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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

中国科学:技术科学英文版 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent controlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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dynamic surface control and active disturbance rejection control-based integrated guidance and control design and simulation for hypersonic reentry missile

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International Journal of Modeling, Simulation, and Scientific Computing 2016年第3期7卷 216-242页

作者： Cong Zhang Yun-Jie Wu State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing 100191P.R.China School of Automation Science and Electrical Engineering Beihang University Beijing 100191P.R.China Science and Technology on Aircraft control Laboratory Beihang University Beijing 100191P.R.China

This paper proposes a novel integrated guidance and control(IGC)method combining dynamic surface control(DSC)and active disturbance rejection control(ADRC)for the guidance and control system of hypersonic reentry missile(HRM)with bounded ***,the model of HRM is ***,the proposed IGC method based on DSC and ADRC is *** stability of closed-loop system is proved *** is worth mentioning that the ADRC technique is used to estimate and compensate the disturbance in the proposed IGC *** makes the closed-loop system a better performance and reduces the chattering caused by lumped ***,a series of simulations and comparisons with a 6-DOF non-linear missile that includes all aerodynamic effects are demonstrated to illustrate the effectiveness and advantage of the proposed IGC method.

关键词： Hypersonic reentry missile integrated guidance and control dynamic surface control active disturbance rejection control simulation

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Adaptive dynamic surface control for air-breathing hypersonic vehicle

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Journal of Systems Engineering and Electronics 2013年第3期24卷 463-479页

作者： Li Zhou Shumin Fei School of Information and control Nanjing University of Information Science and Technology School of Automation Southeast University

This paper describes an adaptive control approach for an air-breathing hypersonic vehicle. The control objective is to provide robust altitudes and velocity tracking in the presence of model uncertainties and varying disturbances. A fuzzy-neural disturbance observer is developed to estimate uncertainties and disturbances, and the adaptive controller is synthesized by the dynamic surface approach combing with the observer. The tracking error at the steady state can be guaranteed to converge to inside of a small residue set which the size of the set can be an arbitrary small value. Simulation results demonstrate the effectiveness of the presented approach.

关键词： flight control dynamic surface control fuzzy-neura system disturbance observer hypersonic vehicle.

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Predictor-based neural dynamic surface control for distributed formation tracking of multiple marine surface vehicles with improved transient performance

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Science China(Information Sciences) 2016年第9期59卷 208-226页

作者： Zhouhua PENG Dan WANG Tieshan LI School of Marine Engineering Dalian Maritime University control Science and Engineering Dalian University of Technology School of Navigation Dalian Maritime University

In this paper, we investigate the distributed formation tracking problem of multiple marine surface vehicles with model uncertainty and time-varying ocean disturbances induced by wind, waves, and ocean currents. The objective is to achieve a collective tracking with a time-varying trajectory, which can only be accessed by a fraction of follower vehicles. A novel predictor-based neural dynamic surface control design approach is proposed to develop the distributed adaptive formation controllers. We use prediction errors, rather than tracking errors, to construct the neural adaptive laws, which enable the fast identification of the vehicle dynamics without incurring high-frequency oscillations in control signals. We establish the stability properties of the closed-loop network via Lyapunov analysis, and quantify the transient performance by deriving the truncated L2 norms of the derivatives of neural weights, which we demonstrate to be smaller than the classical neural dynamic surface control design approach. We also extend the above result to the distributed formation tracking using the relative position information of vehicles, and the advantage is that the velocity information of neighbors and leader are required. Finally, we give the comparative studies to illustrate the performance improvement of the proposed method.

关键词： dynamic surface control distributed formation tracking predictor marine surface vehicles neural networks

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Robust dynamic surface control of flexible joint robots using recurrent neural networks

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控制理论与应用（英文版） 2013年第2期11卷 222-229页

作者： Zhiqiang MIAO Yaonan WANG College of Electrical and Information Engineering Hunan University

A robust neuro-adaptive controller for uncertain flexible joint robots is presented. This control scheme integrates H^infinity disturbance attenuation design and recurrent neural network adaptive control technique into the dy- namic surface control framework. Two recurrent neural networks are used to adaptively learn the uncertain functions in a flexible joint robot. Then, the effects of approximation error and filter error on the tracking performance are attenuated to a prescribed level by the embedded H-infinity controller, so that the desired H-infinity tracking performance can be achieved. Finally. simulation results verifv the effectiveness of the nronosed control scheme.

