Article
Engineering, Marine
Xinhua Zhao, Hongyu Ma, Kaiyan Niu
Summary: In this paper, a backstepping controller is designed for the longitudinal motion control system of a supercavitating vehicle by combining with Radial Basis Function neural network (RBFNN) to address the issue of model uncertainty. Due to the complexity of the environment during traversal, it is not feasible to directly measure all states. A state observer is designed to estimate the vertical velocity, which plays a crucial role in the calculation of planing force with nonlinear characteristics. The uncertain part of the matrix coefficient in the cascade control model is approximated by RBFNN, and a depth tracking control law is obtained based on the observed values and the weight of the neural network calculated by Lyapunov function. The control law is proven to ensure the uniform ultimate boundedness of the closed-loop system.
Article
Chemistry, Analytical
Ha Le Nhu Ngoc Thanh, Tuan Tu Huynh, Mai The Vu, Nguyen Xuan Mung, Nguyen Ngoc Phi, Sung Kyung Hong, Truong Nguyen Luan Vu
Summary: This paper presents a trajectory tracking control method for quadcopter UAV based on nonlinear robust backstepping algorithm and extended state/disturbance observer. The proposed algorithm consists of three parts to achieve robust attitude stabilization and superior performance of three-dimension position tracking control.
Article
Automation & Control Systems
Tingting Meng, Yipeng Zhang, Qiang Fu, Wei He
Summary: This article proposes adaptive internal model controls for the collocated output regulation of a flexible wing with unknown disturbances and references. Observer-based tracking error feedback controls are first designed for robust output regulation with a known exosystem matrix. An adaptive observer is further proposed for unknown exosystems, allowing the observer error system to converge to zero exponentially. By combining adaptive observers and observer-based controls, adaptive observer-based controls are obtained to regulate tracking errors towards zero. The closed-loop system is proven to be internally asymptotically stable. A simulation example is provided for adaptive internal model control of the wing system.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Engineering, Aerospace
Suiyuan Shen, Jinfa Xu, Qingyuan Xia
Summary: This paper proposes a fuzzy backstepping control method based on an extended-state observer to overcome the influence of rotor tilt motion and gust disturbance on the full flight mode control of a tilt-rotor UAV. The controller uses fuzzy control to tune parameters online and an extended-state observer to estimate total disturbance, improving robustness and anti-disturbance capability.
Article
Engineering, Aerospace
Bowen Zhan, Minghe Jin, Jian Liu
Summary: This paper proposes an extended-state-observer-based adaptive controller for flexible-joint space manipulators (FJSM) to accurately track trajectories while stabilizing bases in the presence of dynamic uncertainties and joint stiffness uncertainties. The dynamic model of a FJSM is established, and an extended state observer (ESO) is designed to estimate the manipulator's velocity states and joint stiffness uncertainties. An adaptive controller is generated based on the ESO and the state-spaced representation, which compensates for dynamic uncertainties using a Radial Basis Function neural network (RBFNN) and eliminates joint stiffness uncertainties through the ESO estimation. The stabilities of the ESO-based adaptive controller are validated using Lyapunov theory, and numerical simulations confirm the effectiveness of the proposed controller.
ADVANCES IN SPACE RESEARCH
(2022)
Article
Engineering, Ocean
Zhiquan Liu
Summary: This study improves the robustness of the autopilot system by introducing a sideslip angle based cascade nonlinear steering model, an adaptive extended state observer, and a robust adaptive heading controller to handle un-modelled dynamics, time-varying parameters, and uncertain disturbances. The proposed observer based heading controller ensures that all system states and errors are uniformly ultimately bounded without prior knowledge of nonlinear characteristics and external disturbances.
