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Proceedings of the 2009 IEEE

International Conference on Mechatronics and Automation


August 9 - 12, Changchun, China
Dynamic Surface Backstepping Control Design for One
Hypersonic Vehicle
Chen lie
Department ofControl Engineering
Naval Aeronautical andAstronautical University
Yantai,Shandong Province, China
hjhychenjie@tom.com
Wu Jinhua
Department ofControl Engineering
Naval Aeronautical andAstronautical University
Yantai,Shandong Province, China
hjhychenjie@tom.com
Pan Changpeng
Department ofCommand
Naval Aeronautical and Astronautical University
Yantai,Shandong Province, China
navypcp@ tom.com
(2)
(1)
Abstract - Based on multilayer neural networks, feedback
linearization technology, and backstepping design method, a
novel robust adaptive control design method is proposed for one
hypersonic vehicle(HSV) uncertain MIMO nonaffine block
control system. Multilayer neural networks are used to identify
the nonlinear uncertainties of the system. A continuous robust
term is adopt to minify the influence of the multilayer neural
networks construction error, the dynamic surface control
strategy to eliminate "the explosion of terms" by introducing a
series of first order filters to obtain the differentiation of the
virtual control inputs. Finally, nonlinear six-degree-of-freedom
(6-DOF) numerical simulation results for a HSV model are
presented to demonstrate the effectiveness of the proposed
method.
Index Terms -hypersonic vehicle ,. neural networks ,. dynamic
surface ,. backstepping
of a 6-DOF HSV model is preformed to verify the
effectiveness of the proposed algorithm and the conclusions
are given.
II. NONLINEAR HSV MODEL WITH UNCERTAINTIES
Winged-cone'!' is one of the main investigate objects
with its hypersonic mach number and open aerodynamic
parameters, but most research is based on its longitudinal
channel model. In this paper we finished Winged-cone's
three-axes, highly nonlinear model with general set of
uncertainties. The nonlinear dynamic equations are given as
follows(the full HSV model is given in appendix, and
parameters are obtained from literature [1]):
Xl T, (xl'x
2
)
x
2
== h (X
2)+
gI (X
2)X3
+ WI (x
2)u
We assume that .h ' gI , hI ' J. ' f3 and g2 are
unknown and h == hO +4h, gI == gIO + 'h ==
g2 ==g20 =h
lO
+
where flO , gIO , w
lO
, f20 , g20 are nominal system
parameters, the others are uncertainties. The meaning of the
symbols used in this paper can be founded in appendix and
literature[ 1].
The task of the controller is to track the commands
signals when aerodynamic model uncertainties exist.
Assumption 1: Ignoring the effect of the fin deflection on
the aerodynamic force and viewing it as a part of the
uncertainties, namely WI (Xl) == 0.
where,
(3)
q f3 x -r X
2
= [a
6
a
6
r
]T
x -[v 1-
I. INTRODUCTION
Hypersoninc vehicles Control technology has attracted a
lot of attention in recent years because of highly nonlinear
dynamics and high Mach velocity[1,2,3]. Wang[4] adopted
adaptive sliding controller to analyze the longitudinal
dynamics of a generic hypersonic air vehicle. Shtessel'F'
designed inner and outer sliding mode controller loop to
investigate the reentry of hypersonic vehiles, Austin[6] use
fuzzy logic control to compensate the unknown nonlinearities,
genetic algorithm to optimize the scaling parameters of fuzzy
controller. a kind of neural adaptive controller for hypersonic
vehicle is proposed by Xu, Mirmirani and Ioannou [7] A few
recent contributions have also attempted design directly on
nonlinear models [8-10]. Most research results were restricted to
linearly parametrized and state feedback linearizable.
Different from above work, The paper investigate a
MIMO nonaffine nonlinear hypersonic vehicle model with
general set of uncertainties. Dynamic surface backstepping
controller is designed based on Radial-Basis-Function (RBF)
neural networks approach. Stability analysis is also shown by
the Lyapunov stability theory. Finally, a numerical simulation
978-1-4244-2693-5/09/$25.00 2009 IEEE 4770
III. CONTROLLERDESIGN
A. RBF Neural network
In the controller design RBF NN is used to approximate
the unknown function rjJ(o) . In a compact set, RBF NN can be
expressed as
(-) =WS
T
(-) (4)
Where WE RPis the tuning weight matrix and rjJ(-) is
a vector composed of Gauss functions. Given a smooth
function rjJ(-) , where n is a compact subset of Rm , and
5 > 0 , there exist a Gauss function vector S : R" H RP
and an optimal weight matrix W* such that
I(x) - W' ST(x)1 :-:::; l5, Vx En. Define
(10)
X
2d O
is the certain part of x;, Multilayer NN:
*T (*T )
SI XI +1 can be used to approach the uncertain
part of X; ,where XI is the input of above NN, I1/ <Iu is
the NN approaching error, and Iu >0 .
Then we choose desired virtual control value as follow:
0< giO <Igi 8f )/8x
i
+
1
1
<OO''VX
n
En,i=l,ooo,n-l
as NN reconstruction error. The optimal weight matrix W* is
only used in the analysis.
Assumption 2: There exists constant s; > s;> 0 to
make

h(X)-W*ST(X) I1h(x) (5)


