Finite-time adaptive sliding mode control for heavyweight airdrop operations

This paper investigates the problem of designing a fast convergent sliding mode flight controller of a transport aircraft for heavyweight airdrop operations in the presence of bounded uncertainties without the prior knowledge of the bounds. On the basis of feedback linearization of the aircraft-cargo motion system, a novel integral sliding mode flight control law with gains adaptation is proposed. It contains a nominal control law used to achieve finite-time stabilization performance and a compensated control law used to reject the uncertainties. The switching gains of the compensated control law are tuned using adaptation algorithms, and the knowledge of the bounds of the uncertainties is not required to be known in advance. Meanwhile, the severe chattering of the sliding mode control that caused by high switching gains is effectively reduced. The controller and its performance are evaluated on a transport aircraft performing a maximum load airdrop task in a number of simulation scenarios.

考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制（英文）

针对带有不确定性和量化输入信号的多智能体系统的编队跟踪控制问题,提出一种自适应输出反馈控制方法。利用非线性模型描述智能体系统,其中包含未知参数和不可测状态。建立一个高增益状态观测器以估测系统不可测状态。在高增益观测器和迟滞量化器基础上,设计自适应输出反馈控制方法,并确定控制系统的参数设置方法。稳定性分析证明该控制方法能使多智能体系统跟踪参考航迹并保持编队队形。同时,闭环系统中的所有信号均能保持有界。最后,仿真实验表明该控制方法的有效性。