APPLIED OCEAN RESEARCH
(2021)
Article
Engineering, Electrical & Electronic
Yang Zhou, Wenhan Dong, Zongcheng Liu, Maolong Lv, Wenqian Zhang, Yong Chen
Summary: This paper proposes a novel adaptive fixed-time fault-tolerant control method for the fixed-wing unmanned aerial vehicle subject to asymmetric time-varying full state constraints. The UAV nonlinear dynamics of six-degree-of-freedom with twelve-state-variables is considered, and a novel Integral Barrier Lyapunov Function (IBLF) is applied to solve the control problem. Additionally, a continuous switching function is introduced to solve the singularity problem in fixed-time control methods.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Engineering, Marine
Huixuan Fu, Shichuan Wang, Yan Ji, Yuchao Wang
Summary: This paper presents a formation control method for surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances, which improves the anti-disturbance performance of the controller. By utilizing control force saturation constraint and extended state observer, the method effectively handles compound disturbances and ensures stable and bounded closed-loop system, demonstrating strong resistance to disturbances and saturation.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
Article
Engineering, Aerospace
Jianghao Wu, He Yan, Chao Zhou, Yanlai Zhang
Summary: The study found that in forward flight, a flapping rotary wing demonstrates reduced thrust and lift as well as enhanced rotational moment, mainly due to changes in aerodynamics on the retreating side. Factors such as a larger advance ratio and severe forward tilt of the rotational plane are disadvantageous for thrust production, but beneficial for enhancing the rotational moment.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Automation & Control Systems
Junyu Chen, Yue Long, Tieshan Li, Tianpeng Huang
Summary: In this article, a backstepping sliding mode control method based on the time-varying gain extended state observer is proposed to address the problems of unknown external disturbances and parametric uncertainties in quadrotor attitude tracking. The mathematical model of the quadrotor attitude system is introduced, and a time-varying gain extended state observer is proposed to observe unmeasurable states and total disturbances. A novel controller synthesized by backstepping sliding mode control method and the time-varying gain extended state observer is proposed for the quadrotor attitude system. Simulation results show the effectiveness and superiority of the proposed control method.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2023)
Article
Computer Science, Information Systems
Shamseldeen Ismail Abdallah Haroon, Jing Qian, Yun Zeng, Yidong Zou, Danning Tian
Summary: This paper proposes a nonlinear control strategy to enhance the stability of the power system in islanded, grid-connected, and transition modes. By using the virtual synchronous generator (VSG) control method and combining the nonlinear backstepping controller (BSC) method with the extended state observer (ESO), the system's inertia and damping features are provided to improve system stability.
Article
Automation & Control Systems
Kanghui He, Chaoyang Dong, Qing Wang
Summary: This paper proposes a novel backstepping approach by combining extended state observers with dynamic inversion controllers, resulting in a closed-loop system with relatively fast convergence and adjustable tracking performance. The method overcomes the complexity problem without resorting to filtering and is illustrated to be efficient through comparative simulations. (C) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Engineering, Electrical & Electronic
Boyang Zhang, Xiuxia Sun, Shuguang Liu, Maolong Lv, Xiongfeng Deng
Summary: This article proposes an event-triggered cooperative synchronization fault-tolerant control methodology for multiple fixed-wing UAVs, which can handle actuator faults and network-induced errors, and converge synchronization tracking errors to a small residual set by selecting appropriate design parameters.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Remote Sensing
Wenxin Le, Hanyu Liu, Ruiyuan Zhao, Jian Chen
Summary: This paper proposes a design method of backstepping variable structure attitude controller based on Nonlinear Extended State Observer (NESO) to solve the control problem caused by the large-scale change of the Hypersonic Glide Vehicle (HGV) parameters, while considering the characteristics of HGV model and the idea of uncertainty estimation and compensation. Firstly, the design of the second-order NESO is studied, and a systematic method for determining the second-order NESO parameters is given. Then, the NESO-assisted backstepping variable structure attitude controller decomposes the whole system design problem into two first-order subsystem design problems and compensates for the nonlinear dynamic changes caused by the large-scale changes of the aircraft parameters. The simulation results demonstrate the stability and accuracy of the proposed controller in tracking the flight attitude under large range parameter changes.
