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Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation

Journal of Systems Engineering and Electronics 2024年第1期35卷 242-258页

作者： WASIM Muhammad ALI Ahsan CHOUDHRY Mohammad Ahmad shaikh inam ul hasan SALEEM Faisal Department of Aeronautics and Astronautics Engineering Institute of Space TechnologyIslamabad 44000Pakistan Department of Electrical Engineering University of Engineering and TechnologyTaxila 47080Pakistan Department of Measurements and Control Systems Silesian University of TechnologyGliwice 44-101Poland The Joint Doctoral School Silesian University of TechnologyGliwice 44-100Poland

The robotic airship can provide a promising aerostatic platform for many potential *** applications require a precise autonomous trajectory tracking control for *** has a nonlinear and uncertain *** is prone to wind disturbances that offer a challenge for a trajectory tracking control *** paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed *** uses extended Kalman filter(EKF)for uncertainty and disturbance *** estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory *** comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship *** proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model *** stability and convergence of the proposed method are investigated using the Lyapunov stability *** simulation results show that the proposed method efficiently tracks the desired *** method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

关键词： airship chattering extended Kalman filter(EKF) model uncertainties estimation sliding mode controller(SMC)

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Application and comparison of kernel functions for linear parameter varying model approximation of nonlinear systems

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Applied Mathematics(A Journal of Chinese Universities) 2023年第1期38卷 58-77页

作者： Faisal Saleem Ahsan Ali inam-ul-hassan shaikh Muhammad Wasim Department of Measurements and Control Systems Silesian University of TechnologyGliwicePoland Department of Electrical Engineering University of Engineering and TechnologyTaxilaPakistan Department of Aeronautics and Astronautics Engineering Institute of Space TechnologyIslamabadPakistan

In this paper,a comparative study for kernel-PCA based linear parameter varying(LPV)model approximation of sufficiently nonlinear and reasonably practical systems is carried *** matrix inequalities(LMIs)to be solved in LPV controller design process increase exponentially with the increase in a number of scheduling *** kernel functions are used to obtain the approximate LPV model of highly coupled nonlinear *** error to norm ratio of original and approximate LPV models is introduced as a measure of accuracy of the approximate LPV *** examples conclude the effectiveness of kernel-PCA for LPV model approximation as with the identification of accurate approximate LPV model,computation complexity involved in LPV controller design is decreased exponentially.

关键词： kernel-PCA LMIs LPV error to norm ratio computational complexity and control design

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