Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Sunday Sessions
jamming ability. The simulation results demonstrate that sliding mode
controller is more superior in rapidity and robustness.
◮ SuB11-3 16:50–17:10
Design of 3-D Discrete Sliding Mode Variable Structure Guidance Law
for Air Missile, pp.2204–2208
Chang, Le
Liu, Zhenghua
Zong, Xiaoxiao
Beihang Univ.
School of Automation
Beihang Univ.
Based on kinematics relationship model of missile and target in threedimensional
space,this assignment will extend 2-D plane to realistic
3-D space. Firstly, it will deduce 3-D Guidance Law Model between
air missile and maneuvering target. Then this assignment will design
suitable discrete sliding mode variable structure guidance law through
the robustness characteristic controlled by sliding mode. The guidance
features will be subsequently analyzed. Finally, the result will confirm
the feasibility of the designed guidance law through the mathematical
simulation.
◮ SuB11-4 17:10–17:30
Nonlinear Flight Control Design Using Sliding Mode Disturbance
Observer-Based Constraint Backstepping, pp.1818–1825
Zhang, Chao
Chen, Zongji
Wei, Chen
Beijing Univ. of Aeronautics & Astronautics
Beijing Univ. of Aeronautics & Astronautics
Beijing Univ. of Aeronautics & Astronautics
This paper presents a sliding mode disturbance observer-based constraint
backstepping control approach (CBS/SMDO) to control a cargo
aircraft during heavy cargo airdrop operation. The CBS/SMDO controller
is capable of dealing with parametric uncertainties, external disturbances,
and unmodeled dynamics in the presence of state/control
constraints. The super-twisting second order sliding mode disturbance
observer (SOSMDO) is utilized to compensate for the overall uncertainties,
avoiding high control gains. The SOSMDO is much simpler than
the neural networks-based estimator and could provide asymptotic convergence
of the estimation error to zero in finite time. The closed-loop
stability is guaranteed in the sense of Lyapunov. The proposed CB-
S/SMDO controller is applied to the airdrop flight control design on a
nonlinear six-degrees-of-freedom transport aircraft model in a low attitude
tandem extraction airdrop scenario. Simulation results demonstrate
the feasibility of the CBS/SMDO method.
◮ SuB11-5 17:30–17:50
Neural Adaptive Back Stepping Flight Controller for a Ducted Fan UAV,
pp.2370–2375
Wang, Jianliang
Sundaram, Suresh
RAJASHEKARAN, ARUNESHWARAN
Nanyang Technological Univ.
NanYang Technological Univ.
Nanyang Technologial
Univ.
In this paper, we present a neural adaptive back-stepping flight controller
for a ducted fan UAV whose dynamics is characterized by uncertainties
and highly coupled nonlinearities. The proposed neural adaptive
back-stepping controller can handle unknown nonlinearities, unmodeled
dynamics and external wind disturbances. A single layer radial
basis function network is used to approximate the virtual control
law derived using back stepping approach, which provides necessary
stability and tracking performances. The neural controller parameters
are adapted online using Lyapunov based update laws. The proposed
controller is evaluated using nonlinear desktop simulation model
of a typical ducted fan UAV performing bop-up maneuver. Three neural
adaptive controllers are implemented to handle attitude command altitude
hold system, one in each body axis. A separate neural controller is
implemented to track the height command for autonomous takeoff and
landing. The results indicate that the proposed controller can stabilize
the ducted fan UAV and provide necessary tracking performance.
223