Observer-based robust high-order fully actuated attitude autopilot design for spinning glide-guided projectiles

This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.

High-order sliding mode attitude controller design for reentry flight

A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and accurate tracking of the aerodynamic angle commands with the finite time convergence. The proposed control strategy is developed on the basis of integral sliding mode philosophy, which combines conventional sliding mode control and a linear quadratic regulator over a finite time interval with a free-final-state and allows the finite-time establishment of a high-order sliding mode. Firstly, a second-order sliding mode attitude controller is designed in the proposed high-order siding mode control framework. Then, to address the control chattering problem, a virtual control is introduced in the control design and hence a third-order sliding mode attitude controller is developed, leading to the chattering reduction as well as the control accuracy improvement. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results.

Fast self-adapting high-order sliding mode control for a class of uncertain nonlinear systems

A fast self-adapting high-order sliding mode(FSHOSM)controller is designed for a class of nonlinear systems with unknown uncertainties.As for uncertainty-free nonlinear system,a new switching condition is introduced into the standard geometric homogeneity.Different from the existing geometric homogeneity method,both state variables and their derivatives are considered to bring a reasonable effective switching condition.As a result,a faster convergence rate of state variables is achieved.Furthermore,based on the integral sliding mode(ISM)and above geometric homogeneity,a self-adapting high-order sliding mode(HOSM)control law is proposed for a class of nonlinear systems with uncertainties.The resulting controller allows the closed-loop system to conduct with the expected properties of strong robustness and fast convergence.Stable analysis of the nonlinear system is also proved based on the Lyapunov approach.The effectiveness of the resulting controller is verified by several simulation results.

Adaptive Differentiators via Second Order Sliding Mode for a Fixed Wing Aircraft

Safety automation of complex mobile systems is a current topic issue in industry and research laboratories,especially in aeronautics.The dynamic models of these systems are nonlinear,Multi-Input Multi-Output(MIMO)and tightly coupled.The nonlinearity resides in the dynamic equations and also in the aerodynamic coefficients’variability.This paper is devoted to developing the piloting law based on the combination of the robust differentiator with a dynamic adaptation of the gains and the robust controller via second order sliding mode,by using an aircraft in virtual simulated environments.To deal with the design of an autopilot controller,we propose an environment framework based on a Software In the Loop(SIL)methodology and we use Microsoft Flight Simulator(FS-2004)as the environment for plane simulation.The first order sliding mode control may be an appropriate solution to this piloting problem.However,its implementation generates a chattering phenomenon and a singularity problem.To overcome these problems,a new version of the adaptive differentiators for second order sliding modes is proposed and used for piloting.For the sliding mode algorithm,higher gains values may be used to improve accuracy;however this leads to an amplification of noise in the estimated signals.A good tradeoff between these two criteria(accuracy,robustness to noise ratio)is difficult to achieve.On the one hand,these values must increase the gains in order to derive a signal sweeping of some frequency ranges.On the other hand,low gains values have to be imposed to reduce noise amplification.So,our goal is to develop a differentiation algorithm in order to have a good compromise between error and robustness to noise ratio.To fit this requirement,a new version of differentiators with a higher order sliding modes and a dynamic adaptation of the gains,is proposed:the first order differentiator for the control of longitudinal speed and the second order differentiator for the control of the Euler angles.

A Simplified Sliding Mode Controlled Electronic Differential for an Electric Vehicle with Two Independent Wheel Drives

This paper presents a simple sliding mode control strategy used for an electronic differential system for electric vehicle with two independent wheel drives. When a vehicle drives along a curved road lane, the speed of the inner wheel has to be different from that of the outer wheel in order to prevent the vehicle from vibrating and travelling an unsteady path. Because each wheel of this electrical vehicle has independent driving force, an electrical differential system is required to replace a gear differential system. However, it is difficult to analyse the nonlinear behaviour of the differential system in relation to the speed and steering angle, as well as vehicle structure. The proposed propulsion system consists of two permanent magnet synchronous machines that ensure the drive of the two back driving wheels. The proposed control structure called independent machines for speed control allows the achievement of an electronic differential which ensures the control of the vehicle behaviour on the road. It also allows to control, independently, every driving wheel to turn at different speeds in any curve. Analysis and simulation results of the proposed system are presented in this paper.

Sliding Mode Control for Fractional Differential Systems with State-delay

The problem of sliding mode control for fractional differential systems with statedelay is considered.A novel sliding surface is proposed and a controller is designed correspondingly,such that the state starting from any initial value will move toward the switching surface and reach the sliding surface in finite time and the state variables on the sliding surface will converge to equilibrium point.And the stability of the proposed control design is discussed.

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances.The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism,tracking differentiator,and nonsingular fast terminal sliding mode control(NFTSMC).Based on the online non-negative adaptive mechanism,the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers.The proposed controller has several advantages such as simple structure,easy implementation,rapid response,chattering-free,high precision,robustness,singularity avoidance,and finite-time convergence.Since all control parameters are online updated via tracking differentiator and non-negative adaptive law,the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability.Finally,simulation results validate the effectiveness of the proposed method.

