Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Compensation/consumption hierarchical control strategy based on wind-solar-hydrogen coupling grid connection

In the process of grid-connected wind and solar power generation,there are problems of high rate of abandoning wind and light and insufficient energy.In order to solve these problems,we construct a grid-connected wind-solar hydrogen storage(alkaline electrolyzer(AE)-hydrogen storage tank-battery-proton exchange membrane fuel cell(PEMFC))coupled system architecture.A grid-connected compensation/consumption hierarchical control strategy based on wind-solar hydrogen coupling is proposed.During the grid-connected process of wind and solar power generation,the upper-level control allocates power reasonably to the hydrogen energy storage system by dispatching the power of wind and solar power generation.At the same time,the control strategy ensures that the pressure of the hydrogen storage tank is within the safety range limit,and the lower control completes the control of the duty cycle of the converter in the system.Due to the randomness of wind and light,the hydrogen energy storage system is divided into three working conditions,namely compensation,balance and consumption,and five working modes.The simulation results show that the hydrogen energy storage system compensates for 40%of the power shortage,and consumes 27.5%of the abandoned wind and solar energy,which improves the utilization rate of clean energy.