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Design of integral sliding mode guidance law based on disturbance observer

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Journal of Systems Engineering and Electronics 2024年第1期35卷 186-194页

作者： ZHOU Jianping ZHANG Wenjie ZHOU Hang LI Qiang XIA Qunli School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China School of Informatic Engineering Mianyang Techers’CollegeMianyang 62100China Beijing Institute of Electronic System Engineering Beijing 100854China Beijing Institute of Space Long March Vehicle Beijing 100076China

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more *** order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular *** the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance *** proposed system’s stability is proven based on the Lyapunov stability *** simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance ***,ISMGL has a more accurate impact angle and fast convergence speed.

关键词： disturbance observer pilot dynamics integral sliding mode impact angle constraint maneuvering target

An impact angle constraint integral sliding mode guidance law for maneuvering targets interception

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Journal of Systems Engineering and Electronics 2020年第1期31卷 168-184页

作者： ZHANG Wenjie FU Shengnan LI Wei XIA Qunli School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China

An integral sliding mode guidance law(ISMGL)combined with the advantages of the integral sliding mode control(SMC)method is designed to address maneuvering target interception problems with impact angle *** relative motion equation of the missile and the target considering the impact angle constraint is established in the longitudinal plane,and an integral sliding mode surface is *** proposed guidance law resolves the existence of a steady-state error problem in the traditional *** a guidance law ensures that the missile hits the target with an ideal impact angle in finite time and the missile is kept highly robust throughout the interception *** adopting the dynamic surface control method,the ISMGL is designed considering the impact angle constraints and the autopilot dynamic *** to the Lyapunov stability theorem,all states of the closed-loop system are finally proven to be uniformly *** results are compared with the general sliding mode guidance law and the trajectory shaping guidance law,and the findings verify the effectiveness and superiority of the ISMGL.

关键词： impact angle constraint integral sliding mode maneuvering target Lyapunov stability dynamic characteristic

Robust integral sliding mode control for uncertain systems with multiple time delays

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控制理论与应用（英文版） 2010年第2期8卷 211-214页

作者： Xiaoyu ZHANG, Xiangna LI (Department of Electronic and Information Engineering, North China Institute of Science and Technology, Beijing 101601, China) Department of Electronic and Information Engineering North China Institute of Science and Technology Beijing China

This paper proposes a robust integral sliding mode (RISM) manifold and the corresponding stabilization control law for uncertain systems with multiple time-varying time delays based on the techniques of linear matrix inequalities (LMI). The sufficient condition for the existence of the RISM manifold is given in terms of LMI, and then, the sliding mode control (SMC) law that can keep the system state on the RISM manifold from the initial time moment is developed. The efficiency and feasibility of the results are illustrated by a numerical example.

关键词： Robust control integral sliding mode Time-delay systems LMI

Robust Control of Spacecraft Eigenaxis Maneuver via integral sliding mode

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Robust Control of Spacecraft Eigenaxis Maneuver via Integral...

第25届中国控制与决策会议

作者： Zhen Chen Binglong Cong Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355339

The control problem of spacecraft eigenaxis maneuver in the presence of parametric uncertainty and external disturbance is addressed in this paper. Modified Rodrigues parameters （MRPs） are utilized as the attitude parameters for the non-redundancy. An eigenaxis maneuver control law with feedback and feed-forward terms is presented for the nominal system. The transient response of close loop system can be adjusted according to an approximate second order system. To improve the robustness, integral sliding mode （ISM） technique is adopted to reject undesirable effects and track nominal trajectory. The resulting controller can perform the eigenaxis maneuver in the presence of parametric uncertainty and external disturbance while possess good system performance. The effectiveness of the proposed method is demonstrated by simulation results.

关键词： Rigid Spacecraft Attitude Control Eigenaxis Rotation integral sliding mode MRPs

Design of Wind Turbine Torque Controller with Second‑Order integral sliding mode Based on VGWO Algorithm

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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第2期38卷 259-270页

作者： MA Leiming XIAO Lingfei SATTAROV Robert R HUANG Xinhao College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016P.R.China Department of Electromechanics Ufa State Aviation Technical UniversityUfaRussia

A robust control strategy using the second-order integral sliding mode control(SOISMC)based on the variable speed grey wolf optimization(VGWO)is *** aim is to maximize the wind power extraction of wind ***,according to the uncertainty model of wind turbine,a SOISMC torque controller with fast convergence speed,strong robustness and effective chattering reduction is designed,which ensures that the torque controller can effectively track the reference ***,given the strong local search ability of the grey wolf optimization(GWO)and the fast convergence speed and strong global search ability of the particle swarm optimization(PSO),the speed component of PSO is introduced into GWO,and VGWO with fast convergence speed,high solution accuracy and strong global search ability is used to optimize the parameters of wind turbine torque ***,the simulation is implemented based on Simulink/*** results demonstrate the effectiveness of the proposed strategy under both external disturbance and model uncertainty.

