Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

This paper proposes an adaptive fuzzy observer-based command filtered discrete-time control method for permanent magnet synchronous motors (PMSMs) with input constraint. First, the rotor angular velocity is estimated by using an adaptive fuzzy observer, and the unknown nonlinear function is approximated by using fuzzy logic systems (FLSs) in the PMSMs drive systems. Then, compared with the traditional backstepping method, command filtered backstepping method is developed to solve the "complexity of computation" problem. It is shown that all signals of the closed-loop system are semiglobally uniformly ultimately bounded. Finally, the results of the simulation and experiment demonstrate that the new design method can fully consider the influence of input constraint and load disturbance, and improve the tracking performance for PMSMs drive systems.

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“…The CFC method with input constraint is illustrated in Figs. 2,5,7,8,10,12,14,16. By comparison,Figs.…”

Section: Simulation and Experiments A Simulation Resultsmentioning

confidence: 99%

Adaptive Fuzzy Observer-Based Command Filtered Discrete-Time Control for PMSMs With Input Constraint

Liu

Lei

et al. 2021

IEEE Access

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“…

and

denote the angular and linear velocities, correspondingly. The Newton-Euler equations of Quadrotor model are presented by [ 34 , 35 ].

where R is rotation matrix as:

and the coordinate transformation is given as:

where

and

are

and

, respectively.…”

Section: Modeling Of Quadrotor Uavmentioning

confidence: 99%

“…Ω = [p, q, r] T and V = [u, v, w] T denote the angular and linear velocities, correspondingly. The Newton-Euler equations of Quadrotor model are presented by[34,35].…”

mentioning

confidence: 99%

Design and Implementation of Morphed Multi-Rotor Vehicles with Real-Time Obstacle Detection and Sensing System

Shiferaw

Esakki

Pari

et al. 2021

Sensors

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Multirotor unmanned aerial vehicles (MUAVs) are becoming more prominent for diverse real-world applications due to their inherent hovering ability, swift manoeuvring and vertical take-off landing capabilities. Nonetheless, to be entirely applicable for various obstacle prone environments, the conventional MUAVs may not be able to change their configuration depending on the available space and perform designated missions. It necessitates the morphing phenomenon of MUAVS, wherein it can alter their geometric structure autonomously. This article presents the development of a morphed MUAV based on a simple rotary actuation mechanism capable of driving each arm’s smoothly and satisfying the necessary reduction in workspace volume to navigate in the obstacle prone regions. The mathematical modelling for the folding mechanism was formulated, and corresponding kinematic analysis was performed to understand the synchronous motion characteristics of the arms during the folding of arms. Experiments were conducted by precisely actuating the servo motors based on the proximity ultrasonic sensor data to avoid the obstacle for achieving effective morphing of MUAV. The flight tests were conducted to estimate the endurance and attain a change in morphology of MUAV from “X-Configuration” to “H-Configuration” with the four arms actuated synchronously without time delay.

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“…In [28], a FTSMC-based trajectory tracking strategy for autonomous underwater vehicles was proposed to improve the convergence rate. An adaptive PID-SMC method was proposed for quadrotor UAVs subject to external disturbances to achieve finite-time stability of the tracking control system in [29].…”

Section: Introductionmentioning

confidence: 99%

Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

et al. 2021

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In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation.

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Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

Cited by 84 publications

References 65 publications

Adaptive Fuzzy Observer-Based Command Filtered Discrete-Time Control for PMSMs With Input Constraint

Adaptive Fuzzy Observer-Based Command Filtered Discrete-Time Control for PMSMs With Input Constraint

Design and Implementation of Morphed Multi-Rotor Vehicles with Real-Time Obstacle Detection and Sensing System

Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

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