High-speed train cooperativecontrol based on fractional-ordersliding mode adaptive algorithm

Purpose–This study aims to propose an adaptive fractional-order sliding mode controller to solve the problem of train speed tracking control and position interval control under disturbance environment in moving block system,so as to improve the tracking efficiency and collision avoidance performance.Design/methodology/approach–The mathematical model of information interaction between trains is established based on algebraic graph theory,so that the train can obtain the state information of adjacent trains,and then realize the distributed cooperative control of each train.In the controller design,the sliding mode control and fractional calculus are combined to avoid the discontinuous switching phenomenon,so as to suppress the chattering of sliding mode control,and a parameter adaptive law is constructed to approximate the time-varying operating resistance coefficient.Findings–The simulation results show that compared with proportional integral derivative(PID)control and ordinary sliding mode control,the control accuracy of the proposed algorithm in terms of speed is,respectively,improved by 25%and 75%.The error frequency and fluctuation range of the proposed algorithm are reduced in the position error control,the error value tends to 0,and the operation trend tends to be consistent.Therefore,the control method can improve the control accuracy of the system and prove that it has strong immunity.Originality/value–The algorithm can reduce the influence of external interference in the actual operating environment,realize efficient and stable tracking of trains,and ensure the safety of train control.

Sliding-mode observers for systems with unknown inputs and measurement disturbances

The method to design sliding-mode observers for systems with unknown inputs and measurement disturbances is presented in the paper. An augmented system is constructed by viewing the measurement disturbances as unknow inputs. For such an augmented system, the so-called observer matching condition is not satisfied. Based on the construction of auxiliary outputs, the observer matching condition may be satisfied. High-order sliding-mode differentiators are developed to obtain the estimates of those unmeasurable variables contained in the auxiliary output vector. Employing the estimate of auxiliary output vector, a sliding-mode observer is designed. The simulation results to a real model show that the proposed method is effective.

基于ADE优化的IPMSM全速域无传感器控制

为了实现内置式永磁同步电机(IPMSM)全速域的无传感器控制和切换速域的平滑过渡,提出了一种基于自适应差分进化(ADE)算法优化的复合控制方法。分别在零低速域、中高速域采用旋转高频电压注入法和滑模观测器法来对电机转速和转子位置进行估算,并在切换速域采用基于ADE算法的权重系数优化法来实现上述两种控制方法的平滑切换,从而实现IPMSM全速域无传感器控制。仿真结果表明:提出的复合控制方法能够实现电机全速域的无感控制和切换速域的平滑过渡,且具有良好的稳定性。

IPMSM全速域无位置传感器控制策略

为了实现内置式永磁同步电机(IPMSM)无位置传感器系统全速域运行,提出一种改进型IPMSM复合控制策略。首先,在零低速域选用高频旋转电压注入法实现对电机转速和转子位置的估计;其次,在中高速域,为了削弱传统滑模观测器中开关函数造成的系统抖振问题,构造新型超螺旋滑模观测器,提高系统的观测精度;最后,引入差分进化算法优化过渡速域权重系数,实现不同观测方法间的合理切换,完成全速域下转子位置和转速的高精度辨识。研究结果表明,所提算法能够实现电机全速域运行,且具有良好的动态性能。

基于微分平坦的板球系统反步滑模控制

为改善板球系统轨迹跟踪控制误差大,控制精度低的问题,提出了一种基于微分平坦的板球系统反步滑模控制方法。首先基于欧拉-拉格朗日方程建立板球系统的运动学模型,通过合理简化得到解耦线性状态空间模型。以X轴方向控制器设计为例,利用微分平坦技术获得系统的目标状态量以及前馈控制量,建立误差系统,进而采用反步法实现对误差系统的滑模控制,利用李雅普诺夫稳定性理论证明了闭环系统的稳定性。算法中使用双曲正切函数抑制滑模的抖动,实现了对板球系统的轨迹高精度跟踪控制。仿真实验结果表明,该方法控制精度高,具有良好的控制效果。

基于NESO-LFDC的四旋翼无人机滑模姿态控制

针对四旋翼无人机姿态控制中存在空气动力学特性复杂,易受干扰的特性,提出一种基于非线性扩张状态观测器(nonlinear extended state observer,NESO)和低频干扰补偿器(low-frequency disturbance compensator,LFDC)的非奇异快速终端滑模控制方法。该方法内环设计了NESO和LFDC结合,以获得干扰补偿值并补偿总干扰的低频分量。在外环设计了跟踪微分器和可变切换增益的非奇异快速终端滑模控制器,用于补偿虚拟干扰估计值的误差和总干扰的高频分量。仿真结果表明,该控制方法可以更好地估计总干扰的低频和高频分量,减少虚拟干扰估计值的误差对四旋翼无人机姿态控制的影响,并提升响应速度。

