Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach

Mechali, Omar; Iqbal, Jamshed; Mechali, Abdesselam; Xie, Xingyu; Xu, Limei

doi:10.1109/icma52036.2021.9512751

Cited by 7 publications

(2 citation statements)

References 13 publications

(34 reference statements)

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“…Due to the uncertainties in the PMSM servo system, its high precision tracking control with the conventional PID controller is challenging [21][22][23]. In addition, owing to the nature of underlying mathematical structure, it is not easy to fully compensate the nonlinearities of the motor with the linear control approaches having constant gains [24,25].…”

Section: Introductionmentioning

confidence: 99%

A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

Riaz

Tutsoy

et al. 2023

PLoS ONE

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High precision demands in a large number of emerging robotic applications strengthened the role of the modern control laws in the position control of the Permanent Magnet Synchronous Motor (PMSM) servo system. This paper proposes a learning-based adaptive control approach to improve the PMSM position tracking in the presence of the friction uncertainty. In contrast to most of the reported works considering the servos operating at high speeds, this paper focuses on low speeds in which the friction stemmed deteriorations become more obvious. In this paper firstly, a servo model involving the Stribeck friction dynamics is formulated, and the unknown friction parameters are identified by a genetic algorithm from the offline data. Then, a feedforward controller is designed to inject the friction information into the loop and eliminate it before causing performance degradations. Since the friction is a kind of disturbance and leads to uncertainties having time-varying characters, an Adaptive Proportional Derivative (APD) type Iterative Learning Controller (ILC) named as the APD-ILC is designed to mitigate the friction effects. Finally, the proposed control approach is simulated in MATLAB/Simulink environment and it is compared with the conventional Proportional Integral Derivative (PID) controller, Proportional ILC (P-ILC), and Proportional Derivative ILC (PD-ILC) algorithms. The results confirm that the proposed APD-ILC significantly lessens the effects of the friction and thus noticeably improves the control performance in the low speeds of the PMSM.

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Section: Introductionmentioning

confidence: 99%

A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

Riaz

Tutsoy

et al. 2023

PLoS ONE

Self Cite

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“…Since the delay phenomenon strikes the system's performance and engenders instability, an appropriate DSE and distributed controller should be applied to the MASs. Lyapunov-Krasovskii functional (LKF) as a useful tool is utilized to investigate the stability of time-delayed systems in [30][31][32][33][34]. LF consensus problem of time-delay double integrator systems under switching interconnection graphs has been investigated in [35].…”

Section: Introductionmentioning

confidence: 99%

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

et al. 2022

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The paper investigates a leader-following scheme for nonlinear multi-agent systems (MASs). The network of agents involves time-delay, unknown leader’s states, external perturbations, and switching graph topologies. Two distributed protocols including a consensus protocol and an observer are utilized to reconstruct the unavailable states of the leader in a network of agents. The H∞-based stability conditions for estimation and consensus problems are obtained in the framework of linear-matrix inequalities (LMIs) and the Lyapunov-Krasovskii approach. It is ensured that each agent achieves the leader-following agreement asymptotically. Moreover, the robustness of the control policy concerning a gain perturbation is guaranteed. Simulation results are performed to assess the suggested schemes. It is shown that the suggested approach gives a remarkable accuracy in the consensus problem and leader’s states estimation in the presence of time-varying gain perturbations, time-delay, switching topology and disturbances. The H∞ and LMIs conditions are well satisfied and the error trajectories are well converged to the origin.

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Theory and practice for autonomous formation flight of quadrotors via distributed robust sliding mode control protocol with fixed-time stability guarantee

Mechali

Xie

et al. 2022

Control Engineering Practice

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Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach

Cited by 7 publications

References 13 publications

A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

Theory and practice for autonomous formation flight of quadrotors via distributed robust sliding mode control protocol with fixed-time stability guarantee

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