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Chinese Journal of Aeronautics 2021年第2期34卷 396-406页

作者： Yao Lu Beijing Aerospace Automatic Control Institute Beijing 100854China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing 100854China

In this paper a nonlinear control method is proposed for the tracking control of hypersonic flight vehicles. The designed control laws do not utilize the measured flight path angle due to its inferior accuracy in practical engineering. For this, an estimated flight path angle is designed via the measurements of the altitude and velocity. A tracking differentiator is designed for constructing nonlinear disturbance observer which is used to estimate the model uncertainties including the parameter indeterminacies and external disturbances in the channels of velocity and pitch rate. A robust high-order differentiator is introduced to avoid the employment of the measured flight path angle and estimate the lumped disturbance in dynamics of flight path angle. Meanwhile, the possible saturation of the control inputs is considered and compensated by the auxiliary states. The boundness of closed-loop signals is proved through the Lyapunov theory. Comparative simulations are carried out and the results demonstrate the effectiveness of the proposed method.

关键词： Anti-saturation Backstepping Disturbance observer Flight control Hypersonic flight vehicle State estimation

Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 198-208页

作者： Songyi Dian Lin Chen Son Hoang Ming Pu Junyong Liu the School of Electrical Engineering and Information Sichuan University the College of Control Engineering Chengdu University of Information Technology

This paper presents an adaptive gain-scheduled Backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a single control input.First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional Backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points,an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled Backstepping control(GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes.

关键词： Adaptive Backstepping balance control gain-scheduled inspection robot power line

基于干扰观测器的一类不确定仿射非线性系统有限时间收敛Backstepping控制

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控制理论与应用 2020年第4期37卷 747-757页

作者：张强许慧许德智王晨光济南大学自动化与电气工程学院山东济南250022 江南大学物联网工程学院江苏无锡214122

针对一类不确定仿射非线性系统的跟踪控制问题,提出一种基于干扰观测器的有限时间收敛Backstepping控制方法.为增强小脑模型(CMAC)泛化和学习能力,将非对称高斯函数和模糊理论相结合,给出非对称模糊CMAC结构,设计干扰观测器实现系统未... 详细信息

针对一类不确定仿射非线性系统的跟踪控制问题,提出一种基于干扰观测器的有限时间收敛Backstepping控制方法.为增强小脑模型(CMAC)泛化和学习能力,将非对称高斯函数和模糊理论相结合,给出非对称模糊CMAC结构,设计干扰观测器实现系统未知复合干扰在线准确逼近;基于非对称模糊CMAC干扰观测器,给出有限时间收敛Backstepping控制器设计步骤,利用Lyapunov稳定理论证明闭环系统稳定性,其中采用非线性微分器获取虚拟控制量滤波和微分信息以避免Backstepping设计中的微分“膨胀问题”,设计辅助系统修正因微分器带来的误差对系统跟踪性能影响,引入基于障碍型函数的自适应滑模鲁棒项抑制复合干扰估计偏差对跟踪误差的影响;将所提方法应用于无人机飞行控制仿真实验,结果表明所提方法的有效性.

关键词：小脑模型干扰观测器 Backstepping 有限时间收敛障碍型函数

Backstepping approach for design of PID controller with guaranteed performance for micro-air UAV

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Control Theory and Technology 2020年第1期18卷 19-33页

作者： Yusuf KARTAL Patrik KOLARIC Victor LOPEZ Atilla DOGAN Frank LEWIS University of Texas at Arlington Research Institute Forth Worth 76118TXU.S.A. ZDepartment of Mechanical and Aerospace Engineering University of Texas at ArlingtonTKU.S.A.

Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative(PID)methods,where the tuning of gains is difficult and time-consuming,and performance is not guaranteed.In this paper,we develop a rigorous method based on the sliding mode analysis and nonlinear Backstepping to design a PID controller with guaranteed performance.This technique provides the structure and gains for the PID controller,such that a robust and fast response of the UAV(unmanned aerial vehicle)for trajectory tracking is achieved.First,the second-order sliding variable errors are used in a rigorous nonlinear Backstepping design to obtain guaranteed performance for the nonlinear UAV dynamics.Then,using a small angle approximation and rigorous geometric manipulations,this nonlinear design is converted into a PID controller whose structure is naturally determined through the Backstepping procedure.PID gains that guarantee robust UAV performance are finally computed from the sliding mode gains and from stabilizing gains for tracking error dynamics.We prove that the desired Euler angles of the inner attitude controller loop are related to the dynamics of the outer Backstepping tracker loop by inverse kinematics,which provides a seamless connection with existing built-in UAV attitude controllers.We implement the proposed method on actual UAV,and experimental flight tests prove the validity of these algorithms.It is seen that our PID design procedure yields tighter UAV performance than an existing popular PID control technique.

关键词： Quadrotor nonlinear controller trajectory tracking Backstepping controller inverse kinematics

弹性高超声速飞行器输入饱和抑制Backstepping控制

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振动与冲击 2019年第20期38卷 38-43,50页

作者：路遥孙友路坤锋北京航天自动控制研究所

针对一类无鸭翼弹性吸气式高超声速飞行器纵向短周期系统姿态跟踪控制问题,提出一种基于Backstepping的输入饱和抑制非线性控制方法。考虑升降舵偏转量对升力的影响,引入新的虚拟控制量精准控制攻角状态。将机体的弹性模态影响视作一类... 详细信息

针对一类无鸭翼弹性吸气式高超声速飞行器纵向短周期系统姿态跟踪控制问题,提出一种基于Backstepping的输入饱和抑制非线性控制方法。考虑升降舵偏转量对升力的影响,引入新的虚拟控制量精准控制攻角状态。将机体的弹性模态影响视作一类干扰项,设计非线性干扰观测器对其进行估计,并在控制器中予以补偿。引入非线性增益函数提高系统控制输入量的饱和抑制能力,并基于李雅普诺夫理论证明了闭环系统的稳定性。仿真分析验证了所提出方法的有效性。

关键词：高超声速飞行器弹性 Backstepping 饱和抑制干扰观测器

Adaptive Backstepping Control for Hypersonic Vehicles with Actuator Amplitude and Rate Saturation

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Transactions of Nanjing University of Aeronautics and Astronautics 2019年第2期36卷 242-252页

作者： XIANG Kai DU Yanli ZHANG Peng LIN Haibing College of Astronautics Nanjing University of Aeronautics and Astronautics

This paper presents a constrained control strategy for the hypersonic vehicle with actuator amplitude,rate constraints and aerodynamic uncertainties.First,a vehicle-actuator control model is derived in consideration of actuator dynamics properties explicitly.Second,a nonlinear disturbance observer is designed to estimate the aerodynamic uncertainties,and then an adaptive Backstepping control technique is adopted with a modified first-order-filter to eliminate the“explosion of terms”problem.Next,for handling the actuator amplitude and rate constraints,a novel auxiliary compensation system is constructed to generate quickly compensating signals to ensure tracking performance of command signal.By the Lyapunov stability proof,the proposed control scheme can enssure that the tracking errors converge to an arbitrarily small neighborhood around zero when the actuator constraints and aerodynamic uncertainties exist.Finally,numerical simulations are implemented to illustrate the effectiveness of the proposed control method.

关键词： hypersonic vehicle amplitude and rate saturation adaptive Backstepping aerodynamic uncertainty

Decentralized Backstepping adaptive output tracking of large-scale stochastic nonlinear systems

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Science China(Information Sciences) 2017年第12期60卷 82-92页

作者： Yongfeng GAO Ximing SUN Wei WANG School of Control Science and Engineering Dalian University of Technology

The problem of decentralized adaptive output tracking control of a class of interconnected stochastic nonlinear systems is considered. In the control design, decentralized state observers and Backstepping techniques are applied. To eliminate the influences of interactions with other subsystems, a differentiable function is employed. It is shown that the designed local adaptive controllers can ensure that all the signals in the closedloop system are bounded in probability. Furthermore, the tracking errors can be limited to a small residual set around the origin in the fourth moment sense and can be adjusted by choosing suitable design parameters.

