Understandings of incremental backstepping controller considering measurement delay with model uncertainty

Jeon, Byoung-Ju; Seo, Min-Guk; Shin, Hyo‐Sang; Tsourdos, Antonios

doi:10.1016/j.ast.2020.106408

Cited by 10 publications

(6 citation statements)

References 20 publications

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“…It should be noted that because the control surface obviously change faster than the attitude angle, ∆δ cannot be neglected here. Therefore, we modify Equation (21) as:…”

Section: Description Of Problemmentioning

confidence: 99%

“…The only model information that IB requires is control effectiveness. Recent studies [19][20][21] have found a condition under which the stability of the IB-controlled system will not be degraded by the uncertainties in control effectiveness; by increasing the sample rate, the effect of uncertainty in control effectiveness can be largely attenuated. Generally, IB obtains control effectiveness through numerical differentiation of aerodynamic data.…”

Section: Introductionmentioning

confidence: 99%

“…With the help of the SE, the proposed IBS is extended to outer-loop control. Considering the condition proposed in [21], only a linear spline is used to obtain the control effectiveness, which reduces the computational load and maintains the performance. Together with an adaptive estimator for state derivation, the proposed control method shows robustness against external disturbances and model uncertainties.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Incremental Backstepping Sliding-Mode Trajectory Control for Tailless Aircraft with Stability Enhancer

Wang

et al. 2022

Aerospace

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This paper presents an incremental backstepping sliding-mode (IBS) controller for trajectory control of a tailless aircraft with unknown disturbances and model uncertainties. The proposed controller is based on a nonlinear dynamic model of the tailless aircraft. A stability enhancer (SE) that limits both the rate and amplitude of the virtual control input is proposed. The stability enhancer consists of two layers. When the virtual control input approaches the edge, the first layer SE would be activated to modify the trajectory tracking error; when the virtual control input exceeds the edge, the second layer SE would reduce the control gains to make sure the virtual control input drops within the edge as soon as possible. With the help of SE, the incremental control method could be extended to outer-loop control without considering the dynamics of the inner-loop system. In addition, an adaptive estimator for state derivatives is proposed, together with IBS, allowing the controller to show excellent robustness. Finally, two simulations are presented. The first simulation shows that the system is insensitive to external disturbances and model uncertainties, and the effectiveness of SE is proved in the second simulation.

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“…It should be noted that because the control surface obviously change faster than the attitude angle, ∆δ cannot be neglected here. Therefore, we modify Equation (21) as:…”

Section: Description Of Problemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Incremental Backstepping Sliding-Mode Trajectory Control for Tailless Aircraft with Stability Enhancer

Wang

et al. 2022

Aerospace

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show abstract

“…Incremental Backstepping Control (IBSC) guarantees stability across all Operational Flight Envelopes (OFE) based on the Lyapunov stability theory and is not affected by mismatched uncertainty. For this reason, there have been many approaches to design a controller based on the IBSC concept [34][35][36][37][38][39][40], and this paper also uses an IBSC-based tracking controller [33]. The reference trajectory was directly used as a feedback signal to obtain excellent tracking performance.…”

Section: Trajectory Tracking Simulationmentioning

confidence: 99%

An Approach to Air-to-Surface Mission Planner on 3D Environments for an Unmanned Combat Aerial Vehicle

Woo

Choi

et al. 2022

Drones

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Recently, interest in mission autonomy related to Unmanned Combat Aerial Vehicles(UCAVs) for performing highly dangerous Air-to-Surface Missions(ASMs) has been increasing. Regarding autonomous mission planners, studies currently being conducted in this field have been mainly focused on creating a path from a macroscopic 2D environment to a dense target area or proposing a route for intercepting a target. For further improvement, this paper treats a mission planning algorithm on an ASM which can plan the path to the target dense area in consideration of threats spread in a 3D terrain environment while planning the shortest path to intercept multiple targets. To do so, ASMs are considered three sequential mission elements: ingress, intercept, and egress. The ingress and egress elements require a terrain flight path to penetrate deep into the enemy territory. Thus, the proposed terrain flight path planner generates a nap-of-the-earth path to avoid detection by enemy radar while avoiding enemy air defense threats. In the intercept element, the shortest intercept path planner based on the Dubins path concept combined with nonlinear programming is developed to minimize exposure time for survivability. Finally, the integrated ASM planner is applied to several mission scenarios and validated by simulations using a rotorcraft model.

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“…Recent developments in incremental control have highlighted the need for closed-loop analysis to identify and understand the effects of perturbations in closed-loop characteristics. Using transfer functions, the effects of the model uncertainties on the single-input single-output (SISO) aircraft attitude dynamics using both classical and incremental backstepping controllers are assessed in [7,8]. Lyapunov-based stability analyses for multi-input multi-output (MIMO) nonlinear systems using incremental control in the presence of model uncertainties, sudden actuator faults, and structural damage are presented in [9].…”

Section: Introductionmentioning

confidence: 99%

Discrete-time Design and Stability Analysis for Nonlinear Incremental Fault-tolerant Flight Control

Chang

Breuker

Wang

2022

AIAA SCITECH 2022 Forum

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Understandings of incremental backstepping controller considering measurement delay with model uncertainty

Cited by 10 publications

References 20 publications

Incremental Backstepping Sliding-Mode Trajectory Control for Tailless Aircraft with Stability Enhancer

Incremental Backstepping Sliding-Mode Trajectory Control for Tailless Aircraft with Stability Enhancer

An Approach to Air-to-Surface Mission Planner on 3D Environments for an Unmanned Combat Aerial Vehicle

Discrete-time Design and Stability Analysis for Nonlinear Incremental Fault-tolerant Flight Control

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