Article
Engineering, Aerospace
Bo Li, Wenquan Gong, Yongsheng Yang, Bing Xiao, Dechao Ran
Summary: This article presents a study on the appointed fixed time control problem in the quadrotor unmanned aerial vehicle attitude control system subject to external disturbances. A novel sliding mode observer is established to estimate the external disturbances, and an appointed fixed time controller is proposed to track the desired attitude. The effectiveness and performance of the proposed schemes are demonstrated through numerical simulation results.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Engineering, Aerospace
Fang Wang, Hongmei Gao, Kun Wang, Chao Zhou, Qun Zong, Changchun Hua
Summary: A finite-time control scheme for a quadrotor UAV with external disturbance is proposed in this article, including a finite-time disturbance observer design and a nonsingular terminal sliding-mode control scheme, which ensures the tracking errors converge to zero in a finite time. Simulation results confirm the effectiveness and superiority of the proposed control strategy.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2021)
Article
Automation & Control Systems
Gan Yu, Wei Xie, David Cabecinhas, Rita Cunha, Carlos Silvestre
Summary: This paper addresses the design of a trajectory tracking controller for a quadrotor with an unknown mass slung-load. An adaptive controller with online estimation is proposed using the backstepping technique, which includes nonlinear control laws for thrust and angular velocity, and an adaption law for mass estimation. The proposed controller guarantees the convergence of trajectory tracking and estimation errors to zero, and is robust to variations in load mass. Simulation and experimental results are presented to validate the proposed controller's effectiveness and performance.
Article
Automation & Control Systems
Shikang Lian, Wei Meng, Ke Shao, Jinchuan Zheng, Shiquan Zhu, Hongyi Li
Summary: A fast nonsingular terminal sliding mode combined with angular velocity planning (FNTSM-AVP) controller is developed for high-speed, accurate, and robust attitude tracking performance of a quadrotor. The controller effectively eliminates chattering behavior while retaining speed and accuracy by using a sliding surface function with a continuous arctangent function. Unlike conventional methods, the proposed controller prioritizes the recovery of roll and pitch angles by planning the shortest arrival path, improving tracking performance. The finite time convergence and zero tracking error properties of the closed-loop control system under the proposed FNTSM-AVP are analyzed and proved. Aggressive flight experiments demonstrate the advantage of faster convergence and reduced chattering behavior compared to the existing FNTSM controller.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Shikang Lian, Wei Meng, Zemin Lin, Ke Shao, Jinchuan Zheng, Hongyi Li, Renquan Lu
Summary: This article proposes an adaptive fast nonsingular terminal sliding mode (AFNTSM) controller for improving the attitude control performance of quadrotors. The controller combines the advantages of fast nonsingular terminal sliding mode, integral sliding mode, and adaptive estimation techniques to achieve high-speed, accurate, and robust attitude tracking while suppressing control signal chattering. Experimental results demonstrate that the proposed AFNTSM controller achieves faster convergence and stronger robustness according to theoretical analysis.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Xiangyu Shao, Guanghui Sun, Weiran Yao, Jianxing Liu, Ligang Wu
Summary: In this article, a novel adaptive sliding mode control strategy is proposed for attitude and altitude stabilization of a quadrotor UAV, considering input saturation. The proposed control method combines the advantages of sliding mode control and adaptive control. Simulations and experiments are conducted to verify its effectiveness and practicability.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Multidisciplinary
Saleh Mobayen, Fayez F. M. El-Sousy, Khalid A. Alattas, Omid Mofid, Afef Fekih, Thaned Rojsiraphisal
Summary: This paper proposes an adaptive fast-reaching nonsingular terminal sliding mode control approach for the position and attitude tracking control of a quadrotor UAV subject to model uncertainty and external disturbances. An adaptive control scheme is considered to approximate the unknown upper bounds of model uncertainties and external disturbances. Simulations in MATLAB/Simulink software are used to assess the effectiveness of the proposed approach and compare it to an existing approach in terms of tracking performance, robustness, and integrator of absolute-value of error criteria.