Article
Engineering, Aerospace
Mihai Lungu
Summary: A new third-order nonlinear dynamics solving method is proposed in this paper for DGCMGs, along with a feed-forward neural network observer and two novel control architectures using Lyapunov theory and backstepping method. These approaches enhance the robustness of the control system and reject disturbances effectively.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Automation & Control Systems
Dawei Wu, Mou Chen, Huajun Gong
Article
Computer Science, Artificial Intelligence
Dawei Wu, Mou Chen, Huajun Gong
Article
Physics, Multidisciplinary
Tongle Zhou, Mou Chen, Yuhui Wang, Jianliang He, Chenguang Yang
Article
Automation & Control Systems
Dawei Wu, Mou Chen, Hui Ye
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2020)
Article
Engineering, Aerospace
Dawei Wu, Jun Zhou, Hui Ye
Summary: In this article, the high angle of attack maneuver control problem has been studied under multiple disturbances and uncertainties. A new approach based on neural networks and disturbance observer technique has been proposed to improve flight performance in high AOA conditions, which has been proven effective through rigorous theoretical analysis and simulation experiments.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
(2021)
Article
Automation & Control Systems
Dawei Wu, Yonghui Sun, Xiaohui Yan
Summary: This article proposes a study on high angle of attack maneuver from the perspective of switched system control, presenting an improved longitudinal attitude motion model and control method to address the design difficulties caused by complex aerodynamic characteristics. The proposed smooth state feedback control for nonstrict feedback systems successfully eliminates the influence of distributed delays, showcasing its effectiveness through theoretical analysis and flight control simulation experiments.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2021)
Article
Automation & Control Systems
Dawei Wu, Yonghui Sun, Shuyi Shao
Summary: A robust control framework is developed for nonstrict-feedback switched nonlinear systems, where a novel disturbance observer is proposed to account for differences in disturbances among subsystems. By improving stability conditions and delay processing methods, a robust control law based on the DO is designed and analyzed using the ADT approach. The effectiveness of the proposed control scheme is verified through simulation studies.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Automation & Control Systems
Dawei Wu, Yonghui Sun, Shuyi Shao
Summary: A new framework of robust adaptive neural control for nonlinear switched stochastic systems is proposed in the presence of external disturbances and system uncertainties. An improved model-dependent average dwell time (MDADT) method is developed, and a switched disturbance observer and processing method are designed for real-time gain adjustment and continuity of control law. Theoretical proof guarantees the boundedness of all closed-loop signals, and simulation results further confirm the effectiveness of the proposed framework.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Mathematics, Applied
Dawei Wu, Yonghui Sun, Rongsheng Xia, Shumin Lu
Summary: This paper investigates the tracking control problem for uncertain nonlinear non-strict feedback systems in the presence of full-state constraints and unmeasured disturbances. A novel design framework of state feedback control is proposed based on the dynamic compensation system and adaptive fuzzy system. The improved disturbance observer design and barrier Lyapunov function are integrated into the control law, guaranteeing the satisfaction of the full-state constraints. Theoretical analysis and simulation results demonstrate the effectiveness and stability of the proposed control algorithm.
APPLIED MATHEMATICS AND COMPUTATION
(2022)
Article
Engineering, Aerospace
Biao Ma, Mou Chen, Yaohua Shen, Mihai Lungu
Summary: This paper studies the inverse optimal guidance law for intercepting a maneuvering target in a two-dimensional plane. The robustness is enhanced by introducing an integral state and a disturbance observer, and the inverse optimal guidance law is designed to reduce the adverse effect of disturbances.
Article
Engineering, Aerospace
Mihai Lungu, Mou Chen, Dana-Aurelia Vilcica (Dinu)
Summary: This paper addresses the problem of automatic carrier landing in challenging conditions such as deck motion, carrier airwake disturbance, wind shears, wind gusts, and atmospheric turbulences. The authors propose a novel automatic carrier landing system, which includes a guidance control system, an attitude control system, and an approach power compensation system. The backstepping control method is employed for the design of the system, and a deck motion prediction block and a tracking differentiator-based deck motion compensation block are designed to handle the deck motion. The global stability of the closed-loop architecture is analyzed using the Lyapunov theory, and simulation results demonstrate the effectiveness of the proposed system in accurately tracking the aircraft reference trajectory.
Article
Computer Science, Information Systems
Dawei Wu, Mou Chen, Hui Ye