关键词： stochastic nonlinear systems adaptive control Backstepping interconnected subsystems tracking control

基于Backstepping的三轮机器人编队控制

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复杂系统与复杂性科学 2021年第3期18卷 28-34页

作者：于美妍杨洪勇孙玉娇鲁东大学信息与电气工程学院山东烟台264025

针对具有非完整特性的三轮机器人的路径轨迹跟踪控制问题,使用Backstepping方法,提出一种多机器人协同编队控制策略。首先将基于领航—跟随模式的系统编队问题转变成跟随机器人对各自虚拟领航者的运动轨迹追踪问题,进而得到系统位姿误... 详细信息

针对具有非完整特性的三轮机器人的路径轨迹跟踪控制问题,使用Backstepping方法,提出一种多机器人协同编队控制策略。首先将基于领航—跟随模式的系统编队问题转变成跟随机器人对各自虚拟领航者的运动轨迹追踪问题,进而得到系统位姿误差运动学方程;然后运用Backstepping方法构建非线性系统的机器人协同编队控制策略,应用Lyapunov函数等知识对机器人动力学系统分析得出,多机器人系统运行稳定,可以实现编队控制。最后通过仿真实验验证了编队方法的可行性。

关键词：三轮机器人 Backstepping 虚拟领航者编队控制非线性系统

Observer-based Backstepping longitudinal control for carrier-based UAV with actuator faults

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Journal of Systems Engineering and Electronics 2017年第2期28卷 322-337页

作者： Fengying Zheng Ziyang Zhen Huajun Gong College of Astronautics Nanjing University of Aeronautics and Astronautics Nanjing 210016 China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

The paper presents the longitudinal control for the carrier-based unmanned aerial vehicle (UAV) system with unmeasured states, actuator faults, control input constraints, and external disturbances. By combining output state observer, adaptive fuzzy control, and constraint Backstepping technology, a robust fault tolerant control approach is proposed. An output state observer with fuzzy logic systems is developed to estimate unmeasured states, and command filters rather than differentiations of virtual control law are used to solve the computational complexity problem in traditional Backstepping. Additionally, a robust term is introduced to offset the fuzzy adaptive estimation error and external disturbance, and an appropriate fault controller structure with matching conditions obtained from fault compensation is proposed. Based on the Lyapunov theory, the designed control program is illustrated to guarantee that all the closed-loop signals of the given system are bounded, and the output errors converge to a small neighborhood of zero. A carrier-based UAV nonlinear longitudinal model is employed to testify the feasibility and validity of the control scheme. The simulation results show that all the controllers can perform at a satisfactory level of reference tracking despite the existence of unknown aerodynamic parameters and actuator faults. ? 2017 Beijing Institute of Aerospace Information.

关键词： Actuators Aircraft control Backstepping Control system analysis Control theory Controllers Error compensation Fault tolerance Flight control systems Fuzzy control Fuzzy filters Fuzzy logic State estimation Three term control systems Unmanned aerial vehicles (UAV)

Attitude stabilization of rigid spacecraft implemented in Backstepping control with input delay

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Journal of Systems Engineering and Electronics 2017年第5期28卷 955-962页

作者： Xianting Bi Xiaoping Shi Control and Simulation Center Harbin Institute of Technology

A Backstepping method is used for nonlinear spacecraft attitude stabilization in the presence of external disturbances and time delay induced by the actuator. The kinematic model is established based on modified Rodrigues parameters (MRPs). Firstly, we get the desired angular velocity virtually drives the attitude parameters to origin, and then backstep it to the desired control torque required for stabilization. Considering the time delay induced by the actuator, the control torque functions only after the delayed time, therefore time compensation is needed in the controller. Stability analysis of the close-loop system is given afterwards. The infinite dimensional actuator state is modeled with a first-order hyperbolic partial differential equation (PDE), the L-2 norm of the system state is constructed and is proved to be exponentially stable. An inverse optimality theorem is also employed during controller design. Simulation results illustrate the efficiency of the proposed control law and it is robust to bounded external disturbances and time delay mismatch.

关键词： Backstepping input delay partial differential equation (PDE) inverse optimality