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Volume 11 Issue 2
Feb.  2024

IEEE/CAA Journal of Automatica Sinica

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J. Yang, C. Yang, X. Zhang, and  J. Na,  “Fixed-time sliding mode control with varying exponent coefficient for modular reconfigurable flight arrays,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 2, pp. 514–528, Feb. 2024. doi: 10.1109/JAS.2023.123645
Citation: J. Yang, C. Yang, X. Zhang, and  J. Na,  “Fixed-time sliding mode control with varying exponent coefficient for modular reconfigurable flight arrays,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 2, pp. 514–528, Feb. 2024. doi: 10.1109/JAS.2023.123645

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

doi: 10.1109/JAS.2023.123645
Funds:  This work was supported by the National Nature Science Foundation of China (62063011, 62273169, 61922037, 61873115), Yunnan Fundamental Research Projects (202001AV070001), Yunnan Major Scientific and Technological Projects (202202AG050002), and partially supported by the Open Foundation of Key Laboratory in Software Engineering of Yunnan Province (2020SE502)
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  • The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array (MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements, and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally, simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.


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    • A modular reconfigurable flight array with variable topological configurations is designed in this paper. Unlike conventional rotorcraft, this modular reconfigurable flight array can accomplish more complex tasks by changing its configuration
    • A center-of-mass-independent modeling approach is studied in this paper, which enables fast online modeling of the dynamics of the modular reconfigurable flight arrays under different operation regimes, which avoids the requirement of the center of mass of the modular reconfigurable flight array and reduces the difficulty for handling the control allocation and over actuation
    • A novel fixed-time sliding mode control with less constraint is proposed in this paper. The proposed control suggests a novel reaching law with a variable exponent coefficient function depending on the system state, which retains the fixed-time convergence property but achieves a fast convergence speed over the classical fixed-time stability results


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