Adaptive super-twisting sliding mode control of 6-DOF nonlinear and uncertain air vehicle

Babaei, Alireza; Malekzadeh, Maryam; Madhkhan, Davood

doi:10.1016/j.ast.2018.09.013

Cited by 41 publications

(20 citation statements)

References 17 publications

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“…Suppose that the derivative of the disturbances affecting the subsystem is globally bounded, and according to [18], we select the positive parameters. Then, the modified supertwisting with the new nonlinear SMC yields finite time convergence of the sliding surface s i = 0, and the tracking error e i and its derivative _ e i will converge to zero [18,[23][24][25][26][27].…”

Section: Modified Supertwisting Nonlinear Sliding Modementioning

confidence: 99%

Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

Houm

Abbou

Labbadi

et al. 2020

International Journal of Aerospace Engineering

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This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

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Section: Modified Supertwisting Nonlinear Sliding Modementioning

confidence: 99%

Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

Houm

Abbou

Labbadi

et al. 2020

International Journal of Aerospace Engineering

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“…The first controller to be compared is the AST algorithm based SMC with UDE (ASTUDESMC) combining the sliding mode surface in [48], the AST algorithm proposed in [24], and the UDE, which is also used to fairly verify the proposed controller. The second one is the AST algorithm‐based SMC (ASTSMC) proposed in [37]; the third one is the UDE‐based SMC (UDESMC) proposed in [49]. The fourth one is the TDE based fractional‐order TSMC (TDEFOSMC) proposed in [50].…”

Section: Numerical Simulationmentioning

confidence: 99%

Adaptive super‐twisting algorithm‐based fractional‐order sliding mode control of redundantly actuated cable driving parallel robot with uncertainty and disturbance estimation

Chen

Wang

Cheng

2021

IET Control Theory & Appl

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This paper proposed an adaptive super‐twisting (AST)‐based fractional‐order sliding mode control algorithm under disturbances for redundantly actuated cable driving parallel robots. A novel fractional‐order non‐singular fast terminal sliding mode surface is constructed, and the fast response convergence and accuracy tracking performance can be obtained in the sliding mode phase; meanwhile, an auxiliary system is designed to overcome the adverse effects of the input saturation. Then, to compensate for the model uncertainty and external disturbances, the uncertainty and disturbance estimation is designed, and a novel AST algorithm is developed to suppress the estimation error without the known bound of the adaptive gains and guarantee the finite‐time convergence in the reaching phase. The Lyapunov stability theory is employed to prove the convergence of the proposed controller. Finally, numerical simulations are conducted in the commercial software of MATLAB/SIMULINK to demonstrate the effectiveness of the proposed controller.

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“…are very important as the initial conditions, and the incorrect selection can even lead to the divergence of control law [24].…”

Section: A Comparisonmentioning

confidence: 99%

Longitudinal Tracking Control for a Morphing Waverider Using Adaptive Super Twisting Control

et al. 2021

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The morphing aircraft is a promising solution to achieve an optimal flight performance according to various mission scenarios. To apply the morphing technology in hypersonic vehicles, a variable-sweep-wing morphing waverider was proposed in previous studies, and its aerodynamic performance and dynamic model were presented. In this paper, this morphing waverider is assumed to perform a long-range unpowered glide mission over a wide speed range from hypersonic to subsonic speed. First, the accurate longitudinal dynamic model for the morphing waverider is presented, with all the additional forces and moments that stem from morphing. And a control-oriented longitudinal dynamic model is proposed and it separates the additional morphing forces and moments from derivatives of state variables. Then, an adaptive super twisting sliding mode controller is applied for this morphing waverider to track the optimized trajectory during the entire morphing process. Finally, the overall performance of this controller is examined by nominal condition simulations and Monte Carlo runs. Under the nominal condition simulations, the adaptive super twisting algorithm based sliding mode controller reduces mean tracking error of the pitch angle by 25% compared with the traditional sliding mode controller. In the 500 Monte Carlo runs, the ASTA controller reduces maximum tracking error of the pitch angle by 47% compared with the SMC controller.INDEX TERMS Variable-sweep-wing, morphing waverider, sliding mode control, adaptive super twisting algorithm

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Adaptive super-twisting sliding mode control of 6-DOF nonlinear and uncertain air vehicle

Cited by 41 publications

References 17 publications

Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

Adaptive super‐twisting algorithm‐based fractional‐order sliding mode control of redundantly actuated cable driving parallel robot with uncertainty and disturbance estimation

Longitudinal Tracking Control for a Morphing Waverider Using Adaptive Super Twisting Control

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