scholarly journals Parameter Adaptive Terminal Sliding Mode Control of Flexible Coupling Air-Breathing Hypersonic Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-17 ◽  
Author(s):  
Haibing Chen ◽  
Wei Lin ◽  
Tielin Ma ◽  
Hengxian Jin ◽  
Cheng Xu
Keyword(s):  
Strong Coupling ◽  
Sliding Mode ◽  
Coupling Model ◽  
Hypersonic Vehicle ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
Flexible Coupling ◽  
Air Breathing ◽  
Highly Nonlinear ◽  
Parameter Adaptive

The highly nonlinear and coupling characteristics of a flexible air-breathing hypersonic vehicle create great challenges to its flight control design. A unique parameter adaptive nonsingular terminal sliding mode method is proposed for longitudinal control law design of a flexible coupling air-breathing hypersonic vehicle. This method uses adaptive reaching law gain instead of the additional adaptive compensation term to handle the uncertainty to improve robustness. The stability of the close loop system is proved via a Lyapunov way. The longitudinal tracking control law for velocity and angle of attack is designed based on a rigid dynamic model of a flexible air-breathing hypersonic vehicle. A strong coupling model of the same vehicle, considering aerodynamic-scramjet engine-flight dynamic-elastic couplings, is established as the verification platform of the designed control law. The remarkable differences of flight dynamic characteristics between this strong coupling model and the rigid body model can be seen, which mean the controller needs to endure very great uncertainty, unmodeled dynamics, and other types of internal disturbance. Simulation results based on the coupling model demonstrate that the designed control law has good performance and acceptable robustness.

Adaptive neural network disturbance observer based nonsingular fast terminal sliding mode control for a constrained flexible air-breathing hypersonic vehicle

2018 ◽  
Vol 233 (7) ◽  
pp. 2642-2662 ◽  
Author(s):  
Yu Ma ◽  
Yuanli Cai ◽  
Zhenhua Yu
Keyword(s):  
Neural Network ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Terminal Sliding Mode Control ◽  
Adaptive Neural Network ◽  
Terminal Sliding Mode ◽  
Air Breathing ◽  
Fast Terminal Sliding Mode ◽  
Actuator Constraints

In this paper, a novel constrained nonsingular fast terminal sliding mode control scheme based on adaptive neural network disturbance observer is proposed for a flexible air-breathing hypersonic vehicle in the presence of diverse disturbances and actuator constraints. Firstly, velocity and altitude subsystems in the strict feedback formulations are obtained by decomposing the longitudinal dynamics of flexible air-breathing hypersonic vehicle, while uncertainties with regard to flexible effects, aerodynamic parameter uncertainties, modeling errors, and external disturbances are formed as the lumped disturbances which are excellently estimated by the proposed adaptive neural network disturbance observer with the adaptive regulation laws of weight matrices. Then based on the nonsingular fast terminal sliding mode control, the proposed scheme integrated with adaptive neural network disturbance observer is developed to design the controllers with nonsingularity and fast convergent rate in order to provide robust and fast tracking performance of velocity and altitude. Furthermore, to tackle the saturation effects caused by the constraints of actuators, the auxiliary systems constructed in the proposed scheme are conducted to compensate the desired controllers timely. Lyapunov stability analyses prove that the stable tracking errors of velocity and altitude are bounded with the sufficiently small regions around zero even when flexible air-breathing hypersonic vehicle is subject to lumped disturbances and actuator constraints. Finally, the contrastive simulation results demonstrate that the proposed scheme provides the superior tracking performance and the effectiveness in tackling actuator constraints and counteracting lumped disturbances.

Design Robust Nonlinear Controllers for Autonomous Underwater Vehicles with Comparison of Simulated and At-sea Test Data

2002 ◽  
Vol 8 (2) ◽  
pp. 189-217 ◽  
Author(s):  
Feijun Song ◽  
Edgar An ◽  
Samuel M. Smith
Keyword(s):  
Sliding Mode Control ◽  
Test Data ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Simulation Software ◽  
Control Law ◽  
Mode Control ◽  
Highly Nonlinear

