Page 27 - ASME DSCC 2015 Program

Technical Program

Performance Evaluation of Two nonlinear Controllers on an Attitude A MIMo Sliding Mode Approach to limit Protection in Aero-Engines
System using SGCMG Contributed regular paper. DSCC2015-9634
Contributed regular paper. DSCC2015-9884 xian du, yingqing guo, Northwestern Polytechnical University, Xian,
Juan Sebastian nuñez Gamboa, Juan David lópez, Universidad de los Shaanxi, China, Hanz Richter, Cleveland State University, Cleveland, OH,
Andes, Bogotá, Cundinamarca, Colombia United States
This paper deals with the modeling and simulation of an attitude control sys- This paper proposes a scheme for limit protection in aeroengines with two
tem composed of three Single Gimbal Control Moment Gyroscopes (SGCMG) control inputs and two regulated variables. The strategy extends existing
in a pyramidal configuration using two nonlinear controllers. The first controller results based on single-input sliding mode regulators and the min-max switch-
is a first-order sliding mode which is robust to bounded uncertainties such as ing logic. The proposed multi-input strategy is able to manage engine limits
modeling simplifications, sensor noise and external disturbances, but it causes effectively and offers better transient response than the traditional min-max
high frequency input, which can exceed the limit of the power systems. architecture with linear regulators. The paper presents design guidelines for
To overcome the drawback of the sliding mode, an I\&I adaptive control is the multivariable sliding mode controller and the switching logic. The influence
proposed. This controller estimates unknown parameters by introducing new of key parameters is described and a simulation-based comparative study is
states, resulting in smaller input gains and frequencies. At first, the dynamic made between the proposed approach and the existing single-input approach.
model of SGCMG and the dynamic model of the attitude system were con- It is shown that the multi-input technique has two clear advantages over the
structed. Based on this model, the steering laws of the SGCMG’s for the two single-input approach, namely the ability to track fan speed (or other output
nonlinear controllers were designed. The simulation of the attitude control related to thrust) even with harsh constrains, and the possibility of faster re-
system is implemented in MATLAB. The simulation results show the effective- sponses with smaller fuel flows by adjusting a secondary setpoint reference.
ness and the advantages of the proposed controllers. Robust Attitude Tracking Control for a Quadrotor Based on the
output feedback Control Design for Quadrotors in the Presence of uncertainty and Disturbance Estimator
uncertainties Contributed regular paper. DSCC2015-9900
Contributed regular paper. DSCC2015-9947 Jiguo Dai, Qi lu, Beibei Ren, Texas Tech University, Lubbock, TX, United
Joonho lee, Jongeun Choi, Michigan State University, East Lansing, MI, States, Qing-Chang Zhong, Illinois Institute of Technology, Chicago, IL,
United States United States
This paper proposes an output feedback control design for quadrotor Un- In this paper, a robust control method based on the uncertainty and distur-
manned Aerial Vehicles (UAVs) to deal with unmeasured system states, sys- bance estimator (UDE) is developed to achieve the attitude tracking control
tem uncertainties, and external disturbances. Extended High-Gain Observ- for a quadrotor. To facilitate the control design, the coupled terms in the
ers (EHGOs) are used to estimate the uncertainties and unmeasured system roll, pitch and yaw dynamics are lumped into the uncertainty term and the
states. Dynamic inversion utilizes the estimates from EHGOs in the second remained dynamics can be regarded as decoupled subsystems. As a result,
and third fastest time scales in order to deal with input uncertainties and a for each subsystem, the lumped uncertainty term contains all the coupled
form of non-affine control inputs. In plant dynamics, rotational dynamics in terms, uncertainties and disturbances, then the UDE method is applied for
the fourth fastest time scale, is forced to be faster than translational dynam- the uncertainty compensation. Compared with the existing UDE control
ics in the slowest time scale to overcome the lack of the number of control works, the introduced filtered tracking error dynamics simplifies the con-
inputs in this underactuated mechanical system. Using the singular pertur- troller design and implementation. Furthermore, the stability analysis of the
bation method, stability of the closed-loop system is conducted. Throughout closed-loop system is established and experimental studies are carried out
numerical simulations, the proposed control algorithm is verified. to illustrate the effectiveness of the developed control method.

27