Documente Academic
Documente Profesional
Documente Cultură
4, 2008
Abstract
A novel control system design approach is proposed based on
backstepping theory and sliding mode control (SMC) for BankTo-Turn (BTT) Unmanned Aerial Vehicle (UAV). It ensures BTT
UAV stable and accurate ight under large parametric perturbation.
In addition, the aerodynamic coecients are not necessary to be
identied online. This approach is based on backstepping theory
and the whole system is not divided into slow and fast subsystems.
However, backstepping cannot ensure the robustness of the closedloop system.
Key Words
Unmanned Aerial Vehicle, Bank-To-Turn, backstepping, sliding
mode
1. Introduction
In the past few years, a variety of control theories have been
applied to the ight control system design of Unmanned
Aerial Vehicle (UAV). In the ight control, there are two
control modes: Skid-To-Turn (STT) and Bank-To-Turn
(BTT). In the STT mode, the UAV is controlled in pitch
and yaw separately, and the roll channel is stabilized. In
the BTT mode, the command of acceleration is produced in
the pitch channel and the direction is controlled by the roll
channel. Meanwhile, the sideslip angle is required as small
as possible. BTT mode can generate bigger acceleration
School of Astronautics, Northwestern Polytechnical University, Xian, Shaanxi 710072, P.R.China; e-mail: jianguo@
cs.mcgill.ca
School of Computer Science, McGill University, Montreal, QC
H3A2A7, Canada
UAV Research and Development Centre, Northwestern Polytechnical University, Xian, Shaanxi 710072, P.R.China; e-mail:
{zhuxiaoping, zhouzhou}@nwpu.edu.cn
Recommended by Prof. Jonathan Wu
(paper no. 201-2010)
347
dierent from the existing methods combining backstepping and SMC, the design of SMC in our approach is based
on the bounds of aerodynamic coecients. Finally, the stability of the proposed approach is proven using Lyapunov
function.
The remainder of this paper is organized as follows. In
Section 2, the problem of design BTT UAV ight control
system using backstepping is stated. In Section 3, a
new nonlinear control system design approach combining
backstepping and SMC is presented. In Section 4, the
proposed approach is applied to BTT UAV and the control
law is derived. A simulation study is conducted and the
results are summarized in Section 5. Finally, conclusions
are discussed in Section 6.
2. Problem Statement
x i = xi+1 + xi , i = 1, 2, . . . , n 1
(1)
n
]T and
where x1 = [ ]T , x2 = [p q r]T , u = [l m
T
(2)
si = xi xic , i = 1, 2, . . . , n
(7)
z1 = x1 xd1
(3)
x2c = k1 s1 + x 1c ud1
(8)
(6)
where dmax
and dmax
are constant vectors.
1
2
We dene the error states variables z1 , z2 R3 as:
z2 = x2 xd2
(5)
(4)
s 1 = s2 + x2c + x1 x 1c
348
(9)
(10)
1 2
s
2 1
(12)
(13)
Vn =
V n =
n
j=1
(14)
i1
1 2
si +
Vj
2
j=1
j=1
j=1
(25)
(16)
(17)
In the control law design of Section 3.1, there are derivatives of the pseudo control variables. However, these
pseudo control variables are not dierentiable because they
are not continuous actually. To deal with this problem, the
pseudo control variables should be redened.
In this subsection, we redene pseudo control variables as:
xi+1,c = si1 ki si + x ic , i = 1, 2, . . . , n1, s0 = 0 (26)
(18)
and dene:
j=1
n1
(15)
kj s2j +
(23)
n1
1 2
sn +
Vj
2
j=1
(22)
(21)
(20)
(19)
(27)
Apparently, if si+1 = 0, the time derivative of Lyapunov function V i < 0 so that the variables s1 , s2 , . . . , si
are stable. Similar with Step 1, we should design pseudo
control variable xi+1,c to make si+1 converge to 0 asymptotically.
349
n
udj = udn +
j=1
n1
udj = udn +
j=1
n1
sn wj (x)
(28)
j=1
wj (x) =
>
sj xj
s2n , sn
>
= 0, s <
n
udn
, j = 1, 2, . . . , n 1
(29)
S = [eT1
xT2 xT2c ]T
(35)
(36)
(37)
V =
(31)
V =
where
1 T
S S
2
(39)
s2
sn ]
(32)
V = eT1 K1 e1 eT2 K2 e1 + eT1 d1 + eT2 d2 eT2 ud
V = 2
(38)
n
j=1
n1
kj s2j + 2
(40)
(33)
(41)
j=1
(42)
(34)
(43)
j=1
ud2 ) < 0
(44)
(45)
eT1 d1
e2
(46)
T
> |e1 d1 |max , e >
2
e2
(x) =
= 0 ,e <
2
Figure 1. Tracking responses of angle of attack.
