A Kind of Adaptive Backstepping Sliding Model Controller Design for Hypersonic Reentry Vehicle
In order to solve a class of hypersonic vehicle nonlinear multi-input and multi-output (MIMO) systems control problem, a new kind of adaptive controller is designed in this paper. Backstepping is used to build the control law. To ensure the stability of e
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Abstract In order to solve a class of hypersonic vehicle nonlinear multi-input and multi-output (MIMO) systems control problem, a new kind of adaptive controller is designed in this paper. Backstepping is used to build the control law. To ensure the stability of each uncertain subsystem in each step, a virtual zero-order controller is given in sliding surface design, which can guarantee the robustness. A second-order filter is utilized to replace virtual input to avoid the huge computation complexity in multi-step derivatives. The effectiveness of the control law is verified by simulation even under deep uncertainty. The results suggest the feasibility of this method. Keywords Hypersonic vehicle • Sliding model control • Backstepping control • Adaptive control
1 Introduction Hypersonic vehicle (HSV) is one kind of aircraft with large envelope. Their special high-speed and complex environments require much more challenges on design of flight control system [1, 2]. Backstepping is considered as an effective method to design flight control system [3, 4]. To achieve global regulation or tracking, the stabilizing controller is designed step by step. Adaptive control methods such as robust, neural network are used based on it [5–7]. Dynamic surface control (DSC) method was first proposed by Swaroop [8, 9]. Calculating expansion can be caused by multi-step derivatives. To avoid this problem, a first-order low-pass filter is introduced to estimate the virtual control law [10].
C. Yao (*) • X. Wang • Y. Huang • Y. Cao School of Automation, Northwestern Polytechnical University, Xi’an, China e-mail: [email protected] W. Wang (ed.), Mechatronics and Automatic Control Systems, Lecture Notes in Electrical Engineering 237, DOI 10.1007/978-3-319-01273-5_73, © Springer International Publishing Switzerland 2014
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Based on the results before, this paper includes the following works: (1) A new kind of adaptive backstepping controller is designed based on dynamic surface technology; (2) A second-order filter is proposed to avoid the “calculating expansion” by instead of virtual control input, which can estimate the measurement noise and time derivative effectively.
2 Problem Statement To solve the control problem of a general hypersonic vehicle, which is a strictfeedback affine nonlinear uncertain MIMO system, the vehicle can be described as follows: ð1Þ where x1 ¼ ½α; β; μT are angle of attack, sideslip angle and roll angle, respectively. x2 ¼ ½p; q; rT are roll rate, pitch rate and yaw rate, respectively. u ¼ ½L; M; NT are roll, pitch, yaw control torque caused by aerodynamic control surfaces. Define and as follows: ð2Þ where d 1 and d 2 are external disturbances. and are parameters and modeling uncertainties. Because of the existence of the uncertainties, we should design the effective control law to make sure that the system outputs can track the desired trajectory yd .
3 Design Adaptive Backstepping Sliding Model Control Law 3.1
Definition and Assumption
In order to design the control law, firs
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