Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Feng, Cong; Wang, Qing; Liu, Chen; Hu, Changhua; Liang, Xiaohui

doi:10.3390/s20030848

Cited by 5 publications

(4 citation statements)

References 47 publications

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“…It has been applied in various systems, such as high-order nonlinear systems [22,23], variant unmanned aerial vehicles [24], and quadrotor UAVs [25]. However, the existing methods mainly focus on fully actuated systems with output constraints [31] and fullstate constraints [32]. Few of these methods can be directly applied to underactuated systems.…”

Section: Introductionmentioning

confidence: 99%

Anti-Swing Control for Quadrotor-Slung Load Transportation System with Underactuated State Constraints

Ding,

Sun,

2023

Sensors

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Quadrotors play a crucial role in the national economy. The control technology for quadrotor-slung load transportation systems has become a research hotspot. However, the underactuated load’s swing poses significant challenges to the stability of the system. In this paper, we propose a Lyapunov-based control strategy, to ensure the stability of the quadrotor-slung load transportation system while satisfying the constraints of the load’s swing angles. Firstly, a position controller without swing angle constraints is proposed, to ensure the stability of the system. Then, a barrier Lyapunov function based on the load’s swing angle constraints is constructed, and an anti-swing controller is designed to guarantee the states’ asymptotic stability. Finally, a PD controller is designed, to drive the actual angles to the virtual ones, which are extracted from the position controller. The effectiveness of the control method is verified by comparing it to the results of the LQR algorithm. The proposed control method not only guarantees the payload’s swing angle constraints but also reduces energy consumption.

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Section: Introductionmentioning

confidence: 99%

Anti-Swing Control for Quadrotor-Slung Load Transportation System with Underactuated State Constraints

Ding,

Sun,

2023

Sensors

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“…Switched systems as one the main classes of hybrid systems, have grabbed the consideration of many industries and researches in the past few years in a way that mathematical models and complex dynamic systems and industries have implemented them such as EHS (Xie and Zhao, 2018; Xie et al, 2019), fighter aircrafts (Yuan et al, 2018), networked control systems (Baigzadehnoe et al, 2019), near space vehicle system control (Feng et al, 2020), drinking water supply network (Aminsafaee and Shafiei, 2019), servomotors (HosseinNia et al, 2014). A typical switched system includes a number of subsystems, also called modes, and a switching rule, manages the switching sequences among those subsystems.…”

Section: Introductionmentioning

confidence: 99%

“…Studies in the scope of switched systems have begun since the 90’s (Morse, 1995). A large number of engineering and physical systems can be modeled with the uniform framework of switched systems (Feng et al, 2020; Yuan et al, 2018). The importance and good performance of switched systems have caught the eye of many researchers (Ding et al, 2020; HosseinNia et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding mode control of switched linear systems using disturbance observer based on the RBF neural network

Hosseini

Noei

2022

Journal of Vibration and Control

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This study deals with analyze of an adaptive sliding model controller for a class of switched linear systems in the context of model reference adaptive control (MRAC) using RBF neural network (RBFNN) with the aid of disturbance observer (DO). For this purpose, adaptive laws and switching rules are designed. These are constructed based on tracking error and sliding mode control, together with using time-dependent switching conceptualizations. A DO is used to estimate the external disturbance with an adaptive RBFNN which is applied to obtain the external disturbance upper bound estimation, combined with an adaptive sliding mode control (ASMC) under the identic Lyapunov stability framework. The switching rules are based on dwell time (DT) and average dwell time (ADT) switching. The ASMC updates the system dynamics so that it assures the proposed closed-loop switched linear system stability via fast switching, resulting in the form of globally uniformly ultimately bounded (GUUB) stability. The convergence of the process of updating the weights in the adaptive RBFNN and the boundedness of updated estimates of weights are satisfied. Achieving the state tracking, robustness, reducing the chattering problem and anti-disturbance performance are the main objectives. Moreover, switching rules based on the mode-dependent approaches have been developed, which can allow faster switching as compared to switching rules based on the DT and ADT. Finally, to evaluate the efficiency of the obtained theoretical results, the controller and the proposed method have been tested on the electro-hydraulic system (EHS).

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“…Moreover, increasing interest has been paid to the research on switched systems owing to their capacity in modelling the systems with switching behaviours [ 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 , 31 ]. As is known, a switched system usually consists of a finite number of distinct subsystems and a law governing the switching dynamics between these subsystems.…”

Section: Introductionmentioning

confidence: 99%

A Data-Driven Scheme for Fault Detection of Discrete-Time Switched Systems

Zhao

Luo

2021

Sensors

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This paper is concerned with the fault detection issue for a class of discrete-time switched systems via the data-driven approach. For the fault detection of switched systems, it is inevitable to consider the mode matching problem between the activated subsystem and the executed residual generator since the mode mismatching may cause a false fault alarm in all probability. Frequently, studies assume that the switching laws are available to the residual generator, by which the residual generator keeps the same mode as the system plant and then the mode mismatching is excluded. However, this assumption is conservative and impractical because many switching laws are hard to acquire in practical applications. This work focuses on the case of switched systems with unavailable switching laws. In view of the unavailability of switching information, the mode recognition is considered for the fault detection process and meanwhile, sufficient conditions are presented for the mode distinguishability. Moreover, a novel decision logic for the fault detection is proposed, based on which new algorithms are established for the data-driven realization. Finally, a benchmark case on a three-tank system is used to illustrate the feasibility and usefulness of the obtained results.

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Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Cited by 5 publications

References 47 publications

Anti-Swing Control for Quadrotor-Slung Load Transportation System with Underactuated State Constraints

Anti-Swing Control for Quadrotor-Slung Load Transportation System with Underactuated State Constraints

Adaptive sliding mode control of switched linear systems using disturbance observer based on the RBF neural network

A Data-Driven Scheme for Fault Detection of Discrete-Time Switched Systems

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