AIN SHAMS ENGINEERING JOURNAL
(2023)
Article
Robotics
Fang Nan, Sihao Sun, Philipp Foehn, Davide Scaramuzza
Summary: This study proposes a fault-tolerant controller using nonlinear model predictive control (NMPC) to stabilize and control a quadrotor in the event of complete failure of a single rotor. Unlike existing methods, this approach considers the full nonlinear dynamics of the damaged quadrotor and the thrust constraint of each rotor.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Chemistry, Multidisciplinary
Marco Rinaldi, Stefano Primatesta, Giorgio Guglieri
Summary: This paper presents a nonlinear quadrotor UAV dynamical model and a control architecture for 3D trajectory tracking. Different attitude stabilization methods are discussed, implemented and compared, providing guidance for selecting quadcopters' control strategies in terms of quantitative and qualitative considerations.
APPLIED SCIENCES-BASEL
(2023)
Article
Automation & Control Systems
Guoxing Wen, Wei Hao, Weiwei Feng, Kaizhou Gao
Summary: This article studies an optimized tracking control scheme for quadrotor unmanned aerial vehicle (QUAV) system by combining reinforcement learning (RL) and the backstepping technique. The scheme consists of two interconnected individual controls corresponding to position and attitude, achieved through the neural network (NN) approximation of the HJB equation's solution. The proposed RL algorithm simplifies QUAV control execution in practical applications.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Automation & Control Systems
Vibhu Kumar Tripathi, Archit Krishna Kamath, Laxmidhar Behera, Nishchal K. Verma, Saeid Nahavandi
Summary: This article introduces an adaptive fast terminal sliding-mode controller for position and altitude tracking of a quadrotor, addressing parametric uncertainties and external disturbances effectively. The controller utilizes a power rate proportional reaching law and adaptive tuning law to achieve fast and finite-time convergence while mitigating chattering and unknown disturbance bound issues.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Engineering, Aerospace
Ngo Phong Nguyen, Hyondong Oh, Jun Moon
Summary: This article proposes a continuous nonsingular terminal sliding-mode control with integral-type sliding surface (CNTSMC-ISS) framework for disturbed systems, introducing two types of finite-time controllers to alleviate chattering phenomenon and improve system stability. The controllers ensure fast and stable convergence of system states to the designed sliding surface, enhancing the effectiveness of attitude control for quadrotor unmanned aerial vehicles under external disturbances.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Engineering, Mechanical
Wei Yang, Guozeng Cui, Qian Ma, Jiali Ma, Shenghui Guo
Summary: In this paper, a command filter-based finite-time adaptive optimal control strategy is proposed for trajectory tracking control of a quadrotor unmanned aerial vehicle. By using a finite-time command filter, the explosion of complexity and the effect of filtered error are simultaneously removed. Furthermore, the adaptive dynamic programming technique is employed to optimize the tracking errors and control signals. The proposed scheme ensures the minimization of the performance index function and the finite-time boundedness of all signals, achieving accurate trajectory tracking.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
J. Barreiro-Gomez, I Mas, J. Giribet, P. Moreno, C. Ocampo-Martinez, R. Sanchez-Pena, N. Quijano
Summary: This work introduces a novel data-driven distributed formation-control approach based on multi-population evolutionary games. The stability guarantees provided make the proposed method suitable for real-world problems with changing communication constraints, and also allow for agents to enter or leave the formation without affecting the behaviors of other agents.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Automation & Control Systems
Jaemin Baek, Minseok Kang
Summary: This article presents a practical synthesized sliding-mode control (SSMC) scheme and applies it to quadrotor unmanned aerial vehicle (UAV) systems. The scheme utilizes a new adaptive law suitable for small moment of inertia, providing fast convergence rate, high robustness, and compensation for disturbances. It integrates with pole-placement control to enhance system stability and employs one-sample delayed information to cancel uncertainties and disturbances for a simple and compact structure. The effectiveness and feasibility are demonstrated through real implementation and comparison with existing control schemes.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Shubo Wang
