Neural network approximation-based nonsingular terminal sliding mode control for trajectory tracking of robotic airships

Abstract This paper proposes a neural network approximation-based nonsingular terminal sliding mode control (NN-NTSMC) approach to address the problem of trajectory tracking for robotic airships. First, dynamics model of an airship and control problem of trajectory tracking are formulated. Second, a nonsingular terminal sliding mode controller (NTSMC) combined with neural network (NN) approximation is designed to track the commanded trajectory. Finally, the effectiveness and robustness of the designed controller are illustrated through simulation results. Simulation results indicate that NN-NTSMC reduces chattering effectively and ensures faster convergence and better tacking precision against linear hyperplane-based sliding mode control (LSMC).

[1]  Fayez F. M. El-Sousy.  Adaptive hybrid control system using a recurrent RBFN-based self-evolving fuzzy-neural-network for PMSM servo drives , 2014, Appl. Soft Comput..

[2]  Gewen Kang,et al.  An RBF neural network-based nonsingular terminal sliding mode controller for robot manipulators , 2012, 2012 Third International Conference on Intelligent Control and Information Processing.

[3]  Jie Wu,et al.  Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control , 2012, Journal of Zhejiang University SCIENCE C.

[4]  Yiyuan Zhao,et al.  Development of an aerodynamic model and control law design for a high altitude airship , 2004 .

[5]  A. Abichou,et al.  Tracking control of trim trajectories of a blimp for ascent and descent flight manoeuvres , 2005 .

[6]  Josué Jr. Guimarães Ramos,et al.  Mission path following for an autonomous unmanned airship , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[7]  Maolin Jin,et al.  Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation , 2015, IEEE/ASME Transactions on Mechatronics.

[8]  Ely Carneiro de Paiva,et al.  Sliding Mode Control Approaches for an Autonomous Unmanned Airship , 2009 .

[9]  Muhammad Shafi,et al.  Fractional order adaptive fuzzy sliding mode controller for a position servo system subjected to aerodynamic loading and nonlinearities , 2015 .

[10]  Shan Xue-xiong.  Study on the Three Dimensional Trajectory Control for Airship , 2006 .

[11]  Pyare Mohan Tiwari,et al.  Rigid spacecraft attitude control using adaptive integral second order sliding mode , 2015 .

[12]  Wei Zheng,et al.  Positioning control for an unmanned airship using sliding mode control based on fuzzy approximation , 2014 .

[13]  Xi Yugeng,et al.  Stabilization and trajectory tracking of autonomous airship's planar motion , 2008 .

[14]  Josué Jr. Guimarães Ramos,et al.  A control system development environment for AURORA's semi-autonomous robotic airship , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[15]  Qingsong Xu,et al.  Piezoelectric Nanopositioning Control Using Second-Order Discrete-Time Terminal Sliding-Mode Strategy , 2015, IEEE Transactions on Industrial Electronics.

[16]  Faa-Jeng Lin,et al.  Intelligent nonsingular terminal sliding-mode control using MIMO elman neural network for piezo-flexural nanopositioning stage , 2012, IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control.

[17]  Faa-Jeng Lin,et al.  Fault-Tolerant Control for Six-Phase PMSM Drive System via Intelligent Complementary Sliding-Mode Control Using TSKFNN-AMF , 2013, IEEE Transactions on Industrial Electronics.

[18]  Vinod Khadkikar,et al.  Artificial-Neural-Network-Based Phase-Locking Scheme for Active Power Filters , 2014, IEEE Transactions on Industrial Electronics.

[19]  Philippe Souères,et al.  Lateral path following GPS-based control of a small-size unmanned blimp , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[20]  Jiang Wang,et al.  Continuous second-order sliding mode based impact angle guidance law , 2015 .