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Finite-Time Convergent Guidance Law Based on Second-Order Sliding Mode Control Theory
Ji, Yi,Lin, Defu,Wang, Wei,Lin, Shiyao The Korean Society for Aeronautical and Space Scie 2017 International Journal of Aeronautical and Space Sc Vol.18 No.4
The complex battlefield environment makes it difficult to intercept maneuvering targets for guided missiles. In this paper, a finite-time convergent (FTC) guidance law based on the second-order sliding mode (SOSM) control theory is proposed to achieve the requirements of stability, accuracy and robustness. More specifically, a second-order sliding mode observer (SMOB) is used to estimate and compensate for the total disturbance of the controlled system, while the target acceleration is extracted from the line-of-sight (LOS) angle measurement. The proposed guidance law can drive the LOS angular rate converge to zero in a finite time, which means that the missile will accurately intercept the target. Numerical simulations with some comparisons are performed to demonstrate the superiority of the proposed guidance law.
Adaptive nonsingular sliding mode based guidance law with terminal angular constraint
Shaoming He,Defu Lin 한국항공우주학회 2014 International Journal of Aeronautical and Space Sc Vol.15 No.2
In this paper, a new adaptive nonsingular terminal sliding mode control theory based impact angle guidance law for intercepting maneuvering targets was documented. In the design procedure, a new adaptive law for target acceleration bound estimation was presented, which allowed the proposed guidance law to be used without the requirement of the information on the target maneuvering profiles. With the aid of Lyapunov stability criteria, the finite-time convergent characteristics of the line-of-sight angle and its derivative were proven in theory. Numerical simulations were also performed under various conditions to demonstrate the effectiveness of the proposed guidance law.
Shaoming He,Defu Lin 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.2
This paper presents a new robust output feedback tracking control scheme for a class of higher-orderuncertain systems. Since traditional nonlinear continuous predictive control requires accurate system model aswell as full system states to synthesize a controller, a composite control methodology is adopted in the proposedscheme. Specifically, the nonlinear disturbance observer (NDOB) is used to estimate the lumped uncertainty andthe unmeasured system states in an integrated manner while the nonlinear continuous predictive control regulatesthe system states to track the desired reference signal asymptotically. Detailed stability analysis is also presentedfor the closed-loop nonlinear observer-controller structure through two steps. Then, the obtained results are appliedto missile autopilot design to track the desired angle-of-attack signal. Finally, numerical simulations with somecomparisons are provided to demonstrate the effectiveness of the proposed formulation.
Adaptive nonsingular sliding mode based guidance law with terminal angular constraint
He, Shaoming,Lin, Defu The Korean Society for Aeronautical and Space Scie 2014 International Journal of Aeronautical and Space Sc Vol.15 No.2
In this paper, a new adaptive nonsingular terminal sliding mode control theory based impact angle guidance law for intercepting maneuvering targets was documented. In the design procedure, a new adaptive law for target acceleration bound estimation was presented, which allowed the proposed guidance law to be used without the requirement of the information on the target maneuvering profiles. With the aid of Lyapunov stability criteria, the finite-time convergent characteristics of the line-of-sight angle and its derivative were proven in theory. Numerical simulations were also performed under various conditions to demonstrate the effectiveness of the proposed guidance law.
Finite-Time Convergent Guidance Law Based on Second-Order Sliding Mode Control Theory
Yi Ji,Defu Lin,Wei Wang,Shiyao Lin 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.4
The complex battlefield environment makes it difficult to intercept maneuvering targets for guided missiles. In this paper, a finite-time convergent (FTC) guidance law based on the second-order sliding mode (SOSM) control theory is proposed to achieve the requirements of stability, accuracy and robustness. More specifically, a second-order sliding mode observer (SMOB) is used to estimate and compensate for the total disturbance of the controlled system, while the target acceleration is extracted from the line-of-sight (LOS) angle measurement. The proposed guidance law can drive the LOS angular rate converge to zero in a finite time, which means that the missile will accurately intercept the target. Numerical simulations with some comparisons are performed to demonstrate the superiority of the proposed guidance law.
Finite-time Backstepping for Attitude Tracking with Disturbances and Input Constraints
Tao Jiang,Fubiao Zhang,Defu Lin 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6
Backstepping (BS) is an important framework to stabilize the high-order nonlinear system. This work develops a finite-time convergence property for the BS framework combined with an auxiliary input saturation compensator and applies it to address attitude tracking problem of a rigid body subjected to disturbances and input constraints. The finite-time convergence of the tracking error is guaranteed by introducing the fractional power of tracing errors. Meanwhile, the finite-time filters of the target commands and the finite-time disturbance observers inspired by multivariable super-twisting algorithm are employed to construct the finite-time BS framework. Another novelty is to propose a novel auxiliary system to handle the adverse effect of input saturation. The singularity of auxiliary dynamics is avoided by the cubic representation of auxiliary variables. Attitude tracking errors are demonstrated to converge to zeros in finite time despite the presence of input saturation and disturbances through Lyapunov theory. Comparative simulations are conducted to demonstrate the effectiveness and superiority of the proposed control system.
Robust Backstepping Control for a Class of Nonlinear Systems using Generalized Disturbance Observer
Jiang Wang,Shaoming He,Defu Lin 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.6
This paper presents a new composite robust controller for a class of uncertain nonlinear systems throughbackstepping method and disturbance observer (DOB) technique. By designing a generalized disturbance observer(GDOB), the mismatched/matched uncertainty is estimated and compensated at each backstepping step. By virtueof the proposed GDOB, the proposed controller only requires the lumped uncertainties are differentiable and thehigher-order derivatives are bounded. With the help of GDOB, the high-gain backstepping controller is also avoidedcompletely. Asymptotical stability of the closed-loop system is established using direct Lyapunov method. Anillustrative example of missile autopilot design is given and simulations are carried out to validate the proposedmethod.
Integral Sliding Mode based Control for Quadrotors with Disturbances: Simulations and Experiments
Tao Jiang,Tao Song,Defu Lin 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8
This work proposes a compound control which combines backstepping control and integral sliding mode (ISM) idea. The backstepping framework is adopted to guarantee nominal performance of the closed-loop system, while the use of ISM is to eliminate the adverse effect of perturbations such that nominal performance is recovered. To avoid the chattering problem of ISM control, novel multivariable super-twisting algorithm is introduced to attenuate this phenomenon. Furthermore, the proposed control law is applied to tackle trajectory tracking problem of quadrotors subjected to parameter uncertainties and external perturbations. To avoid the singularity of rotation dynamics, quaternion-based control is applied in attitude controller design. A rigorous proof for stability of the closed-loop system is derived by the Lyapunov theory. Finally, several comparative simulations and experimental results demonstrate the effectiveness and superiority of the proposed method.