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adaptive Disturbance-Based High-Order Sliding-Mode control for Hypersonic-Entry Vehicles

JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第3期40卷 521-536页

作者： Sagliano, Marco Mooij, Erwin Theil, Stephan German Aerosp Ctr DLR Nav & Control Dept D-28359 Bremen Germany Delft Univ Technol Astrodynam & Space Miss Dept NL-2629 HS Delft Netherlands

In this paper, an adaptive, disturbance-based sliding-mode controller for hypersonic-entry vehicles is proposed. The scheme is based on high-order sliding-mode theory, and is coupled to an extended sliding-mode observer, able to reconstruct online the disturbances. The result is a numerically stable control scheme, able to adapt online to reduce the error in the presence of multiple uncertainties. The transformation of a high-order sliding-mode technique into an adaptive law by using the extended sliding-mode observer is, together with the multi-input/multi-output formulation for hypersonic-entry vehicles, the main contribution of this paper. The robustness is verified with respect to perturbations in terms of initial conditions, atmospheric density variations, as well as mass and aerodynamic uncertainties. Results show that the approach is valid, leading to an accurate disturbance reconstruction, to a better transient, and to good tracking performance, improved of about 50% in terms of altitude and range errors with respect to the corresponding standard sliding-mode-control approach.

关键词： model reference adaptive control Atmospheric Density Lift Coefficient Aerodynamic Coefficients Flight Path Angle Sharp Edge Flight Experiment Nonlinear Feedback Thermal Protection System Dynamic Pressure German Aerospace Center

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Backup controller for Large Transport Aircraft with Insufficient Natural Stability

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JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第3期40卷 666-679页

作者： Wang, Mengmeng Zhang, Shuguang Holzapfel, Florian Zhang, Fubiao Beihang Univ Sch Transportat Sci & Technol Beijing 100191 Peoples R China Tech Univ Munich Inst Flight Syst Dynam D-85748 Garching Germany

For today's commercial airliners, modern fly-by-wire systems provide excellent handling qualities and disturbance rejection capability, which significantly reduce pilot workload during manual flight, thus potentially increasing flight safety. However, in case of severe system failures or unexpected dynamics, many systems immediately degrade to direct mode, where the expected functions and protections degrade or even disappear. This paper assesses whether, with only pitch rate measurable, an emergency longitudinal controller built for a large transport aircraft featuring unstable pitch-up nonlinearities can provide acceptable handling qualities. A requirement-driven, sequential synthesis controller design process is developed, integrating quantitative feedback theory and L-1 piecewise constant output-feedback control theory. The quantitative feedback technique is used to generate a fixed-gain controller to avoid airspeed or dynamic pressure based gain scheduling and provide level 1 handling qualities without existence of the pitch-up nonlinearity. L-1 augmentations are further introduced to eliminate the performance degradation caused by the pitch-up nonlinearity. The fixed-gain controller and the L-1 controllers perform satisfactorily regarding performance and robust metrics within the entire envelope.

关键词： Transport Aircraft model reference adaptive control Feedback control Flying Wires Handling Qualities Pilot True Airspeed Flight Safety Airliner Dynamic Pressure

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Finite-Time Fault-Tolerant Spacecraft Attitude control with Torque Saturation

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JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第10期40卷 2524-2537页

作者： Hu, Qinglei Tan, Xiao Akella, Maruthi R. Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Univ Texas Austin Dept Aerosp Engn & Engn Mech Engn Austin TX 78712 USA

A smooth attitude-stabilizing controller is proposed for rigid spacecraft actuated by thrusters that achieves finite-time stability in the presence of external disturbance, input saturation, and inertia uncertainty. More specifically, a novel time-varying fast terminal sliding-mode surface is first developed in conjunction with a judiciously designed control signal that rigorously obeys a known maximum-torque constraint. The controller can be viewed as a continuous analog to a variable structure approach, with the smoothness of the control permitted to vary with time according to a set of user-defined parameters. The second major contribution is that the control algorithm is extended to accommodate actuator faults while making use of the remaining active actuating capabilities. A Lyapunov-based analysis of the proposed formulation is provided, and finite-time stability of the closed-loop system is guaranteed. Numerical simulation studies are presented to help illustrate the desirable properties of the controller whenever certain design parameters are selected appropriately, and guidelines for selecting those parameters are provided in depth.