Successful controller development involves three distinct stages, namely, control law design, code debugging and field test. For Autonomous Underwater Vehicle (AUV) applications, the first two stages require special strategies. Since the dynamics of an AUV is highly nonlinear, and the environment that an AUV operates in is noisy with external disturbance that cannot be neglected, a robust control law must be considered in the first stage. The control law design is even more difficult when optimal criteria are also involved. In the second stage, since the software architecture on an AUV is very complicated, debugging the controllers alone without all the software routines running together often can not reveal subtle faults in the controller code. Thorough debugging needs at-sea test, which is costly. Therefore, a platform that can help designers debug and evaluate controller performance before any at-sea experiment is highly desirable. Recently, a 6 Degree of Freedom (DOF) AUV simulation toolbox was developed for the Ocean Explorer (OEX) series AUVs developed at Florida Atlantic University. The simulation toolbox is an ideal platform for controller in-lab debugging and evaluation. This paper first presents a novel robust controller design methodology, named the Sliding Mode Fuzzy Controller (SMFC). It combines sliding mode control and fuzzy logic control to create a robust, easy on-line tunable controller structure. A formal proof of the robustness of the proposed nonlinear sliding mode control is also given. A pitch and a heading controller have been designed with the presented structure and the controller code was tested on the simulation software package as well as at sea. The simulated and at-sea test data are compared. The whole controller design procedure described in this paper clearly demonstrates the advantage of using the simulation toolbox to debug and test the controller in-lab. Moreover, the pitch and heading controller have been used in the real system for more than 2 years, and have also been successfully ported to other types of vehicles without any major modification on the controller parameters. The similarity of the controller performances on different vehicles further demonstrates the robustness of the proposed Sliding Mode Fuzzy Controller. The main contribution of this paper is to provide useful insights into the design and implementation of the proposed control architecture, and its application in AUV control.

Immersion and invariance adaptive finite-time control of air-breathing hypersonic vehicles

2018 ◽  
Vol 233 (7) ◽  
pp. 2626-2641 ◽  
Author(s):  
Chao Han ◽  
Zhen Liu ◽  
Jianqiang Yi
Keyword(s):  
Control System ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Hypersonic Vehicles ◽  
Terminal Sliding Mode ◽  
Air Breathing ◽  
Immersion And Invariance ◽  
Time Control

In this paper, a novel adaptive finite-time control of air-breathing hypersonic vehicles is proposed. Based on the immersion and invariance theory, an adaptive finite-time control method for general second-order systems is first derived, using nonsingular terminal sliding mode scheme. Then the method is applied to the control system design of a flexible air-breathing vehicle model, whose dynamics can be decoupled into first-order and second-order subsystems by time-scale separation principle. The main features of this hypersonic vehicle control system lie in the design flexibility of the parameter adaptive laws and the rapid convergence to the equilibrium point. Finally, simulations are conducted, which demonstrate that the control system has the features of fast and accurate tracking to command trajectories and strong robustness to parametric and non-parametric uncertainties.

Robust fixed-time sliding mode controller for flexible air-breathing hypersonic vehicle

2019 ◽  
Vol 90 ◽  
pp. 1-18 ◽  
Author(s):  
Yibo Ding ◽  
Xiaogang Wang ◽  
Yuliang Bai ◽  
Naigang Cui
Keyword(s):  
Sliding Mode ◽  
Fixed Time ◽  
Hypersonic Vehicle ◽  
Sliding Mode Controller ◽  
Air Breathing

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Vo Anh Tuan ◽  
Hee-Jun Kang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Control Law ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Position Errors ◽  
Time Control

In this study, a new finite time control method is suggested for robotic manipulators based on nonsingular fast terminal sliding variables and the adaptive super-twisting method. First, to avoid the singularity drawback and achieve the finite time convergence of positional errors with a fast transient response rate, nonsingular fast terminal sliding variables are constructed in the position errors' state space. Next, adaptive tuning laws based on the super-twisting scheme are presented for the switching control law of terminal sliding mode control (TSMC) so that a continuous control law is extended to reject the effects of chattering behavior. Finally, a new finite time control method ensures that sliding motion will take place, regardless of the effects of the perturbations and uncertainties on the robot system. Accordingly, the stabilization and robustness of the suggested control system can be guaranteed with high-precision performance. The robustness issue and the finite time convergence of the suggested system are totally confirmed by the Lyapunov stability principle. In simulation studies, the experimental results exhibit the effectiveness and viability of our proposed scheme for joint position tracking control of a 3DOF PUMA560 robot.

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