A new sliding mode control design for integrated missile guidance and control system

The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic of high speed, the course controller with fast convergence speed is proposed. The idea of MMG separate modeling is used to establish three-DOF planar motion model of the podded propulsion USV, and then the model is simplified as a response model. Then based on field experiments, the parameters of the response model are obtained by the method of system identification. Unlike ordinary ships, USV has the advantages of fast speed and small size, so the controller needs fast convergence speed and strong robustness. Based on the theory of multimode control, a fast nonsingular terminal sliding mode (FNTSM) course controller is proposed. In order to reduce the chattering of system, disturbance observer is used to compensate the disturbance to reduce the control gain and RBF neural network is applied to approximate the symbolic function. At the same time, fuzzy algorithm is employed to realize the mode soft switching, which avoids the unnecessary chattering when the mode is switched. Finally the rapidity and robustness of the proposed control approach are demonstrated by simulations and comparison studies.

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Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

A novel non-singular terminal sliding mode control-based integrated missile guidance and control with impact angle constraint

Barrier Lyapunov function-based integrated guidance and control with input saturation and state constraints

A new and effective control method is proposed for the hybrid position/force control of a Stewart Manipulator (SM). The control approach can be divided into the two parts, the first is an estimation of contact parameters between the robot and environment and the second one is the force control of manipulator according to estimated parameters. Hunt–Crossley nonlinear model is considered to describe the normal force in the contact region and Modified Extended Kalman Filter (MEKF) is used for estimating contact parameters. Extended Adaptive Fuzzy Sliding Mode Controller (E-AFSMC) is designed to hybrid position/force control of SM in the presence of state-dependent uncertainties. The proposed method is verified numerically, showing the effectiveness of the proposed method in critical situations such as actuator saturation, unexpected large disturbances, and state-dependent uncertainties.

Hybrid position/force control of Stewart Manipulator using Extended Adaptive Fuzzy Sliding Mode Controller (E-AFSMC).

In this paper, a novel cascade type design model is transformed from the simulation model, which has a broader scope of application, for integrated guidance and control (IGC). A novel non-singular terminal dynamic surface control based IGC method is proposed. It can guarantee the missile with multiple disturbances fast hits the target with high accuracy, while considering the terminal impact angular constraint commendably. And the stability of the closed-loop system is strictly proved. The essence of integrated guidance and control design philosophy is reached that establishing a direct relation between guidance and attitude equations by “intermediate states” and then designing an IGC law for the obtained integrated cascade design model. Finally, a series of simulations and comparisons with a 6-DOF nonlinear missile that includes all aerodynamic effects are demonstrated to illustrate the effectiveness and advantage of the proposed IGC method.

Non-singular terminal dynamic surface control based integrated guidance and control design and simulation

Fast nonsingular terminal sliding mode control based on multi-slide-mode

For flight motion simulator servo system, this paper presents a kind of fuzzy sliding mode controller based on optimal fuzzy reasoning according to sliding mode control and fuzzy control theory. Sliding mode controller (SMC) is a special nonlinear control strategy, which has strong robustness against parameter variations and external disturbances, but the chattering produced by sliding mode control limits its application to the practical system. In this paper, by using fuzzy control technology, the chattering can be effectively alleviated. At the same time, the optimal fuzzy reasoning is adopted in the fuzzy control. This fuzzy reasoning method contains optimal and feedback thinking. It can make reasoning process more reasonable and effective according to different index. Simulation and real system experiment results confirm the effectiveness of the proposed control method.

Fuzzy sliding mode control based on optimal fuzzy reasoning and its application on simulator turntable

There is a tracking problem that multiple targets waiting to be tracked accurately. This article aims at solving this problem. In the first part, this paper supposes particle filter to solve nonlinear and non Gauss. In the second part,the article supposes multiple model filtering to track maneuvering targets. In the third part,this article supposes a multiple model CPHD filtering who is composed of multiple model filtering and PHD algorithm to solve this problem. At the end, a simulation experiment is made to prove the feasibility of the algorithm.1

Particle filter-based algorithm for multiple maneuvering targets tracking

Aiming at the characteristics of time-varying, nonlinear model of unmanned aerial vehicle (UAV), a fuzzy PID controller is proposed in this paper for longitudinal attitude of UAV with combination of fuzzy control algorithm and PID control algorithm. The proposed strategy is easy to be accepted and convenient for application. The fuzzy PID controller designed in this paper takes error and error change rate as input. The PID parameters are adjusted with fuzzy control rules such that the controlled object obtains a better dynamic and stable performance. The simulation results show that the designed fuzzy PID controller has the characteristics of fast response, small overshoot and small steady-state error.

Wu Yunjie

Papers

Non-singular terminal dynamic surface control based integrated guidance and control design and simulation

Fast nonsingular terminal sliding mode control based on multi-slide-mode

Fuzzy sliding mode control based on optimal fuzzy reasoning and its application on simulator turntable

Particle filter-based algorithm for multiple maneuvering targets tracking

Longitudinal attitude control of UAV based on fuzzy PID