Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertainties
The coupled system composed of an airplane and a tractor has complex dynamical and highly under-actuated characteristics. In this study, to achieve coordinated motion of the airplane–tractor system with heavy load, a novel adaptive coordinated motion controller is proposed for the system to track a...
Saved in:
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-02-01
|
| Series: | Engineering Science and Technology, an International Journal |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2215098624003240 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832087606441017344 |
|---|---|
| author | Pengjie Xu Weining Huang Tianrui Zhao Wei Zhang Tongwei Lu Guiyan Qiang Lin Zhang Yanzheng Zhao |
| author_facet | Pengjie Xu Weining Huang Tianrui Zhao Wei Zhang Tongwei Lu Guiyan Qiang Lin Zhang Yanzheng Zhao |
| author_sort | Pengjie Xu |
| collection | DOAJ |
| description | The coupled system composed of an airplane and a tractor has complex dynamical and highly under-actuated characteristics. In this study, to achieve coordinated motion of the airplane–tractor system with heavy load, a novel adaptive coordinated motion controller is proposed for the system to track a desired trajectory, ensuring both the transient and steady-state performance of the system during operation. First, the dynamic model of the system is established based on Lagrangian method. A decoupling control approach for velocity and angle control is adopted based on the analysis of system dynamics. Second, a function reflecting global coordination is constructed, and then it is transformed into an unconstrained variable through a designed performance function. Next, an adaptive control structure is introduced to handle system parameters uncertainties via the unconstrained variable. Co-simulations and a real experiment are conducted in the end. Model accuracy and controller effectiveness are validated by comparing with other methods, the robustness of the proposed method are validated under different conditions in both simulation and real-world environment. |
| format | Article |
| id | doaj-art-d816a380e9c64f90a865a0ce8cac4454 |
| institution | Kabale University |
| issn | 2215-0986 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Engineering Science and Technology, an International Journal |
| spelling | doaj-art-d816a380e9c64f90a865a0ce8cac44542025-02-06T05:11:50ZengElsevierEngineering Science and Technology, an International Journal2215-09862025-02-0162101938Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertaintiesPengjie Xu0Weining Huang1Tianrui Zhao2Wei Zhang3Tongwei Lu4Guiyan Qiang5Lin Zhang6Yanzheng Zhao7School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, ChinaSchool of Aeronautical Engineering, Civil Aviation University of China, Tianjin, 300300, ChinaHubei Key Laboratory of Intelligent Robot(Wuhan Institute of Technology), Wuhan, 430073, ChinaAnhui Province Key Laboratory of Machine Vision Detection and Perseption, Wuhu, 241007, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China; Corresponding authors.School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China; Corresponding authors.The coupled system composed of an airplane and a tractor has complex dynamical and highly under-actuated characteristics. In this study, to achieve coordinated motion of the airplane–tractor system with heavy load, a novel adaptive coordinated motion controller is proposed for the system to track a desired trajectory, ensuring both the transient and steady-state performance of the system during operation. First, the dynamic model of the system is established based on Lagrangian method. A decoupling control approach for velocity and angle control is adopted based on the analysis of system dynamics. Second, a function reflecting global coordination is constructed, and then it is transformed into an unconstrained variable through a designed performance function. Next, an adaptive control structure is introduced to handle system parameters uncertainties via the unconstrained variable. Co-simulations and a real experiment are conducted in the end. Model accuracy and controller effectiveness are validated by comparing with other methods, the robustness of the proposed method are validated under different conditions in both simulation and real-world environment.http://www.sciencedirect.com/science/article/pii/S2215098624003240Airplane–tractor systemAdaptive coordinated controlDecoupling approachPerformance functionParameters uncertainties |
| spellingShingle | Pengjie Xu Weining Huang Tianrui Zhao Wei Zhang Tongwei Lu Guiyan Qiang Lin Zhang Yanzheng Zhao Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertainties Engineering Science and Technology, an International Journal Airplane–tractor system Adaptive coordinated control Decoupling approach Performance function Parameters uncertainties |
| title | Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertainties |
| title_full | Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertainties |
| title_fullStr | Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertainties |
| title_full_unstemmed | Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertainties |
| title_short | Adaptive coordinated control for an under-actuated airplane–tractor system with parameter uncertainties |
| title_sort | adaptive coordinated control for an under actuated airplane tractor system with parameter uncertainties |
| topic | Airplane–tractor system Adaptive coordinated control Decoupling approach Performance function Parameters uncertainties |
| url | http://www.sciencedirect.com/science/article/pii/S2215098624003240 |
| work_keys_str_mv | AT pengjiexu adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties AT weininghuang adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties AT tianruizhao adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties AT weizhang adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties AT tongweilu adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties AT guiyanqiang adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties AT linzhang adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties AT yanzhengzhao adaptivecoordinatedcontrolforanunderactuatedairplanetractorsystemwithparameteruncertainties |