predictive approach is very efficient for calculating the time delay [7,8]. To predict the state parameter precisely, different predictive methods have been investigated, such as the Smith predictive method [9][10][11], a Kalman estimator [12,13], feed-forward control [14], reference model based control [15,16], and a state space observer approach [17,18].…”

“…The remotely piloted mode is different from common remote manipulation such as performed by a manipulator of a satellite or moon rover, which can work on the mode of "do and wait", and the manipulating commands can be sent to the actuator directly. In remotely piloted mode, for the pilot, the control object is no longer the UCAV itself, but the whole UCAV with the control augmentation system [7]. Therefore, the dynamics model of the UCAV will contain not only the aerodynamic and motion characteristics, but also the control augmentation system and the nonlinear characteristics of the actuator.…”

“…Compared with previous studies on remotely piloted UCAVs, this paper is an extension of the previous method proposed in [7]. A predictive method is presented based on the assumption of a linear approximation model in [7].…”