关键词： Spacecraft Attitude model reference adaptive control Actuators Numerical Simulation control Algorithm Rigid Spacecraft Attitude control System Fault Detection and Diagnosis Mathematical models Spacecraft control

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Dynamic Rig for Validation of control Algorithms at High Angles of Attack

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JOURNAL OF AIRCRAFT 2017年第5期54卷 1760-1771页

作者： Ignatyev, Dmitry I. Sidoryuk, Maria E. Kolinko, Konstantin A. Khrabrov, Alexander N. TsAGI Flight Dynam & Control Syst Dept 1 Zhukovsky St Moskovskaya Oblast 140180 Russia TsAGI Unsteady Aerodynam Div Dynam & Control Syst Dept 1 Zhukovsky St Moskovskaya Oblast 140180 Russia

The dynamics of a modern aircraft at high angles of attack is complicated, with hazardous phenomena such as wing rock, stall, and spin. The paper presents a technique for cost-effective and safe studying of conventional and critical flight regimes and control validation using an autonomous scaled aircraft model mounted in a three-degree-of-freedom gimbal in a wind tunnel. The similarity of the dynamics at high angles of attack of the wind-tunnel model and the free-flying model is demonstrated. To suppress the wing rock and to prevent the stall, two control laws are designed using linear matrix inequalities and model reference adaptive control techniques. The controllers are tested in a semifree flight of the autonomous scaled model in the wind tunnel. Wing rock suppression and stall and spin prevention are demonstrated.

关键词： Elevator Deflection control Algorithm Wind Tunnel models model reference adaptive control Three Degrees of Freedom control Surfaces Aerodynamic Characteristics Mathematical models Stabilator Sideslip Angle

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adaptive generalized predictive control and model reference adaptive control for CSTR reactor

Adaptive generalized predictive control and model reference ...

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2010 International Conference on Intelligent control and Information Processing, ICICIP 2010

作者： Delbari, Mahboobeh Salahshoor, Karim Moshiri, Behzad Islamic Azad University South Tehran Branch Iran Department of Automation and Instrumentation Petroleum University of Technology Iran Control and Intelligent Processing Center of Excellence School of ECE Tehran Iran

ISBN: (纸本)9781424470488

Large numbers of industrial chemical process have nonlinear and time varying behavior, so to achieve good control properties it's necessary to use a powerful identification method that can track these variations properly. In this paper, an on-line recursive least square identification method based on ARX is used to have good knowledge about dynamic behavior of system, then for control goals two adaptive method is present: indirect adaptive control based pole placement and adaptive general predict control(GPC). The advantages of the methodologies are demonstrated on nonlinear Continuous Stirred Tank Reactor (CSTR) simulations. desired control properties is reached with a good parameter estimation and achieved results show the successful identifications and control methodologies. Result of two control strategy are compared together and advantages of adaptive GPC is shown for time varying systems like CSTR. © 2010 IEEE.

关键词： model reference adaptive control

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Alternative model reference adaptive control

Alternative model reference adaptive control

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AIAA Guidance, Navigation, and control Conference

作者： Levin, Jason Gadient, Ross Lavretsky, Eugene General Atomics Aeronautical Systems Inc. Poway CA 92064 United States Boeing Company Huntington Beach CA 92647 United States

ISBN: (纸本)9781600869624

This paper introduces a provably stable alternative indirect formulation to the nowclassical model reference adaptive control (MRAC) architecture. The proposed statefeedback design is developed for generic multi-input multi-output dynamical systems with matched uncertainties. Simulations are conducted using the longitudinal dynamics of an aerial vehicle, where numerical evidence shows improved transients and robustness to input time-delay. Copyright © 2010 by Jason Levin, Ross Gadient, and Eugene Lavretsky.