振镜电机系统高性能数模混合驱动控制方法

为满足振镜电机系统高精度和高动态性能的控制需求,提出数模混合架构和扩张状态观测器(ESO)-滑模控制(SMC)复合的高性能驱动控制方法。采用基于数字式控制器和模拟式驱动器的数模混合架构设计,一方面便于实现高性能的非线性控制算法,另一方面能够消除数字式驱动器中脉冲宽度调制(PWM)技术导致的高频电流纹波。基于ESO和SMC复合的振镜电机位置环控制方法,通过ESO估计系统的各种扰动,利用SMC实时消除扰动影响,显著地提升了振镜电机系统的动态性能和鲁棒性。仿真和实验结果表明:相较于比例-积分-微分(PID)控制器,所提方法能够有效地提升系统的鲁棒性和动态响应性能,其中动态响应性能提升了29.4%。

基于载机视觉信息的改进视线制导律设计

针对无人机机载武器低成本精确打击的需求,提出利用机载光电吊舱获取制导信息、采用视线制导法进行制导律设计的方案。通过分析载机、导弹和目标的运动关系,建立了系统状态空间模型,基于反步法和滑模控制设计了改进视线制导律。对制导律中无法由载机获取的参数进行了讨论,采用跟踪微分器提取视线角并估计视线角速度信息。数值仿真结果表明,在视线角存在噪声且导弹矢径拉偏的情况下,改进视线制导律仍可保证对地面目标的精准打击。与传统视线制导律相比,载机的运动方向不受限制,可在发射导弹后远离目标以免受到威胁,符合现实需求。

IF-ZVVCD与SMO的PMSM无位置传感器全速域复合控制

针对永磁同步电机(PMSM)全速域无位置传感器控制中,零低速阶段的高频注入法会引起转矩脉动、噪声等问题,提出一种IF控制结合零电压矢量电流微分法(ZVVCD)实现电机零低速运行,并与改进滑模观测器法复合达到全速域无位置传感器控制目标。在零低速阶段,IF控制法启动电机并在低速切换为ZVVCD,减小转速波动,提高控制精度;在中高速阶段,利用连续光滑的Sigmoid函数及扩展卡尔曼滤波器改进滑模观测器,减少系统抖振,提高转速稳定性;在转速过渡阶段,设计斜率可调的加权切换函数实现零低速与中高速控制方法的平滑切换。实验结果表明:所提复合控制策略能够实现PMSM全速域无位置传感器控制,消除转矩脉动,转子转速与位置信息辨识准确,系统动态响应快、稳态性能好。

复杂干扰下的管沟机器人内外环滑模自抗扰控制

管沟机器人是一种运行在排水管道,公路排水渠的欠驱动差分移动机器人,针对管沟机器人在实际环境中受到的复杂环境干扰,为了使管沟机器人具有更好的运动控制性能,提出了一种内外环的滑模自抗扰控制方法;首先对管沟受到的复杂环境干扰进行分析,将管沟机器人受到的复杂环境干扰解耦成横向和纵向干扰,建立出在干扰情况下的运动学模型;依据理想运动学模型建立出外环的滑模控制器,得出理想控制律,依据干扰运动学模型建立扩张状态观测器,观测出环境干扰数值,从而建立内环的滑模控制器,利用观测值修正外环的理想控制律;同时利用Lyapunov稳定性原理对系统进行分析,最后搭建了Matlab的Simulink模型进行仿真验证,最终证明了所提出的方法具有较强的鲁棒性和运动控制性能。

计及叶轮不平衡的差动调速风电机组变桨距控制

为保证差动调速型风电机组在全风速区间内运行的能量效率及稳定性,在考虑叶轮不平衡、风剪切及塔影效应的影响下,提出了一种基于径向基(RBF)神经网络的滑模变结构控制(SMVSC)方法,以完成差动调速型风力机桨距的准确、快速调节。该方法将滑模误差引入其控制的自适应率中,通过在线调整RBF神经网络的权值和中心值来有效地抑制抖振效应。搭建了1.5 MW差动调速型风电机组仿真模型,在利用物理试验平台对仿真模型进行原理验证后,对所提RBF-SMVSC方法的控制效果进行了对比验证。研究结果表明:相较于PI和传统滑模控制独立变桨方法,在不同的风速条件下,所提控制方法不仅可以更加快速、精确地调节风力机转速和功率输出,还可以有效提高机组的能量捕获效率,减小不平衡载荷。

Output feedback adaptive super twisting sliding mode control for quadrotor UAVs

In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.

基于微分控制器的分数阶Lorenz-Stenflo系统混沌控制

针对含有不确定项和随机噪声的分数阶Lorenz-Stenflo混沌系统控制问题,提出了一种结合神经网络和鲁棒微分控制器技术的滑模控制方法。为了应对系统中的不确定性和随机噪声,采用神经网络对不确定项进行逼近处理,采用鲁棒微分控制器消除随机噪声的影响。通过滑模控制策略,确保系统达到收敛状态。使用李雅普诺夫稳定性定理验证了系统的稳定性。Matlab数值仿真结果证实了该方案的可行性和显著效果。