Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Xie, Hui; Veitch, Darryl

doi:10.1002/rnc.4760

Cited by 6 publications

(3 citation statements)

References 44 publications

(150 reference statements)

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“…are accordingly called linear and saturated regions. In continuance, NSF is designed for (14) keeping in mind that a similar routine might be followed for (16). Rewrite (14) as…”

Section: Nested Saturated Feedback Controlmentioning

confidence: 99%

“…On the other hand, one of the main shortcomings of the existing solutions is in touch with analyzing the closed-loop stability neglecting the actuator saturation, while it is likely to happen in CLOS guidance as an inherent property. In this study, to account for actuator saturation, we have utilized nested saturated feedback (NSF) scheme which is known as an effective tool to achieve global stability at the presence of input saturation [15,16]. Thus, the CLOS problem is first converted to that of stabilizing a saturated double integrator chain subjected to input disturbance.…”

Section: Introductionmentioning

confidence: 99%

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Novel command to line of sight guidance with practical limitations

Ahi

Haeri

2021

Asian Journal of Control

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In this paper, a novel scheme of command to line-of-sight guidance law regarding the outstanding practical limitations is proposed. With the aid of formulating problem in pursuer's line of sight frame, the exact feed-forward acceleration commands are derived for a general target motion in three-dimensional engagement geometry. Then, a nonlinear control scheme constructed from feed-forward terms along with a nested saturated feedback strategy is suggested. Two momentous practical limitations are considered. The first is related to existence of pursuer's acceleration saturation which is ignored in all existing solutions. The required conditions to insure the global stability are derived regarding this inevitable constraint. The second is related to existence of guidance filter which is assumed to be ideal in existing literature. The importance of guidance filter is highlighted in the present work employing a cubature Kalman filter. The effectiveness of proposed scheme in comparison with the well-known augmented proportional navigation law, with the absence and presence of guidance filter, autopilot dynamics and target maneuvers is illustrated through benchmark scenarios.

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“…are accordingly called linear and saturated regions. In continuance, NSF is designed for (14) keeping in mind that a similar routine might be followed for (16). Rewrite (14) as…”

Section: Nested Saturated Feedback Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Novel command to line of sight guidance with practical limitations

Ahi

Haeri

2021

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…As a nonlinearity that is more complex than single-layer saturation, the nested saturation exists in a large number of practical engineering systems, such as the overhead crane systems, the ultra-compliant mechanical systems and UAV systems (see Liu et al, 2012; Shenoy and Ghandi, 2017; Xie and Veitch, 2020). The nested saturation will destroy the performance of the system and even cause instability if it is ignored when we design the controller of the system.…”

Section: Introductionmentioning

confidence: 99%

Controller design for systems subject to multi-layer nested saturation via event-triggered scheme

Zhou

Liu

et al. 2020

Transactions of the Institute of Measurement and Control

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The design of an event-triggered controller to stabilize the continuous-time systems subject to multi-layer nested saturation is presented in this paper. As a complex nonlinearity, the nested saturation exists in a large number of systems, which may degrade the performance of the system. The sufficient condition for stabilization of the multi-layer saturated system is given by employing event-triggered control, which could reduce communication load of the system. The lower bound of the inter-event time interval is calculated to avoid the Zeno behavior. The domain of attraction for the system is estimated, which is determined by solving an optimization problem. The main advantage of the proposed approach lies in the extensive applicability for different layers of the nested saturation. In the final section, simulation and pratical examples are given to demonstrated the effectiveness of the proposed results.

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Bounded control of feedforward nonlinear systems subject to input time‐delay

Yang

Zhou

Lam³

et al. 2020

Intl J Robust & Nonlinear

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SummaryThis article is concerned with the global stabilization problem of a family of feedforward nonlinear time‐delay systems whose linearized system consists of multiple distinct oscillators. To fully utilize the delayed information and maintain the state decoupling property in the controller design, the considered nonlinear feedforward system is first transformed into a new system which contains time delays in both its input and states based on a novel model transformation containing time delays, and then the stabilizing saturated controller for the transformed system is designed based on the recursive design method. Meanwhile, explicit stability conditions are also provided. When the linearized system is a cascade of multiple oscillators and multiple integrators, a modified saturated feedback control utilizing not only the current state but also the delayed state is also established for the corresponding global stabilization problem. Two examples, including a practical one, are given to show the effectiveness and superiority of the proposed approaches.

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Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Cited by 6 publications

References 44 publications

Novel command to line of sight guidance with practical limitations

Novel command to line of sight guidance with practical limitations

Controller design for systems subject to multi-layer nested saturation via event-triggered scheme

Bounded control of feedforward nonlinear systems subject to input time‐delay

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