Incremental Backstepping Sliding Mode Fault-Tolerant Flight Control

Wang, Xuerui; Kampen, E. van

doi:10.2514/6.2019-0110

Cited by 19 publications

(20 citation statements)

References 28 publications

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“…Using the control Lyapunov function (CLF) V defined in Eq. (18) with the suitably chosen positive-definite weight matrices ðQ, Γ d , Γ ξ Þ, the controller structure can be designed to meet the stability condition _ V ≤ 0 as shown in Eq. (19).…”

Section: Design Of Incremental Backstepping Slidingmentioning

confidence: 99%

“…Finally, BSC and SMC designs with the incremental dynamics provides the integral control function, which can further reduce the steady-state errors and additionally improve the robustness to external disturbances. It is well known that the incremental BSC (IBSC) design is not effective to compensate the matched disturbance, and its adaptive version typically requires a prior knowledge on the size of uncertainty or the uncertainty prediction [18]. Thus, the uncertainty compensation method such as the tuning function (TF), immersion and invariance (I&I), and least-squares (LS) methods has been widely studied to effectively handle matched disturbances [19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

Cho

Jung

et al. 2021

International Journal of Aerospace Engineering

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This paper investigates the adaptive incremental backstepping sliding mode control for the rotorcraft trajectory-tracking control problem to enhance the robustness to the matched uncertainty in the model. First, the incremental dynamics is used for the control design to exclude the adverse effect of the mismatched model uncertainties on the trajectory-tracking performance. Secondly, the sliding-mode control strategy is adopted in the second design stage of the backstepping controller, and the effect of switching gains on the controller robustness is thoroughly studied using the rotorcraft model with different levels of the matched uncertainties. To clarify the robustness enhancement using the adaptive selection of switching gains, this paper chooses three different control structures consisting of the traditional backstepping control and two backstepping sliding mode controls with the fixed or adaptively adjusted switching gains. These control designs are applied to the trajectory-tracking control for the helical-turn maneuver of the Bo-105 helicopter to compare their relative robustness to the matched uncertainties. The results prove that adaptive incremental backstepping sliding mode control shows much higher robustness than other two designs, and the controller even with the fixed switching gains can be used to improve the robustness of the pure backstepping control design. Therefore, the present adaptive incremental backstepping sliding mode control is effectively applicable with the rotorcraft model which typically contains many different sources of both matched and mismatched uncertainties.

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Section: Design Of Incremental Backstepping Slidingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

Cho

Jung

et al. 2021

International Journal of Aerospace Engineering

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“…(13,19), the control law designed using the structure of INDI does not require the model information of f . Even through the model dependency of INDI-SMC/SMDO is reduced, its robustness is enhanced by virtue of its sensor-based structure [24,28,36]. This distinguishes INDI-SMC/SMDO from Ref.…”

Section: The Total Control Command Of Indimentioning

confidence: 99%

“…The first issue is the way of obtainingΩ 0 when applying Eqs. (19,36) in the inner-loop. The feasibility of directly measuringΩ 0 via angular accelerometers has been demonstrated in Ref.…”

Section: When Comparingmentioning

confidence: 99%

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Wang

Sun

Kampen

et al. 2019

Aerospace Science and Technology

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101

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This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear Dynamic Inversion (NDI) in the literature, the model dependency of the controller and the uncertainties in the closed-loop system are simultaneously reduced. This allows INDI-SMC/SMDO to passively resist a wider variety of faults and external disturbances using continuous control inputs with lower control and observer gains. When applied to a quadrotor, both numerical simulations and real-world flight tests demonstrate that INDI based SMC/SMDO has better performance and robustness over NDI based SMC/SMDO, in the presence of model uncertainties, wind disturbances, and sudden actuator faults. Moreover, the implementation process is simplified because of the reduced model dependency and smaller uncertainty variations of INDI-SMC/SMDO. Therefore, the proposed control method can be easily implemented to improve the performance and survivability of quadrotors in real life.

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“…Furthermore, theoretical proofs and simulations demonstrate that a wide range of model uncertainties, sudden actuator faults, and structural damage can be passively resisted by INDI-SMC, without using additional fault detection and isolation modules [14]. The hybridization idea was carried forward in [15], where the incremental backstepping sliding mode control (IBSMC) is proposed for multi-input/multi-output nonlinear strict-feedback perturbed systems. Theoretical analyses and simulations show IBSMC has less model dependency but enhanced robustness than model-based backstepping sliding mode control in the literature.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Incremental Control for Flexible Aircraft Trajectory Tracking and Load Alleviation

Wang

Mkhoyan

Breuker

2022

Journal of Guidance, Control, and Dynamics

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This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the rigid-body command tracking performance. The proposed control architecture contains four cascaded control loops: position control, flight path control, attitude control, and optimal multi-objective wing control. Since the position kinematics are not influenced by model uncertainties, the nonlinear dynamic inversion control is applied. On the contrary, the flight path dynamics are perturbed by both model uncertainties and atmospheric disturbances; thus the incremental sliding mode control is adopted. Lyapunov-based analyses show that this method can simultaneously reduce the model dependency and the minimum possible gains of conventional sliding mode control methods. Moreover, the attitude dynamics are in the strict-feedback form; thus the incremental backstepping sliding mode control is applied. Furthermore, a novel load reference generator is designed to distinguish the necessary loads for performing maneuvers from the excessive loads. The load references are realized by the inner-loop optimal wing controller, while the excessive loads are naturalized by flaps without influencing the outer-loop tracking performance. The merits of the proposed control architecture are verified by trajectory tracking tasks and gust load alleviation tasks in spatial von Kármán turbulence fields.

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Incremental Backstepping Sliding Mode Fault-Tolerant Flight Control

Cited by 19 publications

References 28 publications

Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Nonlinear Incremental Control for Flexible Aircraft Trajectory Tracking and Load Alleviation

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