This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertaint...This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con- trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se- cond control law is also designed by combining the second or- der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya- punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed controllers.展开更多
This paper investigates the overload stabilization problem of the rolling-missile subject to parameters uncertainty and actuator saturation. In order to solve this problem, a sliding-mode control(SMC) scheme is techni...This paper investigates the overload stabilization problem of the rolling-missile subject to parameters uncertainty and actuator saturation. In order to solve this problem, a sliding-mode control(SMC) scheme is technically employed by using the backstepping approach to make the dynamic system stable. In addition,SMC with the tanh-type switching function plays an important role in reducing intrinsic vibration. Furthermore, an auxiliary system(AS) is developed to compensate for nonlinear terms arising from input saturation. Finally, the simulation results provide a solution to demonstrate that the suggested SMC and the AS methodology have advantages of strong tracking capability, anti-interference ability and anti-saturation performance.展开更多
This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom ...This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom is established.The first-order sliding mode differentiator(FSMD)is applied to the control scheme to avoid the problem of“differential explosion”.Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model,and an ANC controller is proposed based on this design idea.The stability of the proposed ANC controller is proved using Lyapunov theory,and the tracking error of the closed-loop system is semi-globally uniformly bounded.The effectiveness and robustness of the proposed method are verified by numerical simulations and hardware-in-the-loop(HIL)simulations.展开更多
In this paper,an active fault-tolerant control(FTC)strategy of aerial manipulators based on non-singular terminal sliding mode(NTSM)and extended state observer(ESO)is proposed.Firstly,back-stepping technology is adopt...In this paper,an active fault-tolerant control(FTC)strategy of aerial manipulators based on non-singular terminal sliding mode(NTSM)and extended state observer(ESO)is proposed.Firstly,back-stepping technology is adopted as the control framework to ensure the global asymptotic stability of the closed-loop system.Next,the NTSM with estimated parameters of actuator faults is used as main robustness controller to deal with actuator faults.Then,the ESO is utilized to estimate and compensate the complex coupling effects and external disturbances.The Lyapunov stability theory can guarantee the asymptotic stability of aerial manipulators system with actuator faults and external disturbances.The proposed FTC scheme considers both actuator fault and modelling errors,combined with the adaptive law of actuator fault,which has better performance than traditional FTC scheme,such as NTSM.Finally,several comparative simulations are conducted to illustrate the effectiveness of the proposed FTC scheme.展开更多
The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear...The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear continuous systems confined by a bound function, the nonlinearities of the systems may be of varied forms or uncertain; the designed stabilizer is robust means that a class of nonlinear continuous systems can be stabilized by the same output feedback stabilization schemes; numerical simulation examples are given.展开更多
文摘This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con- trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se- cond control law is also designed by combining the second or- der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya- punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed controllers.
基金supported by the Fundamental Research Funds for the Central Universities (30919011401)。
文摘This paper investigates the overload stabilization problem of the rolling-missile subject to parameters uncertainty and actuator saturation. In order to solve this problem, a sliding-mode control(SMC) scheme is technically employed by using the backstepping approach to make the dynamic system stable. In addition,SMC with the tanh-type switching function plays an important role in reducing intrinsic vibration. Furthermore, an auxiliary system(AS) is developed to compensate for nonlinear terms arising from input saturation. Finally, the simulation results provide a solution to demonstrate that the suggested SMC and the AS methodology have advantages of strong tracking capability, anti-interference ability and anti-saturation performance.
基金funded by the National Natural Science Foundation of China(No.61573286)the Natural Science Foundation of Shaanxi Province(2019JM-163,2020JQ-218)+1 种基金the Fundamental Research Funds for the Central Universities(3102019ZDHKY07)supported by Shaanxi Province Key Laboratory of Flight Control and Simulation Technology。
文摘This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom is established.The first-order sliding mode differentiator(FSMD)is applied to the control scheme to avoid the problem of“differential explosion”.Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model,and an ANC controller is proposed based on this design idea.The stability of the proposed ANC controller is proved using Lyapunov theory,and the tracking error of the closed-loop system is semi-globally uniformly bounded.The effectiveness and robustness of the proposed method are verified by numerical simulations and hardware-in-the-loop(HIL)simulations.
基金Project(51705243)supported by National Natural Science Foundation of ChinaProject(NS2020052)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(GZKF-201915)supported by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,China。
文摘In this paper,an active fault-tolerant control(FTC)strategy of aerial manipulators based on non-singular terminal sliding mode(NTSM)and extended state observer(ESO)is proposed.Firstly,back-stepping technology is adopted as the control framework to ensure the global asymptotic stability of the closed-loop system.Next,the NTSM with estimated parameters of actuator faults is used as main robustness controller to deal with actuator faults.Then,the ESO is utilized to estimate and compensate the complex coupling effects and external disturbances.The Lyapunov stability theory can guarantee the asymptotic stability of aerial manipulators system with actuator faults and external disturbances.The proposed FTC scheme considers both actuator fault and modelling errors,combined with the adaptive law of actuator fault,which has better performance than traditional FTC scheme,such as NTSM.Finally,several comparative simulations are conducted to illustrate the effectiveness of the proposed FTC scheme.
基金This project was supported by the National Natural Science Foundation of China(69974017 60274020 60128303)
文摘The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear continuous systems confined by a bound function, the nonlinearities of the systems may be of varied forms or uncertain; the designed stabilizer is robust means that a class of nonlinear continuous systems can be stabilized by the same output feedback stabilization schemes; numerical simulation examples are given.
