Attitude control for QTR using exponential nonsingular terminal sliding mode control

doi:10.21629/JSEE.2019.01.18

Journal of Systems Engineering and Electronics ›› 2019, Vol. 30 ›› Issue (1): 191-200.doi: 10.21629/JSEE.2019.01.18

收稿日期:2017-07-03 出版日期:2019-02-27 发布日期:2019-02-27

Attitude control for QTR using exponential nonsingular terminal sliding mode control

Haibo LIU^1,*(), Heping WANG^1,²(), Junlei SUN¹()

¹ College of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
² Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, China

Received:2017-07-03 Online:2019-02-27 Published:2019-02-27
Contact: Haibo LIU E-mail:13782800@qq.com;wangheping@nwpu.edu.cn;610187496@qq.com
About author:LIU Haibo was born in 1981. He received his B.S. degree from Nanjing University of Technology in 2005 and M.S. degree from Lanzhou University of Technology in 2013. He is currently working toward his Ph.D. degree in Northwestern Polytechnical University. His main research interests include advanced flight control and overall design of flight vehicle. E-mail:13782800@qq.com|WANG Heping was born in 1955. He received his B.S., M.S. and Ph.D. degrees from Northwestern Polytechnical University in 1982, 1986 and 1999. His main research interests include flight control and overall design of flight vehicle. E-mail:wangheping@nwpu.edu.cn|SUN Junlei was born in 1984. He received his B.S. degree from Northwestern Polytechnical University in 2007 and M.S. degree from Civil Aviation University of China in 2011. He is currently working toward his Ph.D. degree in Northwestern Polytechnical University. His main research interests include flight control and overall design of flight vehicle. E-mail:610187496@qq.com
Supported by:
the National Natural Science Foundation of China(11202162);This work was supported by the National Natural Science Foundation of China (11202162)

摘要/Abstract

Abstract:

For the problem of attitude control of a quad tilt rotor aircraft with unknown external disturbances, a class of control methods based on a new exponential fast nonsingular terminal sliding surface, a new fast reaching law, and a super twisting sliding mode disturbance observer is investigated. First, the new exponential nonsingular terminal sliding surface is designed by using the advantages of nonsingular terminal sliding mode finite time convergence and strong robustness. Second, to solve the problem of a long convergence time and the serious shaking of the traditional reaching law, a new fast reaching law model with characteristics of the second-order sliding mode is put forward. Third, considering the existence of complex disturbances, the super twisting sliding mode disturbance observer is used to estimate and compensate the composite disturbances online. Finally, compared with the traditional nonsingular fast sliding mode control, simulation results show that the proposed control scheme achieves a good control performance.

Key words: tilt rotor, exponential, sliding mode control, reaching law, super twisting

. [J]. Journal of Systems Engineering and Electronics, 2019, 30(1): 191-200.

Haibo LIU, Heping WANG, Junlei SUN. Attitude control for QTR using exponential nonsingular terminal sliding mode control[J]. Journal of Systems Engineering and Electronics, 2019, 30(1): 191-200.

