Cascaded adaptive integral backstepping sliding mode and super-twisting controller for twin rotor system using bond graph model

Srinivasarao, Gopisetti; Samantaray, Arun Kumar; Ghoshal, Sanjoy K.

doi:10.1016/j.isatra.2022.03.023

Cited by 9 publications

(1 citation statement)

References 37 publications

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“…Sliding mode techniques have also been applied in the control of UAVs. For instance, [16] presents a bond graph (BG) model and a robust cascaded controller for a twin-rotor system. The BG model accounts for all the energetic and dynamical couplings.…”

Section: Single-rotor Uavmentioning

confidence: 99%

Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning

Portillo,

Garza-Castañón,

Minchala-Avila

et al. 2023

Machines

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This paper presents the utilization of robust nonlinear control schemes for a single-rotor unmanned aerial vehicle (SR-UAV) mathematical model. The nonlinear dynamics of the vehicle are modeled according to the translational and rotational motions. The general structure is based on a translation controller connected in cascade with a P-PI attitude controller. Three different control approaches (classical PID, Super Twisting, and Adaptive Sliding Mode) are compared for the translation control. The parameters of such controllers are hard to tune by using a trial-and-error procedure, so we use an automated tuning procedure based on the Particle Swarm Optimization (PSO) method. The controllers were simulated in scenarios with wind gust disturbances, and a performance comparison was made between the different controllers with and without optimized gains. The results show a significant improvement in the performance of the PSO-tuned controllers.

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Section: Single-rotor Uavmentioning

confidence: 99%