Summary: This article investigates an adaptive robust control scheme based on barrier Lyapunov function for nonaffine nonlinear systems with unknown dynamics. The scheme converts the nonaffine system into an affine system and reconstructs the immeasurable states using a high-gain observer. It also incorporates a robust integral and a barrier Lyapunov function in the control design to reject unknown dynamics.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Yang Zhou, Shubo Wang
Summary: This paper investigates asymptotic tracking control of nonlinear robotic systems with prescribed performance. The control strategy is developed based on a modified prescribed performance function (PPF) and fuzzy logic system (FLS) to approximate the unknown dynamics. A robust integral of the sign of the error (RISE) term is incorporated into the control design to achieve asymptotic convergence. Numerical simulation and experimental results validate the effectiveness of the proposed control scheme.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Engineering, Electrical & Electronic
Yingbo Huang, Huidong Hou, Jing Na, Haoran He, Jing Zhao, Zhenghao Shi
Summary: This paper presents a novel control method for half-vehicle active suspension systems driven by hydraulic actuators. It introduces a coordinate transform approach to reformulate the strict-feedback system into a canonical form without using the backstepping method. A modified high-gain observer (HGO) is studied to rebuild the unknown system states of the nonlinear active suspension system. To eliminate the effect of unknown nonlinearities, a simple robust unknown system dynamics estimator (USDE) is developed. Finally, the observer and estimator are integrated to design an output feedback controller to regulate the vehicle motion. Comparative experiments demonstrate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2023)
Article
Engineering, Aerospace
Shuzong Xie, Qiang Chen, Xiongxiong He
Summary: This article proposes a predefined-time approximation-free attitude constraint control scheme for rigid spacecraft with external disturbances. A systematic approximation-free controller is developed using the backstepping technique to maintain the spacecraft attitude within a prescribed small region in predefined time. The minimum upper bound of the settling time can be precisely determined by adjusting a single control parameter. Quadratic-fraction functions are used in the controller design to avoid possible singularity issues resulting from differentiation of the virtual controller. The presented approximation-free control scheme reduces computational burden by avoiding the introduction of any function approximators. Numerical simulations verify the effectiveness of the proposed scheme.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2023)
Article
Automation & Control Systems
Xin Chen, Yu Guo, Jing Na
Summary: Synchronous averaging (SA) is a powerful signal processing tool that enhances the features of periodic events by suppressing nonsynchronous components. However, under random slip conditions, SA may not effectively enhance the features related to rolling element bearing (REB) faults. This article proposes two frameworks based on instantaneous angular speed (IAS) for synchronous averaging and introduces an improved negentropy indicator to characterize the richness of REB fault information. The effects of encoder resolution and structure damping factor on the waveform related to faulty REB are also studied. Simulation and experiment results demonstrate the effectiveness of the proposed schemes in enhancing the features of REB faults under random slip conditions.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Electrical & Electronic
Shubo Wang
Summary: This article proposes a novel nonlinear uncertainty estimator-based time-varying sliding mode control (SMC) scheme for servo systems with prescribed performance. The scheme uses a nonlinear uncertainty estimator to handle unknown nonlinearities and a robust integral of the sign of the error (RISE) feedback to handle estimation errors and uncertainties. A modified prescribed performance function (PPF) is incorporated into the control design to restrict tracking errors within predefined boundaries, and a time-varying sliding mode (TVSM) controller is developed to improve control performance. The validity and feasibility of the proposed scheme are verified through simulations and experiments based on a motor driving system.
IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION
(2023)
Article
Engineering, Electrical & Electronic
Chuanbin Sun, Shubo Wang, Haisheng Yu
Summary: This paper proposes an unknown system dynamics estimator (USDE) based finite-time sliding mode control for nonlinear robotic systems with unknown dynamics. Firstly, an USDE with only one tuned parameter is designed to estimate the unknown system dynamics using filter operations and invariant manifold. Secondly, a novel sliding mode surface with faster response time is designed. By incorporating the USDE into the sliding mode surface, a composite sliding mode control (CSMC) is proposed to achieve better dynamic performance. With simple parameter turning, the CSMC can realize high precision trajectory tracking control of robotic systems. Finally, simulation results illustrate the superiority of the proposed control strategy.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2023)
Article
Computer Science, Artificial Intelligence
Jing Zhao, Jincan Liu, Pak Kin Wong, Zhongchao Liang, Zhengchao Xie, Jing Na
Summary: This article proposes a generalized fuzzy subset (GFS) method to assess the time-varying multistate reliability. The method integrates all possible perturbations as inputs and constructs a GFS reliability model based on the composite limit state. The concept of uncertain subset boundary is introduced to conduct the reliability assessment using embedded interval type-2 fuzzy sets. A data-driven strategy is designed to address the deficiency of the GFS reliability model.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Shuzong Xie, Qiang Chen, Qinmin Yang
Summary: This study addresses the adaptive fuzzy predefined-time attitude tracking control problem for rigid spacecraft with inertia uncertainties, external disturbances, and state constraints. The proposed control method approximates the unknown nonlinear dynamics using fuzzy logic systems and ensures that the predefined state constraints are not violated using a quadratic-fraction barrier Lyapunov function. Comparative simulation results demonstrate the superiority and efficacy of the presented strategy.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Automation & Control Systems
Kexin Ding, Qiang Chen, Yurong Nan, Xiaoye Luo
Summary: This paper presents an adaptive fixed-time neural control scheme for a class of nonlinear uncertain systems with full-state constraints. A novel asymmetric hyperbolic barrier Lyapunov function (AHBLF) is introduced to handle the time-varying constraints of all the system states. An adaptive controller is designed to ensure that the tracking errors converge to the equilibrium point within a fixed time, while the system states remain within predefined time-varying boundaries. The proposed control scheme avoids the singularity problem and does not require prior knowledge of the gain function bounds.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Xingling Shao, Fei Zhang, Wendong Zhang, Jing Na
Summary: This article investigates a finite-time composite learning-based elliptical enclosing control for nonholonomic robots under a GPS-denied environment. A novel bearing measurement-based relative position observer is proposed to assure estimation errors decay without GPS. An elliptical guidance law is established to yield the reference velocity and angular rate using observation outcomes. A finite-time composite neural learning driven by weight and tracking errors is devised to achieve precise disturbance compensation and error convergence.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Automation & Control Systems
Xiaomei Wang, Jing Na, Ben Niu, Xudong Zhao, Tingting Cheng, Wenqi Zhou
Summary: This paper proposes an adaptive bipartite secure consensus asymptotic tracking control scheme based on event-triggered strategy for the nonlinear multi-agent systems (MASs) under denial-of-service (DoS) attacks. The paper successfully addresses the bipartite consensus control problem with unbalanced communication topology by incorporating the concept of shortest path into the hierarchical algorithm. An anti-attack bipartite control strategy is proposed using improved forms of tracking errors and virtual controllers, and a modified event-triggered mechanism based on relative threshold strategy ensures asymptotic convergence of bipartite consensus tracking errors.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Electrical & Electronic
Jintao Zhang, Xingling Shao, Wendong Zhang, Jing Na
Summary: This article proposes a path-following control method that enhances transient performances for networked mobile robots traveling over a single curve. By using a coordinated error based on projective arc length, a path-following controller is designed for multiple robots, achieving a queue formation pattern with equal arc spacing at a uniform velocity. Additionally, a tracking differentiator-based prescribed performance control scheme is proposed to enforce tracking deviations of geometric and dynamic objectives before a specified time. The developed scheme allows for cooperative behavior over a general curve and arbitrary designation of desired settling time for each robot, while ensuring convergence of all error variables.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Automation & Control Systems
Chao Zhang, Xuemei Ren, Jing Na, Dongdong Zheng
Summary: This article proposes a safe dual-layer nested adaptive prescribed performance control approach for nonlinear systems, which ensures predefined transient and steady-state performances for the discontinuous reference signal. A monitoring mechanism and a novel dual-layer nested adaptive sliding mode compensation technique are introduced to handle system uncertainties effectively.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Zhijiang Gao, Pak Kin Wong, Jing Zhao, Zhixin Yang, Yingbo Huang, Jing Na
Summary: This article addresses the optimal control problem for magnetorheological fluid-based semiactive suspension systems with input saturation and time-varying delay. A robust switched H∞ method based on the Takagi-Sugeno fuzzy theory is proposed to handle this problem. A novel hybrid model incorporating the fluid flow mechanism and hysteresis phenomenon model is used to separate the passive and active components of the MRF damper. Linear matrix inequality conditions are derived to capture the features of input saturation and time-varying delay, and a Lyapunov-Krasovskii function is employed to ensure stability. Numerical examples demonstrate the effectiveness of the proposed method in dealing with the MRF-SAS system with input saturation and time-varying delay.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)