Abstract
This paper proposes a state prediction adaptive sliding mode (SPASM) control method for the remotely piloted system (RPS). With consideration of the time delay caused by the large transmission delay existing in the RPS, a prediction algorithm is proposed to provide the state prediction by using the state transition matrix. To approximate the uncertain lag of the remotely piloted vehicle (RPV) control augmentation system, an adaptive law is proposed to estimate the parameter uncertainties, and the overestimating problem is resolved efficiently. Meanwhile, to deal with the unmodeled dynamics and the predicted errors, a sliding mode controller is designed to guarantee the robustness of the whole closed-loop system. The simulation results show that the SPASM controller can not only guarantee the stability of the RPS in the presence of large time delay but also has a desirable performance of tracking the pilot’s inputs while existing the unmodeled dynamics and parameter uncertainties.
Highlights
Manned/unmanned aerial vehicle cooperative combat can simultaneously take advantages of manned vehicle with abilities of good battlefield perception and strong decisionmaking and the advantages of unmanned vehicle with abilities of flexible tactical maneuver, strongly sustained warfare ability and low cost
The estimation of adaptive parameter is used to solve the delay deviation caused by the lag of remotely piloted vehicle (RPV) control augmentation system, and the sliding mode controller is used to solve the predicted errors caused by delay deviation of data link, which have ensured the stability of the whole closed-loop system
In this paper, an innovative strategy of pilot/vehicle closedloop system is presented and an adaptive sliding mode control method based on state delay prediction is designed for the remotely piloted system (RPS)
Summary
Manned/unmanned aerial vehicle cooperative combat can simultaneously take advantages of manned vehicle with abilities of good battlefield perception and strong decisionmaking and the advantages of unmanned vehicle with abilities of flexible tactical maneuver, strongly sustained warfare ability and low cost. In this paper, considering the RPS with large transmission delay, unmodeled dynamics and parameter uncertainties, a state prediction adaptive sliding mode (SPASM) controller of RPS is proposed. The estimation of adaptive parameter is used to solve the delay deviation caused by the lag of RPV control augmentation system, and the sliding mode controller is used to solve the predicted errors caused by delay deviation of data link, which have ensured the stability of the whole closed-loop system. The procedure of RPS is as follows: Pilot in the remotely piloted station sends the real-time stick inputs to RPS according to the vehicle predicted state parameters and situations displayed on the interface through the downstream channel of data link. Where θ (t + τd ) and ny (t + τd ) are the predicted values obtained with the state prediction algorithm at the flight time (t + τd )
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