关键词： integral sliding mode second-order sliding mode maximum power point tracking optimization algorithm wind turbine

Double closed-loop integral sliding mode control of wheeled mobile robots with disturbances

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Double closed-loop integral sliding mode control of wheeled ...

第三十九届中国控制会议

作者： Tianqi Wang Li Li Zhichen Li Xijuan Wang Institute of Electrical Engineering Yanshan University

In this paper, the trajectory tracking problem is considered for a non-holonomic wheeled mobile robot（WMR） with non-random and random disturbances. A disturbance observer with Kalman filter（DKF） is designed to observe the velocity and the non-random disturbance of the system. An integral sliding mode controller is presented for asymptotically stabilizing the WMR to a desired trajectory. It is shown that the proposed scheme is robust to system perturbations and measurement noise. Simulation results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme.

关键词： Wheeled mobile robot disturbance observer with Kalman filter(DKF) integral sliding mode trajectory tracking

Discrete-Time integral sliding mode Fault-Tolerant Control with Uncertainties

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Discrete-Time Integral Sliding Mode Fault-Tolerant Control w...

2015年中国智能自动化学术会议

作者： Duan Wenjie Wang Dayi Liu Chengrui Beijing Institute of Control Engineering

This paper researches fault-tolerant control for discrete-time multi-input multi-output(MIMO) linear time-invariant(LTI) systems with both matched and unmatched uncertainties.A discrete-time integral sliding mode(DISM) controller and an improved direct method for control allocation are proposed as the reconfigurable control ***-loop stability with matched and unmatched uncertainties for discrete-time MIMO LTI systems with DISM is studied,and the accuracy boundaries for are determined for the final states.A spacecraft model is simulated with multi-faults,efficiency factor inaccuracies,matched uncertainties,and unmatched uncertainties,which exemplifies our FTC scheme.

关键词： Discrete-time integral sliding mode Fault-tolerant Uncertainties

Continuous integral sliding mode Attitude Control for Rocket with Large Length-to-Diameter Ratio

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Continuous Integral Sliding Mode Attitude Control for Rocket...

第43届中国控制会议

作者： Wentao Tang Junfang Fan Yi Ji Sixing Zhang Yafeng Li Xiaobin Xu School of Automation Beijing Information Science and Technology University Beijing Key Laboratory of High Dynamic Navigation Technology

To address the challenge of attitude control in large length-to-diameter ratio(LLDR) rockets with rigid-elastic coupling dynamics, a finite-time convergent attitude control strategy using continuous integral sliding mode has been ***, a control-oriented model is established by considering the rigid-elastic coupling longitudinal dynamics of LLDR rocket,where external disturbances and the elasticity model are treated as normalized disturbances. A finite-time convergent disturbance observer is designed for real-time accurate estimation of external disturbances. On this basis, a continuous integral sliding mode controller for the restructured error dynamics system is proposed, enhancing the capability to effectively counteract system uncertainties while mitigating the common chattering issue of traditional sliding mode control. Moreover, the finite-time convergence stability of the closed-loop system is proven through Lyapunov stability theory. Simulation results demonstrate that the designed observer and control method can accurately estimate disturbances, effectively suppress the adverse effects of elastic modes and external disturbances on attitude control, and enable the rocket to accurately track the desired flight path angle command.

关键词： Large Length-to-Diameter Ratio Disturbance Observer integral sliding mode Finite Time

Finite-Time Consensus for Second-Order Multi-Agent Systems with Disturbances by integral sliding mode Algorithm based on Relative Information

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Finite-Time Consensus for Second-Order Multi-Agent Systems w...

第37届中国控制会议

作者： Xiaojun Long Kai Zhou Jialin Hou School of Mechanical and Electronic Engineering Shandong Agricultural University

This paper investigates the distributed finite-time consensus problem of second-order multi-agent systems(MAS)with one leader or multiple leaders in the presence of bounded disturbances. Based on the continuous homogeneous finite-time consensus protocol for the nominal MAS, the discontinuous and continuous super-twisting protocols upon integral sliding mode(ISM) algorithm are respectively developed to achieve finite-time tracking consensus of MAS with one leader and finite-time containment consensus of MAS with multiple leaders in spite of the disturbances. Simulation results illustrates the effectiveness of the proposed protocols.

关键词： multi-agent systems integral sliding mode finite-time tracking consensus finite-time containment consensus