scholarly journals A Novel IGC Scheme for RHV with the Capabilities of Online Aerodynamic Coefficient Estimation and Trajectory Generation

Mathematics ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 172
Author(s):  
Xueyun Wang ◽  
Yifan Li ◽  
Jingjuan Zhang
Keyword(s):  
Attitude Control ◽  
Unscented Kalman Filter ◽  
Sliding Mode ◽  
Trajectory Generation ◽  
Pseudospectral Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Aerodynamic Coefficient ◽  
Coefficient Estimation ◽  
Lift And Drag

A novel integrated guidance and control (IGC) scheme for a Re-entry Hypersonic Vehicle (RHV) is proposed with the capabilities of online aerodynamic coefficient estimation based on an Unscented Kalman Filter and online trajectory generation based on the Gaussian pseudospectral method. A linear quadratic regulator is adopted for trajectory tracking guidance and a second-layer sliding mode controller is designed for attitude control. The variation of lift and drag coefficients are modeled and estimated online, based on which a new trajectory can be generated. The commands of trajectory generation are set as moments of actuators and their extremums pose more constraints on the rate and acceleration of flow angles. Comprehensive simulations are conducted and comparable IGC performances with normal conditions are obtained under large aerodynamic coefficient errors according to online generated trajectory, which proves the effectiveness and advantages of the proposed IGC scheme.

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

scholarly journals Satellite Attitude Control System Design Taking into Account the Fuel Slosh and Flexible Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Alain G. de Souza ◽  
Luiz C. G. de Souza
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Center Of Mass ◽  
Rigid Motion ◽  
Linear Quadratic Regulator ◽  
Comparative Investigation ◽  
Attitude Control System ◽  
Linear Quadratic ◽  
Deformable Structure ◽  
Fuel Slosh

The design of the spacecraft Attitude Control System (ACS) becomes more complex when the spacecraft has different type of components like, flexible solar panels, antennas, mechanical manipulators and tanks with fuel. The interaction between the fuel slosh motion, the panel’s flexible motion and the satellite rigid motion during translational and/or rotational manoeuvre can change the spacecraft center of mass position damaging the ACS pointing accuracy. This type of problem can be considered as a Fluid-Structure Interaction (FSI) where some movable or deformable structure interacts with an internal fluid. This paper develops a mathematical model for a rigid-flexible satellite with tank with fuel. The slosh dynamics is modelled using a common pendulum model and it is considered to be unactuated. The control inputs are defined by a transverse body fixed force and a moment about the centre of mass. A comparative investigation designing the satellite ACS by the Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) methods is done. One has obtained a significant improvement in the satellite ACS performance and robustness of what has been done previously, since it controls the rigid-flexible satellite and the fuel slosh motion, simultaneously.

scholarly journals Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668427 ◽  
Author(s):  
Te-Jen Su ◽  
Shih-Ming Wang ◽  
Tsung-Ying Li ◽  
Sung-Tsun Shih ◽  
Van-Manh Hoang
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Sliding Mode Controller ◽  
Proportional Integral Derivative ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Fireworks Algorithm ◽  
Simulation Process ◽  
Inverted Pendulum System

The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proportional–integral–derivative and linear quadratic regulator controllers. The simulation results show a better performance of the proposed controller.

scholarly journals Mathematical Modelling and Control of a Two-Wheeled PUMA-LikeVehicle

2016 ◽  
Vol 6 (2) ◽  
pp. 11 ◽  
Author(s):  
Khaled M Goher
Keyword(s):  
Mathematical Modelling ◽  
Sliding Mode ◽  
Impact Load ◽  
State Space Model ◽  
Linear Quadratic Regulator ◽  
The Body ◽  
Pole Placement ◽  
General Motors ◽  
Linear Quadratic ◽  
And Control

<p class="1Body">This paper presents mathematical modelling and control of a two-wheeled single-seat vehicle. The design of the vehicle is inspired by the Personal Urban Mobility and Accessibility (PUMA) vehicle developed by General Motors® in collaboration with Segway®. The body of the vehicle is designed to have two main parts. The vehicle is activated using three motors; a linear motor to activate the upper part in a sliding mode and two DC motors activating the vehicle while moving forward/backward and/or manoeuvring. Two stages proportional-integral-derivative (PID) control schemes are designed and implemented on the system models. The state space model of the vehicle is derived from the linearized equations. Controller based on the Linear Quadratic Regulator (LQR) and the pole placement techniques are developed and implemented. Further investigation of the robustness of the developed LQR and the pole placement techniques is emphasized through various experiments using an applied impact load on the vehicle.</p>

Real-Time Control of a Rotary Inverted Pendulum using Robust LQR-based ANFIS Controller

2018 ◽  
Vol 19 (3-4) ◽  
pp. 379-389 ◽  
Author(s):  
Ishan Chawla ◽  
Ashish Singla
Keyword(s):  
Fuzzy Inference System ◽  
Inverted Pendulum ◽  
Fuzzy Inference ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Inference System ◽  
Wide Range ◽  
Lqr Controller ◽  
Rotary Inverted Pendulum

