Journal ArticleDOI
Second order sliding mode control for a quadrotor UAV.
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TLDR
A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces.Abstract:
A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method.read more
Citations
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Journal ArticleDOI
Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.
Omid Mofid,Saleh Mobayen +1 more
TL;DR: A design technique of adaptive sliding mode control for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties is offered and simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.
Journal ArticleDOI
Global fast dynamic terminal sliding mode control for a quadrotor UAV
Jing-Jing Xiong,Guo-Bao Zhang +1 more
TL;DR: A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV.
Journal ArticleDOI
Corrections to “Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities”
TL;DR: In this paper, an integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO) was developed.
Journal ArticleDOI
Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV
Moussa Labbadi,Mohamed Cherkaoui +1 more
TL;DR: A complete mathematical model of a quadrotor UAV is presented based on the Euler-Newton formulation and a robust nonlinear fast control structured for thequadrotor position and attitude trajectory tracking is designed.
Journal ArticleDOI
Neural network-based adaptive sliding mode control design for position and attitude control of a quadrotor UAV
Hadi Razmi,Sima Afshinfar +1 more
TL;DR: It is concluded that the proposed controller provides the following main advantages: (1) good transient and steady state behaviors, (2) insensitivity to parameter variations, (3) disturbance rejection capability, and (4) remarkable stability and performance robustness.
References
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Attitude stabilization of a VTOL quadrotor aircraft
Abdelhamid Tayebi,S. McGilvray +1 more
TL;DR: A new quaternion-based feedback control scheme for exponential attitude stabilization of a four-rotor vertical takeoff and landing aerial robot known as a quadrotor aircraft is proposed and the model-independent PD controller, without compensation of the Coriolis and gyroscopic torques, provides asymptotic stability for the problem.
Proceedings ArticleDOI
Design and control of an indoor micro quadrotor
TL;DR: The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.
Journal ArticleDOI
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter
TL;DR: An integral predictive and nonlinear robust control strategy to solve the path following problem for a quadrotor helicopter with parametric and structural uncertainties presented to corroborate the effectiveness and the robustness of the proposed strategy.
Book
Helicopter performance, stability, and control
TL;DR: This text provides information necessary to analyze the performance of an existing helicopter or to participate in the design of a new helicopter, including the derivation of the theory behind the various methods of analysis, appropriate experimental data to correlate and supplement the theory, and charts that permit rapid analysis.
Dissertation
Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
TL;DR: This main contribution is to find explicit change of coordinates and control that transform several classes of underactuated systems into cascade nonlinear systems with structural properties that are convenient for control design purposes.