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Sliding mode tracking control for miniature unmanned helicopters

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Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： xian bin Guo Jianchuan zhang yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： bin xian Jianchuan Guo yao zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of automation.

关键词： Backstepping Closed loop control systems Closed loop systems controllers Flight dynamics Helicopters

Experimental investigation of vibration pretreatment-microwave curing process for carbon fiber reinforced resin matrix composites

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Journal of Central South university 2024年第6期31卷 1838-1855页

作者： zhang De-chao ZHAN li-hua MA Bo-lin yao Shun-ming GUO Jin-zhan GUAN cheng-long liU Shu light Alloys Research Institute Central South UniversityChangsha 410083China College of Mechanical and electrical engineering Central South UniversityChangsha 410083China school of Mechanical engineering and automation Fuzhou UniversityFuzhou 350108China

The vibration pretreatment-microwave curing process is an efficient,low energy consumption,and high-quality out-of-autoclave curing process for carbon fiber resin matrix *** study aims to investigate the impact of vibration pretreatment temperature on the fiber weight content,microscopic morphology and mechanical properties of the composite laminates by using optical digital microscopy,universal tensile testing machine and thermo-gravimetric ***,the combined mode of Bragg fiber grating sensor and temperature measurement fiber was employed to explore the effect of vibration pretreatment on the strain process during microwave *** study results revealed that the change in vibration pretreatment temperature had a slight impact on the fiber weight content when the vibration acceleration remained *** metallographic and interlaminar strength of the specimen formed at a vibration pretreatment temperature of 80℃ demonstrated a porosity of 0.414% and a 10.69% decrease in interlaminar shear strength compared to autoclave ***,the introduction of the vibration energy field during the microwave curing process led to a significant reduction in residual strain in both the 0°and 90°fiber directions,when the laminate was cooled to 60℃.

关键词： vibration microwave curing porosity interlaminar shear strength thermo-gravimetric analysis curing strain

Robust tracking control design for a flexible air-breathing hypersonic vehicle

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Journal of Central South university 2014年第1期21卷 130-139页

作者：张垚鲜斌刁琛赵勃郭建川 Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle(AHV) which is subjected to system parametric uncertainties and unknown additive time-varying *** longitudinal dynamic model for the flexible AHV was used for the control ***-gain observers were designed to compensate for the system uncertainties and additive *** gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop *** uniformly ultimately bounded tracking of the vehicle's velocity,altitude and attack angle were achieved under aeroelastic effects,system parametric uncertainties and unknown additive ***/Simulink simulation results were provided to validate the robustness of the proposed control *** simulation results demonstrate that the tracking errors stay in a small region around zero.

关键词： hypersonic vehicles nonlinear robust control flexible mode small gain theorem Lyapunov