The focus of this paper is on control design and simulation for the longitudinal model of a flexible air-breathing hypersonic vehicle（FAHV）.The model of interest includes flexibility effects and intricate couplings ...The focus of this paper is on control design and simulation for the longitudinal model of a flexible air-breathing hypersonic vehicle（FAHV）.The model of interest includes flexibility effects and intricate couplings between the engine dynamics and flight dynamics.To overcome the analytical intractability of this model,a nominal control-oriented model is constructed for the purpose of feedback control design in the first place.Secondly,the multi-input multi-output（MIMO） quasi-continuous high-order sliding mode（HOSM） controller is proposed to track step changes in velocity and altitude,which is based on full state feedback.The simulation results are presented to verify the effectiveness of the proposed control strategy.展开更多
This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimi...This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition to assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuity in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The stability and the robustness of the proposed controller can be easily verified by using the classical Lyapunov criterion. The proposed controller is tested to a three-degree-of-freedom robot to prove its effectiveness.展开更多
基金supported by the National Natural Science Foundation of China(9101601861273092+3 种基金61203012)the Foundation for Key Program of Ministry of Education of China(311012)the Key Program for Basic Research of Tianjin(11JCZDJC25100)the Key Program of Tianjin Natural Science(12JCZDJC30300)
文摘The focus of this paper is on control design and simulation for the longitudinal model of a flexible air-breathing hypersonic vehicle（FAHV）.The model of interest includes flexibility effects and intricate couplings between the engine dynamics and flight dynamics.To overcome the analytical intractability of this model,a nominal control-oriented model is constructed for the purpose of feedback control design in the first place.Secondly,the multi-input multi-output（MIMO） quasi-continuous high-order sliding mode（HOSM） controller is proposed to track step changes in velocity and altitude,which is based on full state feedback.The simulation results are presented to verify the effectiveness of the proposed control strategy.
文摘This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition to assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuity in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The stability and the robustness of the proposed controller can be easily verified by using the classical Lyapunov criterion. The proposed controller is tested to a three-degree-of-freedom robot to prove its effectiveness.