1
1
|e11 ||L|max +
|e12 |(|D|max ||
MV
MV
1
+ |Y |max ) +
|e12 |(|D|max | cos tan |
MV
+ |Y |max |cos tan | + |L|max
|eT1 d1 |max =
|sin tan + |)
(47)
where e1i e2i are ith element of the error vectors e1 and e2 .
Calculating the parameters ud2 of the SMC item from
(45), it is presented as follows:
< c |l|
3
max c4 |n|max , e21 < 0
ud2 (1) =
> c |l|
+ c |n|
,e > 0
3
max
max
< c |m|
7
max , e22 < 0
ud2 (2) =
> c |m|
,e > 0
7
max
21
22
< c |l|
4
max c9 |n|max , e23 < 0
ud2 (3) =
> c |l|
+ c |n|
,e > 0
4
max
max
(48)
23
c3 l + c4 n
d2 (x1 , x2 ) = c7 m
c4 l + c9 n
cos
g1 (x1 ) = sin
cos
c
3
g2 = 0
c4
1
0
0
cos
sin
(51)
0
c7
0
c4
c9
+ Px sin Pz cos )
M1V (L
(52)
+ g cos V cos
1
+ Y Px cos + Py )
(
D
MV
+ g sin V cos
f1 (x1 ) =
g cosV cos
(53)
(c1 r + c2 p)q
f2 (x2 ) = c5 pr c6 (p2 r2 )
(54)
(c8 p c2 r) q
+ CL
+ CLe e qS
L = CL + CLq q
2V
2V
b
b
Y = CY + CY p p
+ CY r r
+ CY a a + CY r r qS
2V
2V
= (CD0 + CD )
D
qS
(55)
Appendix
When the UAV is in the BTT mode, the sideslip angle
is usually in the range of 3 , on this condition cos
1, sin tan = . The attack angle is usually 020 , so
sin sin tan sin 0. The function (1) is dened as
follows:
(50)
D + Y
1
d1 (x1 , x2 ) =
+L(sin tan + )
(49)
Functions:
L, D, Y :
D,
Y :
L,
l = Cl + Clp p b + Clr r b + Cl a + Cl r qSb
a
r
2V
2V
CA
CA
m
= Cm0 + Cm + Cmq q
+ Cm
+ Cme e qSCA
2V
2V
b
b
n
= Cn + Cnp p
+ Cnr r
+ Cna a + Cnr r qSb
2V
2V
(57)
Variables:
:
V:
q:
:
|L|max
CA
= |CL |max || + |CLq |max |q|
2V
CA
+|CL |max ||
+ |CLe |max |e | qS
2V
(59)
:
:
p, q, r:
c :
Ayc , Azc :
c :
c :
c :
e , a , r :
b
|l|max = |Cl |max || + |Clp |max |p|
+ |Clr |max |r|
2V
b
References
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control design, Automatica, 32 (3), 1996, 423427.
ight-path angle
air speed
dynamic pressure
roll angle about velocity
vector or bank angle
angle of attack
sideslip angle
roll, pitch, yaw angular
rates (body axis)
command of roll angle
command of acceleration
along the body axis
command of bank angle
command of angle of attack
command of sideslip angle
elevator, aileron, rudder
angle
aerodynamic coecient of #
mass
vertical component of gravity
roll moment of inertia
pitch moment of inertia
yaw moment of inertia
product moment of inertia
element of inverse-inertial matrix
mean geometric chord
wing span
353
Biographies
Jianguo Yao was born in Hebei,
P.R. China.
He received his
B.E. and M.E. degrees from the
Northwestern Polytechnical University (NPU), Xian, Shaanxi,
P.R. China, respectively in 2004
and 2007. He received the Chinese State Scholarship to Study
Abroad in 2007. Currently, he is
a Ph.D. Student at the NPU, and
a Joint Education Ph.D. Student
at the McGill University, Montreal, QC, Canada. His research interests are robust and
nonlinear control, stochastic control and guidance system
for UAV.
354
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