Neural network approximation-based nonsingular terminal sliding mode control for trajectory tracking of robotic airships

Yang, Yueneng; Yan, Ye

doi:10.1016/j.ast.2016.04.021

Cited by 104 publications

(42 citation statements)

References 12 publications

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“…weight of vectored angle of i th propeller in actuator allocation w δi (i = 1, 2, 3) weight of i th control surface in actuator allocation W 1…”

Section: Nomenclaturementioning

confidence: 99%

“…In this article, a mid-altitude unmanned airship flying at altitude of 7000 m is proposed, as shown in Fig. 1; it is 97 m long, with a volume of 28273 m 3 and a weight of 34634 kg. For safety reasons, it is equipped with empennages of inverse Y shape and six vectored propellers with three of them located along each side.…”

Section: Introductionmentioning

confidence: 99%

“…Many researchers have conducted studies on the traditional control of an airship (2)(3)(4) . Presently, attention is centred on the composite control of stratospheric airships of multiactuators.…”

Section: Introductionmentioning

confidence: 99%

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Composite control system of hybrid-driven mid-altitude airship

et al. 2017

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In general, an airship is equipped with hybrid-heterogeneous actuators: the aerodynamic surfaces, the vectored propellers and the buoyant ballonets. The aerodynamic surfaces have high efficiency in attitude control at high speed. However, vectored propellers are also introduced here for attitude control under the special working condition of low airspeed. Due to the lower thrust-to-weight ratio, the composite control of hybrid-heterogeneous actuators is the primary object in controller design for an airship. In composite attitude control, first the attitude moment allocation between aerodynamic control surfaces and vectored propellers is designed according to different dynamic airspeed, to achieve the smooth motion transition from low to high airspeed, then the weighted generalised inverse (WGI) is used to design the reconfigurable actuator allocation among the homogeneous multi-actuators, where the authority of every actuator can be decided by setting the corresponding value of the weight matrix, thus the control law is unchanged under different actuator configurations. Taking the mid-altitude airship as an example, the simulations of position control, trace tracking and altitude control are provided. Simulation results demonstrate that the attitude moments allocation obtains moment distribution between the aerodynamic surfaces and the vectored propellers under different airspeeds; the reconfigurable actuator allocation achieves a good distribution and reconfiguration among homogeneous actuators, thereby enhancing the reliability of the control system.

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“…weight of vectored angle of i th propeller in actuator allocation w δi (i = 1, 2, 3) weight of i th control surface in actuator allocation W 1…”

Section: Nomenclaturementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Composite control system of hybrid-driven mid-altitude airship

et al. 2017

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“…Based on a commandfiltered and back-stepping methodology, Ding et al (8) proposed a nonlinear controller to force an airship to move along a desired trajectory under a time-invariant wind field. Together with nonsingular terminal sliding mode control approach, a robust nonlinear trajectory tracking control law (28) that involves neural networks (NNs) approximation was proposed for an airship. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Neuroadaptive output-feedback trajectory tracking control for a stratospheric airship with prescribed performance

et al. 2020

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ABSTRACT In this article, we investigate the horizontal trajectory tracking problem for an underactuated stratospheric airship subject to nonvanishing external disturbances and model uncertainties. By transforming the tracking errors into new virtual error variables, we can specify the transient and steady-state tracking performance of the resulting nonlinear system quantitatively, which means that under the proposed control scheme, the tracking errors will converge to prescribed residual sets around the origin before a preselected finite time with decay rates no less than a preassignable value. To address unknown items, minimal learning parameter (MLP) techniques for neural networks (NNs) approximation are employed, which efficaciously relax the computational burden, enhance the robustness against dynamics uncertainties and provide an improved property for disturbances rejection. A finite-time convergent observer (FTCO) is incorporated into the control framework to realise output-feedback control, ensuring that estimation errors are bounded during operation and approach zero within a finite time. Stability analysis proves that all the closed-loop signals are uniformly bounded. The effectiveness and advantages of the proposed control strategy are verified by simulation results.

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“…They also made two assumptions in their trajectory that the altitude and velocity are constants, which decreases the number of variables in the governing equations. In 2016, Yang and Yan [27] introduced a "Neural Network Approximation-based Nonsingular Terminal Sliding Mode Control Approach" for solving the issues of the trajectory following for robotic air vehicles. The inputs are six components of the trajectory and attitudes as functions of time [x(t), y(t), z(t), ϕ(t), θ(t), ψ(t)].…”

Section: Introductionmentioning

confidence: 99%

Unrestricted General Solution of 6DoF Inverse Dynamics Problem of a 3D Guided Glider

Elsherbiny¹,

Bayoumy²,

Elshabka³

et al. 2020

MMEP

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Although solving inverse dynamics problems is performed a lot in literature, none of the previous references addressed the general unrestricted solution of three dimensional (3D) trajectories of guided gliders. This glider could be any subsonic flying body such as guided ammunitions. Inverse dynamics could be one of the key techniques of solving similar problems. In this paper, 3D trajectory generation and following are performed. The trajectory generation is divided into three phases: heading correction, glide and terminal phases. The solution of the inverse problem is performed analytically, using the Mu-Pad tool. Next, a special formulation of the general dynamics equations enables the solution of such a problem and the calculation of the required deflection angles. Finally, a six degrees of freedom (6DoF) direct simulation is performed using the obtained deflection angles in order to compare its trajectory with the generated one. This comparison yields fairly good results and validates the quality of the proposed inverse dynamics solution.

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Neural network approximation-based nonsingular terminal sliding mode control for trajectory tracking of robotic airships

Cited by 104 publications

References 12 publications

Composite control system of hybrid-driven mid-altitude airship

Composite control system of hybrid-driven mid-altitude airship

Neuroadaptive output-feedback trajectory tracking control for a stratospheric airship with prescribed performance

Unrestricted General Solution of 6DoF Inverse Dynamics Problem of a 3D Guided Glider

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