图/表 6

参考文献 35

1	LIU Z, HE Y Q, YANG L Y. Control techniques of tilt rotor unmanned aerial vehicle systems:a review. Chinese Journal of Aeronautics, 2017, 30 (1): 135- 148.
2	KANG Y, PARK B J, CHO A, et al. Development of flight control system and troubleshooting on flight test of a tilt-rotor unmanned aerial vehicle. International Journal of Aeronautical and Space Sciences, 2016, 17 (1): 120- 131. doi: 10.5139/IJASS.2016.17.1.120
3	PRACH A, KAYACAN E. An MPC-based position controller for a tilt-rotor tricopter VTOL UAV. Optimal Control Applications and Methods, 2018, 39 (1): 343- 356. doi: 10.1002/oca.2350
4	CHEN C, ZHANG J Y, ZHANG D B. Control and flight test of a tilt-rotor unmanned aerial vehicle. International Journal of Advanced Robotic Systems, 2017, 14 (1): 1- 12.
5	CZYBA R, SZAFRANSKI G, RYS A. Design and control of a single tilt tri-rotor aerial vehicle. Journal of Intelligent & Robotic Systems, 2016, 84 (1): 53- 66.
6	SENKUL A F, ALTUG E. System design of a novel tilt-roll rotor quadrotor UAV. Journal of Intelligent & Robotic Systems, 2016, 84 (1): 575- 599.
7	OOSEDO A, ABIKO S, NARASAKI S. Large attitude change flight of a quad tilt rotor unmanned aerial vehicle. Advanced Robotics, 2016, 30 (5): 326- 337.
8	WANG Q, WU W H. Robust controller initialization for switching flight control of tilt rotor. Transaction of Beijing Institute of Technology, 2015, 35 (2): 176- 179.
9	DE ALMEIDA M M, MARCELINO M. Nonlinear control of a tilt rotor UAV for load transportation. IFAC-PapersOnLine, 2015, 48 (19): 232- 237. doi: 10.1016/j.ifacol.2015.12.039
10	YOO C S, RYU S D, PARK B J. Actuator controller based on fuzzy sliding mode control of tilt rotor unmanned aerial vehicle. International Journal of Control, Automation and Systems, 2014, 12 (6): 1257- 1265.
11	LIU H B, WANG H P, SHENG L D. Attitude control for vertical take off and landing mode of QTR based on fractional order sliding mode control. Systems Engineering and Electronics, 2017, 39 (1): 156- 161.
12	PANZA S, GUASTALLA L, RODA B. Tilt-rotor multivariable attitude control with rotor state feedback. IFAC-PapersOnLine, 2016, 49 (17): 100- 105. doi: 10.1016/j.ifacol.2016.09.018
13	YAN X F, CHEN R L. Control strategy optimization of dynamic conversion procedure of tilt-rotor aircraft. Acta Aeronautica et Astronautica Sinica, 2017, 38 (7): 59- 69.
14	PHILIPP H, CARSTEN M, DIETER M. Unified velocity control and flight state transition of unmanned tilt-wing aircraft. Journal of Guidance, Control and Dynamics, 2017, 40 (6): 1348- 1360.
15	ZHANG Q, WU Q X, JIANG C S, et al. Robust reconfigurable tracking control of near space vehicle with actuator dynamic and input constraints. Control Theory & Applications, 2012, 29 (10): 1263- 1271.
16	KHATRI A K, SINGHA N K. Aircraft maneuver design using bifurcation analysis and sliding mode control techniques. Journal of Guidance, Control, and Dynamics, 2012, 35 (5): 1435- 1449.
17	ZAK M. Terminal attractors in neural networks. Neural Networks, 1989, 2 (4): 259- 274.
18	MAN Z H, PAPLINSKI A P, WU H R. A robust MIMO terminal sliding mode control scheme for rigid robot manipulators. IEEE Trans. on Automatic Control, 1994, 39 (12): 2464- 2469. doi: 10.1109/9.362847
19	MAN Z H, YU X H. Terminal sliding mode control of MINO linear systems. IEEE Trans. on Circuits and Systems I:Fundamental Theory and Applications, 1997, 44 (11): 1065- 1070. doi: 10.1109/81.641769
20	WU Y, YU H, MAN Z H. Terminal sliding mode control design for uncertain dynanmic systems. Systems and Control Letters, 1998, 34 (2): 281- 288.
21	FENG Y, YU X H, MAN Z H. Non-singular terminal sliding mode control of rigid manipulators. Automatica, 2002, 38 (12): 2159- 2167. doi: 10.1016/S0005-1098(02)00147-4
22	PARK K B, TSUIJI T. Terminal sliding mode control of second-order nonlinear uncertain system. International Journal of Robust and Nonlinear Control, 1999, 9 (11): 769- 780. doi: 10.1002/(SICI)1099-1239(199909)9:11<769::AID-RNC435>3.0.CO;2-M
23	LEI J W, WANG Y, GU W J. Synchronization control for unified chaos systems by using a kind of exponential terminal huper-surface. Journal of Naval Aeromaitoca Engineering Institute, 2007, 22 (3): 308- 312.
24	XU S X, MA J M. Fast terminal sliding mode control of uncertain multivariable linear systems. Aerospace Shanghai, 2011, 28 (2): 7- 11.
25	GAO W B. Theory and design method for variable sliding mode control. Beijing: Science Press, 1996.
26	ZHANG H X, FAN J S, MENG F, et al. A new double power reaching law for sliding mode control. Control and Decision, 2013, 28 (2): 289- 293.
27	TONG K W, ZHANG X, ZHANG Y, et al. Sliding mode variable structure control of permanent magnet synchronous machine based on a novel reaching law. Proc. of the Chinese Society for Electrical Engineering, 2008, 28 (21): 102- 106.
28	XI L P, CHEN Z L, ZHANG S H. Design of sliding mode control scheme based on improved idempotent trending law for robotic manipulators. Computer Measurement & Control, 2012, 20 (2): 380- 382.
29	LEVANT A. Homogeneity approach to high order sliding mode design. Automatica, 2005, 41 (5): 823- 830. doi: 10.1016/j.automatica.2004.11.029
30	LEVANT A. Sliding order and sliding accuracy in sliding mode control. International Journal of Control, 1993, 58 (6): 1247- 1263.
31	YU S H, YU X H, MAN Z H. Robust global terminal sliding mode control of SISO nonlinear uncertain systems. Proc. of the 39th IEEE Conference on Decision and Control, 2000, 3: 3128-2203.
32	YANG L, YANG J Y. Nonsingular fast terminal sliding mode control for nonlinear dynamical systems. International Journal of Robust and Nonlinear Control, 2010, 21 (16): 1865- 1879.
33	LI H, DOU L H, SU Z. Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator. International Journal of Systems Science, 2013, 44 (3): 401- 415. doi: 10.1080/00207721.2011.601348
34	ABRAMOWITZ M, STEGUN I A. Handbook of mathematical functions:with formulas, graphs, and mathematical tables. New York: Dover Publications, 1972.
35	HU Q L, JIANG B Y, SHI Z. Novel terminal sliding mode based fault tolerant attitude control for spacecraft under actuator faults. Acta Aeronautica et Astronautica Sinica, 2014, 35 (1): 249- 258.

Attitude control for QTR using exponential nonsingular terminal sliding mode control

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 6

参考文献 35

相关文章 0

编辑推荐

Metrics

本文评价