Synthesis of a Multifunctional Tracking System in Conditions of Uncertainty

Krasnov, Dmitriy V.; Utkin, Anton V.

doi:10.1134/s000511791909011x

Cited by 23 publications

(12 citation statements)

References 12 publications

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“…Thus, using observers ( 29), (31) with high gains (34), (36) we can solve the problem of estimation of unknown bounded disturbances (33). In a closed-loop system with this observer and with the tracking differentiator (28), we implement the control law (11) in the following form:…”

Section: Disturbances Observer Designmentioning

confidence: 99%

“…Thus, in contrast to the system with full a priori information ( 12) and ( 13), in this case, we solve the tracking problem with the given accuracy. We can make the steady-state tracking error as small as we desire by increasing the values of high gains l j (36).…”

Section: Disturbances Observer Designmentioning

confidence: 99%

“…In this paper, we applied a sigmoid-corrected dynamic disturbance observer (this is the smooth analog of the sign function) to estimate the external disturbances. This observer replicates the equations of the mathematical model of the control plant directly affected by external disturbances [35][36][37]. It allows us to estimate the external disturbances with any given accuracy by applying correcting actions of the observer.…”

Section: Introductionmentioning

confidence: 98%

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Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

2023

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For an unmanned aerial vehicle (UAV) of an aircraft type, the problems of planning achievable trajectories as well as robust control under wind disturbances are considered. A computationally simple method for compiling a primary non-smooth 4D trajectory is proposed. Its segments connect the given waypoints and determine the desired average velocity in various sections. Instead of time-consuming methods of analytical smoothing of broken path joints using polynomials, a tracking differentiator with S-shaped smooth and limited sigmoid corrective actions is developed. This virtual dynamic model provides natural smoothing of the primary trajectory considering the design constraints on the velocity, acceleration, and thrust of the UAV. The tracking differentiator variables create an achievable trajectory and are used to synthesize the UAV tracking system. To compensate for the action of wind disturbances on the UAV, a disturbance observer is developed. It is a replica of the equations of the control plant model, which are directly affected by external uncontrolled disturbances. These algorithms also use sigmoid corrections. Unlike standard disturbances observers, this approach does not require the development of a dynamic model of external disturbances and does not assume their smoothness. The effectiveness of the developed algorithms was confirmed by numerical simulation.

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Section: Disturbances Observer Designmentioning

confidence: 99%

Section: Disturbances Observer Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

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Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

2023

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“…As noted in the introduction, dynamic differentiators of one type or another can be used to solve the first two problems [ 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 ]. Let us briefly outline the principles of their construction.…”

Section: Problem Definitionmentioning

confidence: 99%

“…Here, the order of the sliding mode must be at least one greater than the order of the estimated derivative. An alternative method is to approximate the sign function by a linear function with saturation [ 11 , 14 , 15 , 16 ]. Such observer-differentiators combine the advantages of linear observers with high-gains and sliding mode observers, but are free from their drawbacks.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Smoothing, Filtering and Differentiation of Signals Defining the Path of the UAV

Antipov

Kokunko

Krasnova

et al. 2022

Sensors

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On the example of a control system for an unmanned aerial vehicle, we consider the problems of filtering, smoothing and restoring derivatives of reference action signals. These signals determine the desired spatial path of the plant at the first approximation. As a rule, researchers have considered these problems separately and have used different methods to solve each of them. The paper aims to develop a unified approach that provides a comprehensive solution to mentioned problems. We propose a dynamic admissible path generator. It is constructed as a copy of the canonical control plant model with smooth and bounded sigmoid corrective actions. For the deterministic case, a synthesis procedure has been developed, which ensures that the output variables of the generator track a non-smooth reference signal. Moreover, it considers the constraints on the velocity and acceleration of the plant. As a result, the generator variables produce a naturally smoothed spatial curve and its derivatives, which are realizable reference actions for the plant. The construction of the generator does not require exact knowledge of the plant parameters. Its dynamic order is less than that of the standard differentiators. We confirm the effectiveness of the approach by the results of numerical simulation.

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Dynamic Smoothing of the Path of a Wheeled Robot with Automatic Fulfillment of Design Restrictions

Kokunko

Krasnova²

2022

Proceedings of the 8th International Conference on Industrial Engineering

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Synthesis of a Multifunctional Tracking System in Conditions of Uncertainty

Cited by 23 publications

References 12 publications

Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

Dynamic Smoothing, Filtering and Differentiation of Signals Defining the Path of the UAV

Dynamic Smoothing of the Path of a Wheeled Robot with Automatic Fulfillment of Design Restrictions

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