Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots

In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.

Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV

The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances,a robust backstepping sliding mode control( BSMC) with self recurrent wavelet neural network( SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties effectively.Then the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally,the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments.

A switching-based backstepping sliding mode control for space manipulator in presence of gravity variation

A novel switching-based backstepping sliding mode control(SBSMC) scheme is devised for the space manipulator exposed to different gravity.With a view to distinct differences in dynamics properties when the operating conclition of space manipulator changer,the space manipulator can be thought of as a system composed of two subsystems,the ground subsystem and the space subsystem.Two different types of backstepping sliding mode(BSM) controllers are designed,one is suited for the ground subsystem and the other is for the space one.The switching between two subsystems can be implemented automatically when the switching mechanism is triggered,and the controllers for their subsystems experience synchronous switching.In this way,the space manipulator always has good behaviors in trajectory tracking.Moreover,multi-Lyapunov functions are introduced to prove the stability of this switching approach.According to simulation results,the method constructed in this research has better performance in control precision and adaptability compared with proportional-derivative(PD) control.

Second order sliding mode control with back stepping approach for moving mass spinning missiles

An attitude controller using the second order sliding mode control methodology with a backstepping approach（SOSMCB）is designed and implemented for a spinning missile with two internal moving mass blocks.The system consists of a rigid body and two radial internal moving mass blocks and its mathematical model is established based on Newtonian mechanics.The control scheme integrates a second order sliding mode control algorithm into the last step of the backstepping approach,and its stability is proved by means of a Lyapunov function.The performance of the controller is demonstrated by numerical simulations,the results show that the attitude controller is stable and effective.

Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.

Modeling and robust adaptive control for a coaxial twelve-rotor UAV

Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust adaptive control. First, a mathematical model of a coaxial twelve-rotor is established. Aiming at the problem of model uncertainty and external disturbance of the coaxial twelve-rotor UAV, the attitude controller is innovatively adopted with the combination of a backstepping sliding mode controller (BSMC) and an adaptive radial basis function neural network (RBFNN). The BSMC combines the advantages of backstepping control and sliding mode control, which has a simple design process and strong robustness. The RBFNN as an uncertain observer, can effectively estimate the total uncertainty. Then the stability of the twelve-rotor UAV control system is proved by Lyapunov stability theorem. Finally, it is proved that the robust adaptive control strategy presented in this paper can overcome model uncertainty and external disturbance effectively through numerical simulation and prototype of twelve-rotor UAV tests.

Backstepping sliding mode control of a variable speed wind turbine for power optimization

To optimize the energy capture from the wind,wind turbine(WT)should operate at variable speed.Based on the wind speed,the operating regions of the WT are divided into two parts:below and above the rated wind speed.The main aim at below rated wind speed is to maximize the energy capture from the wind with reduced oscillation on the drive train.At above rated wind speed,the aim is to maintain the rated power by using pitch control.This paper presents the control of WT at below rated wind speed by using backstepping sliding mode control(BSMC).In BSMC,generator torque is considered as the control input that depends on the optimal rotor speed.Usually,this optimal rotor speed is derived from effective wind speed.In this paper,effective wind speed is estimated from aerodynamic torque and rotor speed by using the modified Newton Rapshon(MNR)algorithm.Initially,a conventional sliding mode controller(SMC)is applied to the WT,but the performance of the controller was found to be less robust with respect to disturbances.Generally,WT external disturbance is not predictable.To overcome the above drawback,BSMC is proposed and both the controllers are tested with mathematical model and finally validated with the fatigue,aerodynamics,structures,and turbulence(FAST)WT simulator in the presence of disturbances.From the results,it is concluded that the proposed BSMC is more robust than conventional SMC in the presence of disturbances.

Observer-based adaptive sliding mode backstepping output-feedback DSC for spin-stabilized canard-controlled projectiles

This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles.Uniformly ultimate boundedness and tracking are achieved,exploiting a heavily coupled,bounded uncertain and highly nonlinear model of longitudinal and lateral dynamics.In order to estimate unmeasurable states,an observer is proposed for an augmented multiple-input-multiple-output（MIMO） nonlinear system with an adaptive sliding mode term against the disturbances.Under the frame of a backstepping design,an adaptive sliding mode output-feedback dynamic surface control（DSC） approach is derived recursively by virtue of the estimated states.The DSC technique is adopted to overcome the problem of ‘‘explosion of complexity＂ and relieve the stress of the guidance loop.It is proven that all signals of the MIMO closed-loop system,including the observer and controller,are uniformly ultimately bounded,and the tracking errors converge to an arbitrarily small neighborhood of the origin.Simulation results for the observer and controller are provided to illustrate the feasibility and effectiveness of the proposed approach.

ADAPTIVE BACKSTEPPING SLIDING MODE CONTROLLER FOR FLIGHT SIMULATOR BASED ON RBFNN

For flight simulator system,a kind of Adaptive Backstepping Sliding Mode Controller(ABSMC)based on Radial Base Function Neural Network(RBFNN)observer is presented.The sliding mode control theory is famous by its characteristic that it is insensitive to the external disturbances and parameters uncertainties.Combining this characteristic with Backstepping method can simplifies the controller design.And the addition of the terminal attractor can make the arrival time shorten greatly.However,too large external disturbances and parameters uncertainties are still not allowed to the system,and the design process of ABSMC does not have the upper bound information of disturbance until a RBFNN observer is designed to solve the problems.The simulation results show that the proposed scheme can improve the tracking precision and reduce the chattering of the control input,and the system has a higher robustness.

Group Coevolution and Immigration Pigeon-Inspired Optimized Dual-layer Controller for Aerial Manipulator Trajectory Tracking

The aerial manipulator expands the scope of unmanned aerial vehicle(UAV)'s application as well as increases the di±culties in the design of the controller.To better control the aerial manipulator for di®erent trajectories tracking under di®erent conditions,a new dual-layer controller is designed in this paper.The integral backstepping sliding mode controller(IBSMC)is applied to the outer-loop controller and backstepping controller(BC)is applied to the innerloop controller.To improve the performance of the system,an improved pigeon-inspired optimization(PIO)algorithm called group coevolution and immigration pigeon-inspired optimization(GCIPIO)algorithm is proposed to optimize the controller parameters of IBSMC.GCIPIO algorithm utilizes the group coevolution and immigration mechanisms.A series of simulations are conducted to show the advantage of the proposed method.The results illustrate that the proposed method ensures the closed-loop system has less end-e®ector tracking error.