Where II > 0 is designed parameter, 'i is the inducted
robust item and will be embodied as follow.
W; is the estimate of is the estimated value of
.Defining estimation error as =W; - ,
= - , then the dynamic function of error state
value ZI ' then
B. Dynamic surface backstepping controller design
Step 1: Define error surface Zi f1J
the system anticipant track, ZI derivative is
2"1 = +glA, (Z2 +Xz - -Sd)= +glA, (Z2 -llzl)
+glA, +d
u1
- &1 +1j ]
(6)
Suppose
Defining VI =-X
l d
+klz
l,
k
l
> O. By using
assumption 2 and 8v
I
/8x
2
=0 , we can get the following
inequality
a[J;(Xl'X
2)+VI]/aX2
>glo >0
From literature [11] we can get that there has an ideal
virtual control function x
2
= x; (XI' VI ) , so
Suppose
1 2 1 - T -I - 1 {-T -I -}
=--ZI r +-tr (12)
2g
l A
2 2
1
r WI = > 0, r VI = > 0 are parameters to be
designed, Taking the time derivative of ,we have
=rWI [ -(SI XI )ZI ]
lit >a (14)
= r VI [ S;ZI ]
According to function (6),(7),so that
2"1 = -klz
l
+glA, (x
2
- x;) (9)
4771
Step 2: Define error state value as Z2 =x
2
- X
2d
' X
2d
can be obtained by the following first-order filter by state
variable x
2
(16)
So
By the error surfaces Z2 =x
2
- x
2d
So we have
2
2
=flO (.\2) +glO(.\2).\3 -iy+(I:f;. (.\2) +4?, (.\2).\3)
_ () () . (15)
- ho x
2
+glO x
2
x
3
-x
2d
- L1
where L1 = -(L1J; (x
2
) +L1g, (X
2)X3)
is the uncertain term.
By employing the neural networks to approximate L1.
We choose desired virtual control value as follow:
-U;S2(C' ;X
2
)-rz ]
Candidate Lyapunov function and adaptive laws and the
robust term are selected similar as step I.
Step 3: Define the error surfaces Z3 =x
3
- X
3d
. In this
step, we consider the third equation of (8) to design the actual
control input for the hypersonic aircraft. Let X
3d
pass through
a first-order filter, a new state variable X
3d
can be obtained
IV. N UMERICAL SIMULAnON RESULTS
In order to validate the effectiveness and validity of the
proposed method, nonlinear 6-DOF simulation results for a
HSV model are presented.
The controller design parameters are chosen as follows:
II =11,/
2
=13,/
3
=7.3 ' k =20 , (Tw, =(Tv; =0.01 '
7]; =1,i =1,2,3 ,and X
l d
=[5130 2 2]. Simulation
results are shown in the following figures.
,: /
" (
" 0\
E '
00 1 2 3 ! S 6 1 8 9 10
t (s)
(17)
Fig.1 Tracking curve of r
After differentiating the error surface Z3' we get
We choose the control input
U = (!3
Z3
+ho - X
3d
) +
)
+kz
3
+ 8
3
V; X
3
+r
3
(18)
(19)
.QC60 1 2 3 ! 5 6 1 8 9 10
t (s)
Fig.2 Tracking curve of P
1
3
, k > 0 is design parameters. Choose the following
adaptive laws and the robust term
W; = r W3 [(S3 )z; ]
=r V3 [ ]
+2) /7B (20)
Suppose
4772
0\ '

00 1 2 3 4 5 6 1 8 9 10
t(s)
Fig.3 Tracking curve of a
4 , 10-3
:v
5 6 7 8 9 10
t( s)
FigA Tracking curve of fJ
1 [qSC
La
+Tsina-mgcosycos,u]
mvcos fJ .
_l_[qSCypfJ- Tcosa sin fJ+ mg cos ysin,u]
mv '
1;3
/ 13 = _l_[qSC
L
a(tan y sin zz + tan13) - mgcos y cosu tan13
mv '
o
mv
qSC
y O , ,.
mv
1 sin atgfJ 1
o cosa
o sinasecfJ
qSCL,oa
mvcosfJ
qSCy,oa
mv
+qSCy,pf3tany cos,ucosf3+T(sina tanys in,u +sina tan13
-cos a tan y cos,usin13)]
r
- cos a tg fJ
gl ( XI ) = sin a
cosasecfJ
qSCL,o,
mvcos fJ
qSCy,o,
10 1 '1 3 4 5 6 7 8 9 10
t(s)
o
'()2 0 1 2 3 4 5 6 7 8 9 10
t(s)
Fig6 Tracking curve orr
of\;1 \---- - - - --1
Fig.S Tracking curve ofq
. 150 1 '1 3 4 5 6 7 8 9 10
t(s)
Fig.7 tuning weight
From the simulation results, it can be shown that the
control system has good stability, performance and
robustness, even if the large model uncertainties exist.
V .CONCLUSIONS
This paper presented a nonlinear adaptive controller for a
HSV with a general set of uncertainties. The nonlinear
adaptive controller is designed using dynamic surface
backstepping control techniques and fully tuned RBF neural
networks. Lyapunov stability theory is used to prove the
stabil ity of the system and derive the tuning rules for updating
all parameters of the RBF neural networks. Finally, a
nonlinear 6-DOF numerical simulation of a HSV model is
performed to demonstrate the good performance of the
proposed method.
1 . fJ
W
31
=-[qSC
u
(tan ysm,u + tan )
mv "
+qSCy,o, tan r cos ,ucos fJ]
W
32
=_I_[qSC
L
.
o
(tanysin,u+tanfJ)
mv a
+qSCy,oatan r cos u cos fJ]
W
33
= _1_[qSC
L
o. (tan ysin,u + tan fJ)
mv "
+qSCy0 tan y cos u cos fJ]
.,.
APPENDIX
The winged-cone dynamics model
4773
qbSG,6
a
qbSG,4
I
p
I
p
I
p
g2= g21 g22 g23
+Xcgc:;,,6
e
) +Xcgc:;,,6
a)
+xcgc:;,,4)
If" 1,. 1,.
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