关键词： model reference adaptive control

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The Fuzzy Basis Function for the adaptive control with Robust Design

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电脑学刊 2017年第3期28卷 196-204页

作者： Pu-Sheng Tsai Ter-Feng Wu Nien-Tsu Hu Jen-Yang Chen

This paper presents the structure of model reference adaptive control based on fuzzy basis function. Initially, the techniques of fuzzy basis function are introduced to approach uncertain (or unknown) nonlinear systems. In addition, a heuristic adaptive algorithm, which is robust feature under the Lyapunov stability criterion is developed so that the output of the plant tracks a reference model output or follows another signal. As a result, the linear combination of the fuzzy basis function can approximate any nonlinear continuous function to any arbitrary accuracy that is substantiated by the Stone Weierstrass theorem. We use the linear combination coefficients to represent unknown system parameters and change the identification problem from identifying the original unknown parameters to the combination coefficients. The adaptive law based on tracking error and prediction error is presented and performance better can be expected than traditional MRAC in a time-varying nonlinear system. Furthermore, the effect of fuzzy logic approximation error will appear gradually when the number of the membership function is not enough. Therefore, a desired tracking performance cannot be guaranteed for a class of uncertain systems with external disturbances. In view of this, we impose a robust law in order to eliminate the influence of uncertain sources and approximation error. Two examples are given to illustrate the performance of the proposed method. Computer simulation results confirm that the proposed method not only satisfied tracking performance, but it also is vigorously robust.

关键词： fuzzy basis function Lyapunov stability criterion model reference adaptive control robust control

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Direct model reference adaptive control of a flexible joint robot

Direct model reference adaptive control of a flexible joint ...

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AIAA Guidance, Navigation, and control Conference

作者： Ulrich, Steve Sasiadek, Jurek Z. Carleton University Ottawa ON K1S 5B6 Canada Department of Mechanical and Aerospace Engineering Mackenzie Building 1125 Colonel By Drive Canada

ISBN: (纸本)9781600869624

Flexible effects in the joints of large space robots make their real-time operation a challenging task, especially when accurate endpoint positioning is required. The problem is further aggravated when the flexible joint stiffness matrix is not well known. This paper discusses the application of a model reference adaptive control (MRAC) composite system for tracking the endpoint of a flexible joint space robotic manipulator. The composite control scheme consists in a flexible control term designed to damp the joint vibrations plus a Transpose Jacobian rigid control term for which the control gains are adapted using a novel direct MRAC adaptation law. Numerical simulations show that the adaptive composite controller can maintain stability and good tracking performance despite significant uncertainties in the joint stiffness coefficients. Copyright © 2010 by S. Ulrich and J. Z. Sasiadek.

关键词： model reference adaptive control

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A novel model reference adaptive controller of quad-rotor on autonomous take-off and landing with ground effect

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International Journal of Simulation: Systems, Science and Technology 2016年第28期17卷 31.1-31.7页

作者： Liang, Xiao Meng, Guanglei Chen, Xia Zhang, Taining School of Automation Shenyang Aerospace University ShenyangLiaoning110136 China

The ground effect has a significant impact on the control performance of quad-rotors. In order to assess and reduce the influence, the flow field expressions of the quad-rotor in hover is derived first, which is based on unstructured grid and Spalart-Allmaras turbulence model. Second, the model of ground effect is formulated in terms of the velocity on rotor plane and altitude. Taking the influence of ground effect, a model reference adaptive control law is proposed for the altitude channel. The simulation results show that the ground effect should not be ignored when the altitude is less than 3 times the rotor radius, but the effect on velocity in rotor plane due to ground effect decreases as the altitude increases. The altitude control method based on model reference adaptive technique reduces the influence of ground effect during takeoff and landing of the quad-rotor. © 2017, UK Simulation Society. All rights reserved.

关键词： model reference adaptive control

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A novel approach to the model reference adaptive control of MIMO systems

A novel approach to the model reference adaptive control of ...

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19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Tar, J.K. Rudas, I.J. Bitó, J.F. Kozlowski, K.R. Pozna, C. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Ó Buda University Bécsi út 96/B H-1034 Budapest Hungary Department of Control and Systems Engineering Computing Science and Management Poznań University of Technology Piotrowo 3a 60-965 Poznań Poland Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781424468867

The "model reference adaptive control (MRAC)" is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the "reference model" that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2nd ("direct") method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of "Robust Fixed Point Transformations (RFPT)" in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of "deformation" of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can "fob" the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a "cart-beam-hamper" system is considered. The conclusions of the paper are illustrated by simulation results. © 2010 IEEE.

关键词： model reference adaptive control

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