AbstractFrom the last five decades, inverted pendulum (IP) has been considered as a benchmark problem in the control literature due to its inherit nature of instability, non-linearity and underactuation. Its applicability in wide range of practical systems, demands the need of a robust controller. It is found in the literature that wide range of controllers had been tested on this problem, out of which the most robust being sliding mode controller while the most optimal being linear quadratic regulator (LQR) controller. The former has a problem of discontinuity and chattering, while the latter lacks the property of robustness. To address the robustness issue in LQR controller, this paper proposes a novel robust LQR-based adaptive neural based fuzzy inference system controller, which is a hybrid of LQR and fuzzy inference system. The proposed controller is designed and implemented on rotary inverted pendulum. Further, to validate the robustness of proposed controller to parametric uncertainties, pendulum mass is varied. Simulation and experimental results show that as compared to LQR controller, the proposed controller is robust to variations in pendulum mass and has shown satisfactory performance.

FULL-AND REDUCED- ORDER COMPENSATOR FOR INNOSAT ATTITUDE CONTROL

2015 ◽  
Vol 76 (12) ◽  
Author(s):  
Fadzilah Hashim ◽  
Mohd Yusoff Mashor ◽  
Siti Maryam Sharun
Keyword(s):  
State Space ◽  
Attitude Control ◽  
Space Form ◽  
Transfer Functions ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Reduced Order ◽  
Lqr Control ◽  
Best Value ◽  
Control Scheme

This paper presents a study on the estimator based on Linear Quadratic Regulator (LQR) control scheme for Innovative Satellite (InnoSAT). By using LQR control scheme, the controller and the estimator has been derived for state space form in all three axes to stabilize the system’s performance. This study starts by converting the transfer functions of attitude control into state space form.  Then, the step continues by finding the best value of weighting matrices of LQR in order to obtain the best value of controller gain, K. After that, the best value of L is obtained for the estimator gain. The value of K and L is combined in forming full order compensator and in the same time the reduced order compensator is also formed. Lastly, the performance of full order compensator is compared to reduced order compensator. From the simulation, results indicate that both types of estimators have presented good stability and tracking performance. However, reduced order estimator has simpler equation and faster convergence to zero than the full order estimator. This property is very important in developing a satellite attitude control for real-time implementation.

THE EVALUATION OF CONTROLLER TRACKING PERFORMANCE BASED ON TAYLOR’S SERIES EXPANSION MODEL

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Maziyah Mat Noh ◽  
M. R. Arshad ◽  
Rosmiwati Mohd-Mokhtar
Keyword(s):  
Series Expansion ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Tracking Performance ◽  
Convergence Time ◽  
Linear Quadratic ◽  
Glide Path ◽  
Expansion Model ◽  
Taylor’S Series

This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.

Novel Method on Using Evolutionary Algorithms for PD Optimal Tuning

2011 ◽  
Vol 110-116 ◽  
pp. 4977-4984 ◽  
Author(s):  
R.A. Khoshrooz ◽  
M.A.D. Vahid ◽  
M. Mirshams ◽  
M.R. Homaeinezhad ◽  
A.H. Ahadi
Keyword(s):  
Attitude Control ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Initial Guess ◽  
Pd Controller ◽  
Linear Quadratic ◽  
Optimal Tuning ◽  
Heavy Burden ◽  
Novel Method

This paper presents a method to solve the Evolutionary Algorithm (EA) problems for optimal tuning of the Proportional-Deferential (PD) controller parameters. The major efficiency of the proposed method is the Genetic Algorithm (GA) stuck avoidance as well an appropriate estimation for GA lower and upper bounds. Also by this method for the Particle Swarm Optimization (PSO) methodology the initial choice of the controller parameters can be fulfilled to achieve the acceptable performance accuracies. For both GA and PSO methods, the Linear Quadratic Regulator (LQR) obtained trend is used as the reference for the determination of the aforementioned bounds and initial guess. The presented algorithm was applied to regulate a PD controller for the attitude control of a virtual satellite and also with Hardware-in-the-loop (HIL) reaction wheels. Heavy burden trying and error was eliminated from the PD controller design which can be mentioned as the important merit of the presented study.

scholarly journals A Novel Concept for Guidance and Control of Spacecraft Orbital Maneuvers

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
Matteo Dentis ◽  
Elisa Capello ◽  
Giorgio Guglieri
Keyword(s):  
Attitude Control ◽  
Linear Quadratic Regulator ◽  
Control Algorithms ◽  
Linear Quadratic ◽  
C Language ◽  
Orbital Maneuvers ◽  
Guidance And Control ◽  
Actuation System ◽  
Novel Concept ◽  
And Control

The purpose of this paper is the design of guidance and control algorithms for orbital space maneuvers. A 6-dof orbital simulator, based on Clohessy-Wiltshire-Hill equations, is developed in C language, considering cold gas reaction thrusters and reaction wheels as actuation system. The computational limitations of on-board computers are also included. A combination of guidance and control algorithms for an orbital maneuver is proposed: (i) a suitably designed Zero-Effort-Miss/Zero-Effort-Velocity (ZEM/ZEV) algorithm is adopted for the guidance and (ii) a linear quadratic regulator (LQR) is used for the attitude control. The proposed approach is verified for different cases, including external environment disturbances and errors on the actuation system.

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