首页|Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

扫码查看
原文链接
  • 万方数据
  • 维普
The modular system can change its physical struc-ture by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements.Rec-ognizing the adaptive capability of modular systems,we intro-duce a modular reconfigurable flight array(MRFA)to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform.First,considering the variable and irregular topological configuration of the modular array,a center-of-mass-indepen-dent flight array dynamics model is proposed to allow control allocation under over-actuated situations.Secondly,in order to meet the stable,fast and accurate attitude tracking performance of the MRFA,a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the sys-tem equilibrium point without encountering the singularity.It is shown that the controller also has fixed-time convergent charac-teristics even in the presence of external disturbances.Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

Control allocationdynamic modelfixed-time stabi-lizationmodular reconfigurable flight array(MRFA)sliding mode

Jianquan Yang、Chunxi Yang、Xiufeng Zhang、Jing Na

展开 >

Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,Yunnan International Joint Laboratory of Intelligent Control and Aoolication of Advanced Equipment,Kunming 650500,China

National Nature Science Foundation of ChinaNational Nature Science Foundation of ChinaNational Nature Science Foundation of ChinaNational Nature Science Foundation of ChinaYunnan Fundamental Research ProjectsYunnan Major Scientific and Technological ProjectsOpen Foundation of Key Laboratory in Software Engineering of Yunnan Province

62063011622731696192203761873115202001AV070001202202AG0500022020SE502

2024

10.1109/JAS.2023.123645

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(2)
  • 49