Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction

Sumantri, Bambang; Uchiyama, Naoki; Sano, Shigenori

doi:10.1016/j.ymssp.2015.05.013

Cited by 91 publications

(54 citation statements)

References 20 publications

(40 reference statements)

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“…This includes trajectory tracking with a controller using improved dynamic inversion method [1].A similar can been seen in [6] in which author discussed the 6DOF modeling and backstepping control. However,most of work haven been on fixed pitch angle blades for quad copter while traditional helicopter used variable pitch angle blades.…”

Section: Quadcopter Dynamic Modelmentioning

confidence: 73%

“…Where R φ R θ and R ψ are the rotation matrices for roll, pitch, and yaw, respectively described in [1]. Above equation shows the nonlinear translation motion of Quad copter.…”

Section: Fig2 Inertial Coordinates In a Quad Coptermentioning

confidence: 99%

“…Therefore close aerial monitoring of objects, sites and location is desirable. Quad copter is very good choice for above operations and monitoring purposes [1]. It can be used as assistance bot for people working in dangerous heights like building exterior workers, rescue operation, bomb search and disposal [2] .…”

Section: Introductionmentioning

confidence: 99%

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Mathematical modeling and control law design for 1DOF Quadcopter flight dynamics

Jafar

Ahmad

Ahmed

2016

2016 International Conference on Computing, Electronic and Electrical Engineering (ICE Cube)

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The purpose of this research is the modeling and Linear Control of Quad copter through pitch, roll, yaw and thrust command Interface. This research starts with derivation of nonlinear mathematical model of quad copter dynamics that consists of 6 degree of freedom(DOF) motions. The non-linear model is then linearized around equilibrium point and then 3DOF kinematics is extracted in order to design stabilizing and tracking control of three angular motions (Pitch, Yaw and roll). The Open loop transfer function of each DOF rotation motion shows that quad copter is highly unstable without any damping factor in linear mode. .A Proportional integrator and differentiator(PID) controller is designed to control and stabilization of 3DOF rotations, controlling the four actuators independently in simulation. The real time 1DOF operation is done on designed Test rig in which the relation between thrust, Average RPM is evaluated and desired pitch pitch response is achieved by closed loop PID controller on Test rig. To support the above arguments, the simulated results as well as experimental results are presenented and compared.

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Section: Quadcopter Dynamic Modelmentioning

confidence: 73%

“…Where R φ R θ and R ψ are the rotation matrices for roll, pitch, and yaw, respectively described in [1]. Above equation shows the nonlinear translation motion of Quad copter.…”

Section: Fig2 Inertial Coordinates In a Quad Coptermentioning

confidence: 99%

See 1 more Smart Citation

Mathematical modeling and control law design for 1DOF Quadcopter flight dynamics

Jafar

Ahmad

Ahmed

2016

2016 International Conference on Computing, Electronic and Electrical Engineering (ICE Cube)

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“…Therefore, SMC technique that can respond to dynamic changes in real‐time applications in industry where control is important has begun to be used. In published literature, there are a number of studies on the use of SMC techniques for different devices . The aim of selecting SMC as the method is to design a controller that is insensitive to external noise and system disturbances, can respond to system dynamics quickly, and is not sensitive to parameter variations.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode PI control with backstepping approach for MIMO nonlinear cross‐coupled tank systems

Aksu

Çoban

2019

Intl J Robust & Nonlinear

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Summary The control of tank systems in industrial applications is an important issue for monitoring the chemical processes involved in the manufacture and delivery of product. The most important reason to control the tank systems is to keep the liquid level in the tanks constant and at the desired level for a specified period of time. In this study, the sliding mode control (SMC) with a repetitive approach called backstepping that is insensitive to uncertainties in system parameters and input disturbances is proposed and experimentally applied to a quadruple, cross‐coupled, uncertain, nonlinear, and multiple‐input/multiple‐output tank system. A proportional‐integral (PI) control is used to reduce the steady‐state error caused by the parameter variations and external noises. The traditional way of introducing PI usually leads to sliding surfaces. In this paper, the PI action is introduced to the control signal. The proposed backstepping sliding mode PI control (BSMPIC) is applied to such a complex tank system for the first time. The experimental results are compared with those of the SMC, sliding mode PI control, and backstepping sliding mode control to see the effect of the proposed BSMPIC on the system. As a result of the comparison, it is observed that less overshoot and tracking error, better tracking performance, and faster rise time in the transient regime is obtained by the BSMPIC.

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“…Consequently, the primary problem in SMC design is how to reduce the chattering. A novel SMC based on least squares theory is proposed for a quad-rotor helicopter under wind disturbance, which considers six DOF to calculate the control input [11]. To reduce impact of the uncertainties in system modeling, a nonlinear observer is designed to estimate the muscular torque developed by the wearer, then, a robust terminal SMC combined with the nonlinear observer is proposed to rehabilitation [12].…”

Section: Introductionmentioning

confidence: 99%

Structure design and rotation control of the disc milling head in blisk manufacturing

Zhao

Huang

Shi

2016

Int J Adv Manuf Technol

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Blisks are the most important and critical components in the gas turbine engines, which could reduce the weight obviously and improve the efficiency significantly. To achieve high efficient machining of the titanium-based blisk, a powerful and composite processing method is proposed and structure of disc milling head with high stiffness and high precision is designed, including mechanical transmission, electrical system, rotating control, locking device, and tool changer. Then, static and dynamic analyses are carried out for the disc milling head, and calculation results show that the static and dynamic performances are perfect, which satisfy the processing requirements. Considering friction and backlash in the worm gear transmission, parameters perturbation in the electrical control system, and process noise and measurement noise in the system have serious impact on the positioning precision of disc milling rotation system, a robust sliding mode control (SMC) algorithm based on linear quadratic optimal control (LQC) is proposed. Based on the traditional LQC, introduce the state estimation based on Kalman filter and control input, improve the system state space model, and define a new sliding surface equation, then, a robust SMC based on LQC is finished. Simulation and experiment results show that the designed controller is robust to the nonlinearities and uncertainties in the rotation control system of disc milling head and can achieve high positioning precision.

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Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction

Cited by 91 publications

References 20 publications

Mathematical modeling and control law design for 1DOF Quadcopter flight dynamics

Mathematical modeling and control law design for 1DOF Quadcopter flight dynamics

Sliding mode PI control with backstepping approach for MIMO nonlinear cross‐coupled tank systems

Structure design and rotation control of the disc milling head in blisk manufacturing

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