This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external di...This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external disturbances.Under the directed topology conditions,an observer-based finite-time control strategy based on adaptive backstepping and is proposed,in which a neural network-based state observer is employed to approximate the unmeasurable system state variables.To address the complexity explosion problem associated with the backstepping method,a finite-time command filter is incorporated,with error compensation signals designed to mitigate the filter-induced errors.Additionally,the Butterworth low-pass filter is introduced to avoid the algebraic ring problem in the design of the controller.The finite-time stability of the closed-loop system is rigorously analyzed with the finite-time Lyapunov stability criterion,validating that all closed-loop signals of the system remain bounded within a finite time.Finally,the effectiveness of the proposed control strategy is verified through a simulation example.展开更多
In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated...In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.展开更多
Morphing unmanned aerial vehicle(UAV) can manipulate its shape for excellent flight performance under different conditions.The most research of the morphing UAV focuses on modeling. However, the issues including nonli...Morphing unmanned aerial vehicle(UAV) can manipulate its shape for excellent flight performance under different conditions.The most research of the morphing UAV focuses on modeling. However, the issues including nonlinear characteristics, strong couplings, and mismatched disturbances are inevitable, which can lead to a great challenge in controller design. In this paper,a composite anti-disturbance controller is developed for morphing UAV to achieve enhanced flight performance under multiple sources of disturbances. In the inner loop, a nonlinear disturbance observer(DO) is constructed to estimate the inertial forces and moment;while in the outer loop, the command filtered backstepping(CFBS) method is adopted to guarantee the stability of the closed-loop system. The system outputs can promptly track reference signals in the morphing process of the UAV. The novelty is that the disturbance estimations are added into the control laws to compensate the mismatched disturbances. When comparing to the previous methods, the control scheme presented in this study can significantly improve the performance of anti-disturbance.Finally, the effectiveness of the proposed method is illustrated by numerical simulations.展开更多
基金supported in part by the Beijing Natural Science Foundation under Grant 4252050in part by the National Science Fund for Distinguished Young Scholars under Grant 62425304in part by the Basic Science Center Programs of NSFC under Grant 62088101.
文摘This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external disturbances.Under the directed topology conditions,an observer-based finite-time control strategy based on adaptive backstepping and is proposed,in which a neural network-based state observer is employed to approximate the unmeasurable system state variables.To address the complexity explosion problem associated with the backstepping method,a finite-time command filter is incorporated,with error compensation signals designed to mitigate the filter-induced errors.Additionally,the Butterworth low-pass filter is introduced to avoid the algebraic ring problem in the design of the controller.The finite-time stability of the closed-loop system is rigorously analyzed with the finite-time Lyapunov stability criterion,validating that all closed-loop signals of the system remain bounded within a finite time.Finally,the effectiveness of the proposed control strategy is verified through a simulation example.
文摘In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.
文摘Morphing unmanned aerial vehicle(UAV) can manipulate its shape for excellent flight performance under different conditions.The most research of the morphing UAV focuses on modeling. However, the issues including nonlinear characteristics, strong couplings, and mismatched disturbances are inevitable, which can lead to a great challenge in controller design. In this paper,a composite anti-disturbance controller is developed for morphing UAV to achieve enhanced flight performance under multiple sources of disturbances. In the inner loop, a nonlinear disturbance observer(DO) is constructed to estimate the inertial forces and moment;while in the outer loop, the command filtered backstepping(CFBS) method is adopted to guarantee the stability of the closed-loop system. The system outputs can promptly track reference signals in the morphing process of the UAV. The novelty is that the disturbance estimations are added into the control laws to compensate the mismatched disturbances. When comparing to the previous methods, the control scheme presented in this study can significantly improve the performance of anti-disturbance.Finally, the effectiveness of the proposed method is illustrated by numerical simulations.
