Trajectory Tracking Control Method Based on Adaptive Higher Order Sliding Mode

Abstract

To resolve the problem of high-precision trajectory tracking control under interference conditions in a missile’s mid-guidance phase, according to the constructed nominal trajectory, an improved adaptive high-order sliding mode trajectory tracking controller (AHSTC) is proposed. In this method, the open-loop nominal trajectories are established according to the nonlinear programming and Gaussian pseudospectra method. A high-precision trajectory tracking controller is developed by designing a nonlinear sliding mode surface and an adaptive high-order sliding mode approaching law combined with the trajectory tracking nonlinear error model. To verify the effectiveness and superiority of the proposed method, analysis and simulation are carried out through the example of a missile mid-guidance phase tracking control. Compared to the linear quadratic regulator (LQR) and active disturbance rejection controller (ADRC) method, the simulation results show that the proposed AHSTC method shows faster convergence and improved tracking effect. Therefore, the proposed AHSTC method has a good results and engineering application value.

Constraint-following control for dynamic systems with comprehensive constraints: the generalized Udwadia–Kalaba approach

“…Some instances are as follow, in [27], a control method for nonlinear system was proposed based on the robust control and PID control, and it has been applied to solve the position tracking control of motor. Based on the design of sliding model surface and approaching law, a highprecision sliding model control was designed to follow the desired trajectory [28]. By defining the constraint-following error β, an adaptive robust control was proposed to achieve the formation motion of CAV swarm system.…”