Tracking control for VTOL aircraft with disabled IMUs

Wang, Xinhua; Liu, Jinkun; Cai, Kai-Yuan

doi:10.1080/00207720903244048

Cited by 13 publications

(9 citation statements)

References 14 publications

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“…The utilizing of the input state linearization is necessary because the relative degree for the vector of (5) corresponding to the output is [ 2 2 ]. This is can be done by adopting the control law presented in [22], [23]. So,…”

Section: Mathematical Model Of Vtolmentioning

confidence: 99%

Overcome uncertainties of vertical take-off and landing aircraft based on optimal sliding mode control

Aboud

Al-Amir²,

Alhamdany³

et al. 2023

IJEECS

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<span>This study aims to design a robust and optimal controller to overcome the problems related to the existence of disturbances and uncertainties during takeoff and landing operations of vertical take-off and landing (VTOL) aircraft. The dynamics are decomposed into two phase’s parts which are the minimum phase and the non-minimum phase. These two-part are controlled by proposing a robust nonlinear controller represented by sliding mode control (SMC). Also, the chattering effect due to the fast-switching surface in SMC is eliminated by utilizing a proposed sigmoid function which acts as the sigmoid function. The controller's main parameters are tuned optimally based on the particle swarm optimization (PSO) algorithm. In addition, the controller guaranteed the system stability based on the Lyapunov and Routh theories. The main output parameter responses represented by the positioning of the centre of mass and angle of rolling are determined with bounded control inputs. The performance of the proposed controller is tested by tracking VTOL parameters to the desired trajectories. The simulated results not only showed a significant tracking trajectory but also system stability guaranteed. In addition, the results showed an improved rate of 72% and 84% compared with those results obtained from the literature.</span>

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Section: Mathematical Model Of Vtolmentioning

confidence: 99%

Overcome uncertainties of vertical take-off and landing aircraft based on optimal sliding mode control

Aboud

Al-Amir²,

Alhamdany³

et al. 2023

IJEECS

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“…The sliding mode surface can be designed and is independent of object parameters and disturbance, which makes sliding mode control have the advantages of fast response, insensitivity to system parameter change and disturbance, no need for system online identification, and simple implementation. Because of these advantages, both domestic and international scholars have carried out deep research on the use of sliding mode ADRC to suppress disturbances in control systems, and it is gradually applied in practical projects, such as motor and power system control (Zheng et al, 2015), robot control (Tan et al, 2010), aircraft control (Wang et al, 2010), and satellite attitude control (Meng et al, 2010). As the tilt-rotor aircraft system is susceptible to internal and external disturbances, Zheng et al applied the ADRC sliding mode composite controller to the attitude control of tiltrotor aircraft and designed a new sliding mode observer that can accurately estimate all kinds of disturbances, and the dependence of the controller on the model was reduced.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Active Disturbance Rejection Control for Magnetorheological Impact Buffer System

Wang

2021

Front. Mater.

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In the magnetorheological (MR) impact buffer system, the internal or external disturbance of the MR damper is one of the main factors that affect the buffer performance of the system. This study aims to suppress or eliminate the influence of the disturbance of the MR damper. The continuous terminal sliding mode control (CTSMC) strategy with a high gain has a strong antidisturbance ability. However, the high gain may cause fluctuation of the damping force of the system. Therefore, a composite control strategy of sliding mode active disturbance rejection control (ADRC) based on an extended state observer (ESO) is proposed in this study. The total disturbance of the system is estimated by the ESO in real time, and the estimated disturbance is used as a feedforward compensation to the controller to reduce the influence of disturbance on the system. The gain of the CTSMC law of the closed-loop system can be reduced. In addition, the Lyapunov stability criterion is used to ensure the stability of the proposed controller. In order to verify the performance of the proposed CTSMC controller on response speed, overshoot, and hysteresis suppression ability, the window function, square wave function, and multistep function are given as the inputs of the control system. To verify the performance of the proposed sliding mode ADRC for the MR impact buffer system, the mechanical model and the control model are established and simulated using MATLAB/Simulink. The simulation results show that the CTSMC controller has the fastest response time and no overshoot and can suppress the hysteresis nonlinearity of the MR device compared with the open-loop control, PID control, and fractional order PID control. The MR impact buffer system with the sliding mode ADRC obtained the minimum peak value of 4350N within the permitted buffer displacement range compared with the other three traditional control methods. That means the proposed control method in this study has the advantage on buffer performance for the MR impact buffer system.

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“…Among these scheme strategies, we can mention the terminal sliding mode control (TSMC) [28][29][30], the fast terminal sliding mode Control (FTSMC) [31], the integral terminal sliding mode control (ITSMC) [32,33], the nonsingular terminal sliding mode control (NTSMC) [34,35], and the fast nonsingular integral terminal sliding mode control (FNITSMC) [36]. In this framework, the TSMC has been designed to achieve the finite-time convergence of the system dynamics and it has been applied in many practical processes such as the rigid robotic manipulators [37,38], the PWM-based DC-DC [39], and robotic airships [40].…”

Section: Introductionmentioning

confidence: 99%

A Comparative Study of Nonsingular Terminal Sliding Mode and Backstepping Schemes for the Coupled Two‐Tank System

2021

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This paper presents an implementation of two radically different control schemes for a state-coupled two-tank liquid-level system. This is due to the purpose of transferring theoretical studies to industrial systems. The proposed schemes to be introduced and compared are the nonsingular terminal sliding mode control (NTSMC) and the backstepping control (BC). The performances of the developed methods are experimentally tested on a particular class of second-order nonlinear systems. The main purpose of the considered control schemes is to achieve a tracking trajectory for a coupled-tank system. It is proved that the designed robust controllers guarantee the stability of the corresponding closed loop systems. The obtained results are verified with the same setup test to ensure a suitable basis for their comparison. During the experiments, we resorted to adding an integrator to the backstepping control so that we improve the results, leading to the appearance of the integrator backstepping control (IBC). To focus on the adequacy and applicability of the suggested control layout, theoretical comparisons as well as experimental results are afforded and debated.

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Tracking control for VTOL aircraft with disabled IMUs

Cited by 13 publications

References 14 publications

Overcome uncertainties of vertical take-off and landing aircraft based on optimal sliding mode control

Overcome uncertainties of vertical take-off and landing aircraft based on optimal sliding mode control

Sliding Mode Active Disturbance Rejection Control for Magnetorheological Impact Buffer System

A Comparative Study of Nonsingular Terminal Sliding Mode and Backstepping Schemes for the Coupled Two‐Tank System

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