scholarly journals Global Practical Stabilization and Tracking for an Underactuated Ship - A Combined Averaging and Backstepping Approach

1999 ◽  
Vol 20 (4) ◽  
pp. 189-200 ◽  
Author(s):  
Kristin Y. Pettersen ◽  
Henk Nijmeijer
Keyword(s):  
Underactuated Ship ◽  
Backstepping Approach ◽  
Practical Stabilization

Design and development of a backstepping controller autopilot for fixed-wing UAVs

2021 ◽  
pp. 1-27
Author(s):  
D. Sartori ◽  
F. Quagliotti ◽  
M.J. Rutherford ◽  
K.P. Valavanis
Keyword(s):  
Real Time ◽  
Control Law ◽  
Parametric Uncertainties ◽  
Hardware In The Loop ◽  
Aircraft Control ◽  
Backstepping Approach ◽  
Small Uav ◽  
Backstepping Controller ◽  
Definition Of ◽  
Performance Results

Abstract Backstepping represents a promising control law for fixed-wing Unmanned Aerial Vehicles (UAVs). Its non-linearity and its adaptation capabilities guarantee adequate control performance over the whole flight envelope, even when the aircraft model is affected by parametric uncertainties. In the literature, several works apply backstepping controllers to various aspects of fixed-wing UAV flight. Unfortunately, many of them have not been implemented in a real-time controller, and only few attempt simultaneous longitudinal and lateral–directional aircraft control. In this paper, an existing backstepping approach able to control longitudinal and lateral–directional motions is adapted for the definition of a control strategy suitable for small UAV autopilots. Rapidly changing inner-loop variables are controlled with non-adaptive backstepping, while slower outer loop navigation variables are Proportional–Integral–Derivative (PID) controlled. The controller is evaluated through numerical simulations for two very diverse fixed-wing aircraft performing complex manoeuvres. The controller behaviour with model parametric uncertainties or in presence of noise is also tested. The performance results of a real-time implementation on a microcontroller are evaluated through hardware-in-the-loop simulation.

On the Practical Stability of Incorporating Integral Compensation Into the Low-and-High Gain Control for a Class of Systems With Norm-Type Input Saturation

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Shou-Tao Peng
Keyword(s):  
Input Saturation ◽  
Gain Control ◽  
High Gain ◽  
Output Regulation ◽  
Practical Stability ◽  
Design Parameters ◽  
Linear Matrix ◽  
Control Input ◽  
Chattering Effect ◽  
Practical Stabilization

This paper studies the practical stability of incorporating integral compensation into the original low-and-high gain feedback law. The motivation for the incorporation is for achieving output regulation in the presence of constant disturbances without the use of a very large high-gain parameter required in the original approach. Due to numerical accuracy, the employment of very large high-gain parameters to eliminate steady-state error has the potential for inducing undesirable chattering effect on the control signal. A set of linear matrix inequalities is formulated in this study to obtain the related design parameters, by which the incorporation can achieve both the practical stabilization and asymptotic output regulation in the presence of input saturation and constant disturbances. Furthermore, the saturation of the control input can be shown to vanish in finite time during the process of regulation. Numerical examples are given to demonstrate the effectiveness of the proposed approach.

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