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《Acta Armamentarii》 2009-07
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Robust Attitude Control for Micro Air Vehicle Based on Sliding Adaptive Algorithm

DUAN Hong-jun1,SHI Xiao-ping2(1.Department of Automation Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,Hebei,China;2.Control and Simulation Center,Harbin Institute of Technology,Harbin 150001, Heilongjiang,China)  
Taking aim at a class of uncertain nonlinear systems,a sliding mode adaptive control algorithm based on Lyapunov's stability theory was proposed.It is essence that: the system is divided into nominal model and lumped disturbance term which is composed of modeling error,parameter uncertainties,disturbances and unmodeled dynamics.Coefficient of the system input with uncertain character is approached in real time by adaptive control,the lumped disturbance is reduced to an acceptant bound within finite time by robust control,the tracking errors of the uncertain nonlinear system are eleminated ultimately by sliding mode control.The scheme has a good robustness for the uncertain nonlinear system and overcomes the chattering in the control input of conventional sliding mode control.The attitude control of micro air vehicle was simulated.Simulation result shows the validity of the proposed method.
【Fund】: 航天支撑技术基金资助项目(2007-HT-HGD-7)
【CateGory Index】: V249.12
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【Citations】
Chinese Journal Full-text Database 1 Hits
1 DUAN Hong-jun,SHI Xiao-ping(Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China);A study on flight attitude model of flapping wing micro air vehicle[J];Journal of Aerospace Power;2007-08
【Co-citations】
Chinese Journal Full-text Database 3 Hits
1 DUAN Hong-jun1,WANG Feng-wen1,SHI Xiao-ping2(1.Department of Automation Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China;2.Control & Simulation Center,Harbin Institute of Technology,Harbin 150001,China);Recurrent CMAC model decomposition control for flying robot[J];Electric Machines and Control;2011-01
2 HU Sheng-bin,LU Wen-hua,ZHANG Xin-yuan,XU Hai-rong(School of Air Transportation,Shanghai University of Engineering Science,Shanghai 201620,China);Adaptive Fuzzy Control of Attitude of the Flapping-wing Micro Air Vehicles Based on Backstepping[J];Computer Simulation;2011-05
3 DUAN Hong-jun1,SHI Xiao-ping2(1.Dept.of Automation Engineering,Northeastern Univ.Qinhuangdao Branch,Qinhuangdao 066004,China;2.Control and Simulation Center,Harbin Inst.of Technology,Harbin 150001,China);Attitude control for micro-vehicle based on fuzzy adaptive algorithm[J];Systems Engineering and Electronics;2009-10
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 GENG Ming-zhi, RONG Ya-xin (College of Automation & Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China);Application of Image Tracking Technology on Pilotless Aircraft Auto-Landing Navigation[J];Ordnance Industry Automation;2007-01
2 YANG Jun-peng,ZHU Xiao-ping(Northwestern Polytechnical University,Xi'an 710072,Shaanxi,China);Nonlinear Flight Control System Design of Bank-to-Turn Unmanned Aerial Vehicle[J];Acta Armamentarii;2009-11
3 Che Jun(School of Aeronautic Science and Technology, Beijing University of Aeronautics and Astronautics, Beijing 100083, China) Zhang Xinguo(Flight Automatic Control Research Institute, Xi’an 710065, China);Exact trajectory tracking control of automatic landing[J];Journal of Beijing University of Aeronautics and Astronautics;2005-09
4 Yu Xiu-ping, Zhao Xi-ren College of Automation, Harbin Engineering University, Harbin 150001, China;Overview of Aircraft Control System Based on Dynamic Inversion and Neural Network[J];Control Technology of Tactical Missile;2004-04
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6 HU Guang-bin, XIAO Xiao-bing(Planning and Design Institute of Forest Products Industry, Beijing 100010, China);China's Particleboard Production Review and Development Trends[J];China Wood-Based Panels;2007-02
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8 Hua Jun, Cao Jun, Tang Xuanfeng, Chen Songshi(Northeast Forestry University, Harbin 150040, P. R. China);Mixed and Used Glue Technology for Fiberboard[J];Journal of Northeast Forestry University;2005-01
9 ZOU Xin-sheng,LI Chun-wen(Department of Automation,Tsinghua University,Beijing 100084,China);A nonlinear robust controller designed for aircraft's automatic landing[J];Electronics Optics & Control;2005-06
10 LI Bin1,SHAO Han-yong1,JIANG Chang-sheng2(1.Institute of Automation,Qufu Normal University,Qufu 276826,China;2.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China);Fuzzy sliding mode robust control for aerospace vehicle's attitude[J];Electronics Optics & Control;2008-10
【Secondary References】
Chinese Journal Full-text Database 1 Hits
1 SUN Li-ping,WANG Ying(Dept.of Mechanical and Electrical Engineering Northeast Forestry University,Harbin 150040 China);The Design of Neural Network Inverse Composite Controller for MDF Glue System[J];Techniques of Automation and Applications;2011-11
【Secondary Citations】
Chinese Journal Full-text Database 1 Hits
1 LIU Lan~1,FANG Zong-de~1,HOU Yu~1,FU Wei-ping~2,WU Li-yan~1(1.School of Mechatronic Engineering,Northwestern Polytechnical University,Xi'an710072,China;2.School of Mechanical and Instrumental Engineering,Xi'an University of Technology,Xi'an710048,China);Aerodynamic Modeling and Analysis of Flapping-Wing MAV[J];Journal of Aerospace Power;2005-01
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