Abstract This paper proposes a novel robust back-stepping based trajectory tracking controller for the tanker with strict posture constraints under unknown flow perturbations in Autonomous Aerial Refueling (AAR). Firstly, by using the back-stepping technique, the proposed trajectory tracking control law design is separated into five loops. The 6 DOF model for tanker is tactfully transformed into several strict-feedback nonlinear forms, especially the dynamics of the translational kinematics which are originally non-affine nonlinear forms and are intractable for controller design. The influences of the unknown flow perturbations on tanker in each loop are viewed as the components of the “total disturbances” which are estimated and compensated by extended state observer (ESO). Secondly, the uncontrolled Euler angle constraints, which should also be considered in AAR, are transformed into extra boundary commands for the angular rates. And a novel command limiting tracking differentiator (CLTD), which considers not only the controlled but also uncontrolled state constraints, is specially designed for posture control. Thirdly, an integrated robust constrained posture control scheme is proposed for tanker's posture constraints based on Barrier Lyapunov (BL) function and CLTD. Then, with the position and ground velocity controller based on traditional active disturbance rejection control (ADRC) in the outer loop, a novel robust back-stepping based trajectory tracking controller is proposed for tanker in AAR. Finally, extensive simulations and comparisons on the 6 DOF tanker model are carried out to demonstrate the effectiveness of the proposed control scheme.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A robust back-stepping based trajectory tracking controller for the tanker with strict posture constraints under unknown flow perturbations


    Beteiligte:
    Su, Zikang (Autor:in) / Wang, Honglun (Autor:in) / Shao, Xingling (Autor:in) / Huang, Yu (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2016-07-01


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Trajectory Determination With Unknown Perturbations (AAS 13-778)

    de Dilectis, F. / Mortari, D. / Zanetti, R. et al. | British Library Conference Proceedings | 2014



    Fuzzy Logic Controller Using the Nonholonomic Constraints for Quadrotor Trajectory Tracking

    Ali Medjghou / Noureddine Slimane / Kheireddine Chafaa | BASE | 2022

    Freier Zugriff

    Model-free low-power observer based robust trajectory tracking control of UAV quadrotor with unknown disturbances

    Siddiqui, Muhammad Nabeel / Zhu, Xiaolu / Rasool, Hanad et al. | Emerald Group Publishing | 2024