Unmanned Aerial Vehicles are among the most widely attracting interest, especially in the applications of transportation, inspection, and surveillance. The great mechanisms for motion control are set to become a vital factor in performing the robust and accurate stabilized flight relied on perturbations and disturbances. This paper presents modified adaptive sliding mode control for trajectory tracking of mini-drone quadcopter unmanned aerial vehicles, which aims at demonstrating the effectiveness of nonlinear adaptive control strategy for achieving the desired performance of the mini-drone quadcopter system. Besides providing mathematical modeling and nonlinear dynamic characteristic details of mini-drone quadcopter actuated system, the modified adaptive sliding mode algorithm is developed using adaptation law based on Lyapunov stability approach then applied on the attitude loop and the altitude loop control system so that the nonlinear adaptive behavior of the controller enables the compensation of disturbances and parameter perturbations. The effectiveness validations of the proposed control technique compared with the traditional approach are performed through the Matlab simulation. The results have been illustrated that the modified adaptive sliding mode control can decrease the error performance indexes to the minimum ISE at 1.041 m 2 and the zero percentage of overshoot while enables excellent stability and robustness even in the presence of parameter perturbations and disturbance.
Abstruct-This paper presents the technique of three phase induction motor control by using the genetic algorithm, The genetic algorithm is control by a PC and PWM is generated by MCS-51, the gain K,, Ki which will be selected by genetic algorithm controller to sense and select the adequate load. The genetic algorithm technique can control the suitable amount supplying power to motor speed by variable input frequency feed to the motor. The controller is implemented to the real time application by creating the controller box that signal is linked to the PC via the RS232 port. The result are shows that the good performance compared with PI controller that gain &, Ki are manual inputs. This real time application will support the development in industrial.
This paper presents an adaptive fractional order PI λ D μ control for multi-configuration tank process (MCTP) toolbox which aims at demonstrating the problem of reference tracking and cross coupling rejection in multi-input-multi-output system. Moreover, we investigate the cases where the system is in the mode of minimum phase and non-minimum phase configuration. Besides providing theoretical control system analysis and design, we develop the multi-configuration tank process software toolbox for providing the non-linear functions of dynamic models of multi-configuration tank process which is the advantage tool for investigating the performances of the controllers. The software toolbox is developed from discrete state P-file S-function which is operated within the MATLAB environment for providing many non-linear functions of dynamic models of multi-configuration tank process such as multi-input multi-output quadruple tank full-interacting process, multi-input multi-output quadruple tank process, multi-input single-output triple tank interacting process, multi-input multi-output coupled tank interacting process. All actual process attributes are encapsulated in S-function as the input parameters, thus the multi-tank function block can be simply adjusted by specifying the physical properties of the tank system. The study explains about the mathematical model of multi-configuration tank process, nonlinear dynamic characteristic, minimum phase and non-minimum phase configuration, software toolbox features and also describes the design of the adaptive fractional order PI λ D μ controller including the performance validation. The results have been illustrated that the proposed controller design scheme can provide the sufficient effectiveness in the performance, stability and robustness. Furthermore, these tests reinforce the usefulness of MCTP toolbox as a complete simulation tool for users to perform an engineering research of multi-configuration tank control system analysis and design, moreover, it contains very useful for validating the control algorithm of multi-input-multi-output system.
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