Robust backstepping sliding mode aircraft attitude and altitude control based on adaptive neural network using symmetric BLF

Singh, Prabhjeet; Giri, Dipak K.; Ghosh, Arnab

doi:10.1016/j.ast.2022.107653

Cited by 24 publications

(6 citation statements)

References 41 publications

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“…Ref. [25] designed an ANN controller combined with symmetric barrier Lyapunov function, which utilizes the continuous updating of network weights to approximate unknown nonlinear dynamics. In addition, SMC was added to the backstepping design to eliminate the chattering phenomenon of the system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Neural Network Tracking Control of Robotic Manipulators Based on Disturbance Observer

Li,

Zhang,

Zhang

et al. 2024

Processes

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This article presents an adaptive neural network (ANN) control scheme based on a disturbance observer that can achieve trajectory tracking control of robotic manipulators under external disturbances and dynamic model uncertainties. Firstly, an ANN controller based on full-state feedback is derived using the backstepping technique to achieve an online approximation of uncertainty. The integral sliding mode surface with a position error is introduced into the controller, which reduces the steady-state error of the system and enhances robustness. Then, a novel disturbance observer is designed to estimate both the approximation errors of the ANN and external disturbances, and to provide compensation for the controller, effectively suppressing the trajectory tracking errors caused by approximation errors and disturbances. Subsequently, the Lyapunov stability theory is utilized to demonstrate the stability of the developed control strategy and the boundedness of all closed-loop signals. Finally, numerical simulations are used to confirm the efficacy of the proposed control method.

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Section: Introductionmentioning

confidence: 99%

Adaptive Neural Network Tracking Control of Robotic Manipulators Based on Disturbance Observer

Li,

Zhang,

Zhang

et al. 2024

Processes

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“…In recent years, the research of neural networks (NNs) and FLSs has been made great progress. The NNs [22][23][24] and FLSs [25][26][27] can be used as approximators of unknown nonlinear functions. For example, unknown nonlinear terms were estimated by designing filters in References 28 and 29.…”

Section: Introductionmentioning

confidence: 99%

Observer‐based finite‐time adaptive fault‐tolerant control for nonlinear system with input delay and prescribed performance

Liu

2023

Adaptive Control & Signal

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Summary This paper focuses on the issue of the adaptive fuzzy fault‐tolerant control for a type of nonlinear system with input delay and disturbances. Fuzzy logic systems (FLSs) are used to estimate the unknown nonlinear quantities of the system. The Pade approximation is applied to counteract the negative effects of input delay on the system. The prescribed performance control based on error transformation helps to guarantee the transient performance of system errors. A fuzzy state observer is established to estimate the unmeasurable states of the system. Then, in presence of disturbances and actuator faults, a finite‐time control scheme is designed using the Lyapunov function and the backstepping technique. Based on Lyapunov stability, it is proved that the tracking error can converge to a specified range in a finite time, and all signals in the system are bounded in the controller design. In the end, the simulations of a second‐order system and a multi‐area interconnected power system certify the feasibility and effectiveness of the control strategy.

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“…To handle such situations, sliding mode control (SMC) is recognized for its robustness properties and simplicity in design. [11][12][13][14][15] It can be noted from the above literature that considerable effort was put to reduce or eliminate chattering using classical reaching laws such as power rate, exponential, and constant rate employed in the sliding surfaces. Though these reaching laws, which may include the signum function, yield good performance, a continuous hyperbolic tangent function is quite effective in eradicating the chattering phenomenon.…”

Section: Introductionmentioning

confidence: 99%

Robust sliding mode augmenting integral backstepping for lateral-directional control of a highly maneuverable aircraft

Singh

Giri

Ghosh

2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this paper, a robust hybrid backstepping and sliding mode control is designed for lateral-directional control of a highly maneuverable aircraft. A systematic approach is implemented in tracking the reference trajectory of a high-fidelity aircraft model, which inculcates non-linear coupled dynamics. A smooth switching function to eliminate the chattering phenomenon is used in the sliding surface and integrated into the backstepping architecture, which guarantees asymptotic stability of the state trajectories. Separate controllers are designed for longitudinal dynamics to address the system in the strict-feedback form, which is an essence of the backstepping methodology. For backstepping control, angular rates are utilized as virtual control inputs in the subsystems considered. Stability analysis is carried out meticulously in the sense of Lyapunov, which guarantees closed-loop system stability. The performance of the considered controllers in the paper is evaluated with the minimum gains by infusing random uncertainties in the aerodynamic model and inertial parameters. Various real-time flight scenarios pertaining to lateral-directional dynamics with and without side-wind are simulated and discussed.

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Robust backstepping sliding mode aircraft attitude and altitude control based on adaptive neural network using symmetric BLF

Cited by 24 publications

References 41 publications

Adaptive Neural Network Tracking Control of Robotic Manipulators Based on Disturbance Observer

Adaptive Neural Network Tracking Control of Robotic Manipulators Based on Disturbance Observer

Observer‐based finite‐time adaptive fault‐tolerant control for nonlinear system with input delay and prescribed performance

Robust sliding mode augmenting integral backstepping for lateral-directional control of a highly maneuverable aircraft

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