scholarly journals Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion

10.5772/16599 ◽  
2011 ◽  
Author(s):  
Abhijit Das ◽  
Frank L. ◽  
Kamesh Subbarao
Keyword(s):  
Sliding Mode ◽  
Dynamic Inversion

Launch vehicle ascent flight attitude control using direct adaptive generalized dynamic inversion

2018 ◽  
Vol 233 (11) ◽  
pp. 4141-4153 ◽  
Author(s):  
Uzair Ansari ◽  
Abdulrahman H Bajodah
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Launch Vehicle ◽  
Dynamic Scaling ◽  
Dynamic Inversion ◽  
Continuous Control ◽  
Attitude Tracking ◽  
Yaw Attitude ◽  
Satellite Launch Vehicle ◽  
Control Part

This paper presents the attitude control design of satellite launch vehicle based on the direct adaptive generalized dynamic inversion approach. The proposed adaptive generalized dynamic inversion approach encompasses the equivalent and the adaptive control elements. The equivalent (continuous) control part of adaptive generalized dynamic inversion is based on the conventional generalized dynamic inversion approach that comprises two noninterfering control actions, i.e. the particular part and the auxiliary part. In the particular part, dynamical constraint is prescribed in the form of time differential equation, which is evaluated along the vehicle attitude trajectories that encapsulates the control objectives and is inverted by utilizing Moore Penrose Generalized Inverse (MPGI). The singularity problem is solved by augmenting a dynamic scaling factor in the involved MPGI. In the auxiliary part, the null control vector is designed using the proportionality gain matrix, constructed by employing the Lyapunov function that guarantees global closed-loop asymptotic stability of the angular body rate dynamics. The adaptive (discontinuous) control part of adaptive generalized dynamic inversion is based on the sliding mode control with adaptive modulation gain, that provides robustness against tracking performance deterioration due to generalized scaling, system nonlinearities, and uncertainties, such that semi-global practically stable attitude tracking is guaranteed. External guidance loop based on the trajectory following method is designed, which reshapes the predefined pitch and yaw attitude profiles based on the respective normal and lateral positional errors, for acquiring the desired orbital parameters such as height, injection angle, orbital velocity, etc. To analyze the ascent flight trajectory, a detailed six-degrees-of-freedom simulator of a four-stage satellite launch vehicle is developed. The intensive numerical simulations are performed, which demonstrate the stability, robustness and the tracking capability of the proposed control and guidance methods in the presence of parametric uncertainties and external disturbances.

Robust launch vehicle’s generalized dynamic inversion attitude control

2017 ◽  
Vol 89 (6) ◽  
pp. 902-910 ◽  
Author(s):  
Uzair Ansari ◽  
Abdulrahman H. Bajodah
Keyword(s):  
Attitude Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Dynamic Scaling ◽  
Dynamic Inversion ◽  
Control Law ◽  
Successful Implementation ◽  
Robust Tracking Control ◽  
Content Type ◽  
Dynamic Constraints

Purpose To design a robust attitude control system for the ascent flight phase of satellite launch vehicles (SLVs). Design/methodology/approach The autopilot is based on generalized dynamic inversion (GDI). Dynamic constraints are prescribed in the form of differential equations that encapsulate the control objectives, and are generalized inverted using the Moore-Penrose Generalized Inverse (MPGI) based Greville formula to obtain the control law. The MPGI is modified via a dynamic scaling factor for assuring generalized inversion singularity-robust tracking control. An additional sliding mode control (SMC) loop is augmented to robustify the GDI closed-loop system against model uncertainties and external disturbances. Findings The robust GDI control law allows for two cooperating controllers that act on two orthogonally complement control spaces: one is the particular controller that realizes the dynamic constraints, and the other is the auxiliary controller that is affined in the null control vector, and is used to enforce global closed-loop stability. Practical implications Orthogonality of the particular and the auxiliary control subspaces ensures noninterference of the two control actions, and thus, it ensures that both actions work toward a unified goal. The robust control loop increases practicality of the GDI control design. Originality/value The first successful implementation of GDI to the SLV control problem.

scholarly journals Combining Homogeneous High Order Sliding Mode and Nonlinear Dynamic Inversion for fixed wing aircraft attitude and speed control

2019 ◽  
Vol 52 (12) ◽  
pp. 304-309
Author(s):  
A. Hamissi ◽  
Y. Bouzid ◽  
N. Dabouze ◽  
M. Zaouche ◽  
K. Busawon ◽  
...  
Keyword(s):  
Nonlinear Dynamic ◽  
Sliding Mode ◽  
Speed Control ◽  
High Order ◽  
Dynamic Inversion ◽  
Nonlinear Dynamic Inversion

Robust Dynamic Inversion based on Sliding Mode Control for Autonomous Underwater Vehicles

2013 ◽  
Vol 46 (10) ◽  
pp. 79-84
Author(s):  
Inseok Yang ◽  
Sungil Byun ◽  
Byungseok Seo ◽  
Dongik Lee ◽  
Dong Seog Han
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Dynamic Inversion ◽  
Mode Control

scholarly journals Synchronization of Chaotic Gyros Based on Robust Nonlinear Dynamic Inversion

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Inseok Yang ◽  
Dongik Lee
Keyword(s):  
Nonlinear Dynamics ◽  
Nonlinear Dynamic ◽  
Sliding Mode ◽  
Chaotic Behavior ◽  
Original System ◽  
Control Technique ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
Gain Scheduled ◽  
Nonlinear Dynamic Inversion

A robust nonlinear dynamic inversion (RNDI) technique is proposed in order to synchronize the behavior of chaotic gyros subjected to uncertainties such as model mismatches and disturbances. Gyro is a crucial device that measures and maintains the orientation of a vehicle. By Leipnik and Newton in 1981, chaotic behavior of a gyro under specific conditions was established. Hence, controlling and synchronizing a gyro that shows irregular (chaotic) motion are very important. The proposed synchronization method is based on nonlinear dynamic inversion (NDI) control. NDI is a nonlinear control technique that removes the original system dynamics into the user-defined desired dynamics. Since NDI removes the original dynamics directly, it does not need linearizing and designing gain-scheduled controllers for each equilibrium point. However, achieving perfect cancellation of the original nonlinear dynamics is impossible in real applications due to model uncertainties and disturbances. This paper proposes the robustness assurance method of NDI based on sliding mode control (SMC). Firstly, similarities of the conventional NDI control and SMC are provided. And then the RNDI control technique is proposed. The feasibility and effectiveness of the proposed method are demonstrated by numerical simulations.

Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non‐Singular Terminal Sliding Mode

2018 ◽  
Vol 21 (3) ◽  
pp. 1237-1249 ◽  
Author(s):  
Uzair Ansari ◽  
Abdulrahman H. Bajodah ◽  
Mirza Tariq Hamayun
Keyword(s):  
Sliding Mode ◽  
Dynamic Inversion ◽  
Terminal Sliding Mode ◽  
Quadrotor Control
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