关键词： dynamic surface control Flexible joint robots Robust H-infinity control Recurrent neural network

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A robust output-feedback adaptive dynamic surface control for linear systems with input disturbance

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控制理论与应用（英文版） 2013年第2期11卷 261-267页

作者： Mingchao SONG Yan LIN School of Automation Beihang University

In this paper, a robust output-feedback adaptive control is proposed for linear time-invariant （LTI） single- input single-output （SISO） plants with unmeasurable input disturbance. Using dynamic surface control （DSC） technique, it is shown that the explosion of complexity problem in backstepping control can be eliminated. Furthermore, the proposed adaptive DSC scheme has the following merits： 1） by introducing an initialization technique, the L~ performance of system tracking error can be guaranteed even if the plant high-frequency gain is unknown and the input disturbance exists, and 2） the adaptive law is necessary only at the first design step, which significantly reduces the design procedure. It is proved that with the proposed scheme, all the closed-loop signals are semiglobally uniformly ultimately bounded. Simulation results are presented to demonstrate the effectiveness of the proposed scheme.

关键词： dynamic surface control Backstepping control Adaptive control Output-feedback Transient perfor-

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Adaptive Neural Network dynamic surface control for Perturbed Nonlinear Time-delay Systems

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International Journal of Automation and computing 2012年第2期9卷 135-141页

作者： Geng Ji School of Mathematics and Information Engineering Taizhou University Linhai 317000 PRC

This paper proposes an adaptive neural network control method for a class of perturbed strict-feedback nonlinear systems with unknown time delays. Radial basis function neural networks are used to approximate unknown intermediate control signals. By constructing appropriate Lyapunov-Krasovskii functionals, the unknown time delay terms have been compensated. dynamic surface control technique is used to overcome the problem of ＂explosion of complexity＂ in backstepping design procedure. In addition, the semiglobal uniform ultimate boundedness of all the signals in the closed-loop system is proved. A main advantage of the proposed controller is that both problems of ＂curse of dimensionality＂ and ＂explosion of complexity＂ are avoided simultaneously. Finally, simulation results are presented to demonstrate the effectiveness of the approach.

关键词： Adaptive control dynamic surface control neural network nonlinear time delay system stability analysis.

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Adaptive Fuzzy dynamic surface control for Uncertain Nonlinear Systems

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International Journal of Automation and computing 2009年第4期6卷 385-390页

作者： Xiao-Yuan Luo Zhi-Hao Zhu Xin-Ping Guan Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 PRC

In this paper, a robust adaptive fuzzy dynamic surface control for a class of uncertain nonlinear systems is proposed. A novel adaptive fuzzy dynamic surface model is built to approximate the uncertain nonlinear functions by only one fuzzy logic system. The approximation capability of this model is proved and the model is implemented to solve the problem that too many approximators are used in the controller design of uncertain nonlinear systems. The shortage of ＂explosion of complexity＂ in backstepping design procedure is overcome by using the proposed dynamic surface control method. It is proved by constructing appropriate Lyapunov candidates that all signals of closed-loop systems are semi-globally uniformly ultimate bounded. Also, this novel controller stabilizes the states of uncertain nonlinear systems faster than the adaptive sliding mode controller （SMC）. Two simulation examples are provided to illustrate the effectiveness of the control approach proposed in this paper.

关键词： Uncertain nonlinear systems fuzzy logic system dynamic surface control backstepping design

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Adaptive dynamic surface control for Integrated Missile Guidance and Autopilot

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International Journal of Automation and computing 2011年第1期8卷 122-127页

作者： Ming-Zhe Hou Guang-Ren Duan Center for control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 PRC

Integrated guidance and control for homing missiles utilizing adaptive dynamic surface control approach is considered based on the three channels independence design idea. A time-varying integrated guidance and control model with unmatched uncertainties is first formulated for the pitch channel, and an adaptive dynamic surface control algorithm is further developed to deal with these unmatched uncertainties. It is proved that the proposed feedback controller can ensure not only the accuracy of target interception, but also the stability of the missile dynamics. Then, the same control approach is further applied to the control design of the yaw and roll channels. The 6-degree-of-freedom （6-DOF） nonlinear missile simulation results demonstrate the feasibility and advantage of the proposed integrated guidance and control design scheme.

关键词： Integrated guidance and control unmatched uncertainty adaptive control dynamic surface control homing missiles.

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Output Feedback Adaptive dynamic surface control for a Class of Uncertain Nonlinear Systems

Output Feedback Adaptive Dynamic Surface Control for a Class...

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第26届中国控制与决策会议

作者： Yang Jingyu Wang Qiangde Department of Electrical Engineering and Automation Qufu Normal University

ISBN: (纸本)9781479937066

In this paper, an adaptive output feedback controller was developed for a class of nonlinear systems with unkonwn parameters, uncertain disturbances and unmeasured states. Firstly estimated states was obtained by introducing an observer. Then a controller was developed based on the dynamic surface control approach. Explosion of terms can be avoided because this method no longer needs the repeated differentiations of the virtue control. Only two parameters instead of all the neural networks weights need to be *** the signals of closed-loop systems can be guaranteed semiglobally uniformly ultimately bounded through the analysis of this *** tracking error can be arbitrarily small by choosing the proper design parameters. Simulation studies show the effectiveness of the proposed approach.

关键词： dynamic surface control Output Feedback Adaptive control Neural Networks

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