Sliding-Mode Control for Stabilizing High-Order Stochastic Systems: Application to One-Degree-of-Freedom Aerial Device

Vargas, Alessandro N.; Montezuma, Marcio A. F.; Liu, Xinghua; Xu, Long; Yu, Xinghuo

doi:10.1109/tsmc.2018.2849846

Cited by 11 publications

(5 citation statements)

References 37 publications

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“…On the other hand, small unmanned aerial vehicles have been used in many applications, such as search and rescue, remote inspection, and aerial videography [11]. In [12], the authors used a one-degree-aerial device to show the effectiveness of a novel sliding-mode control algorithm. According to them, this aerial mechanism can emulate the behavior of vertical-take-off planes.…”

Section: Introductionmentioning

confidence: 99%

One-Degree Aerial Device: Control and Experimental Development

Acho,

Buenestado,

Pujol-Vázquez

2024

Mathematical Problems in Engineering

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The ball and beam experimental platform is an unstable nonlinear system widely used as a benchmark control setup for testing different controller approaches, especially for beginners on automatic control to improve their control knowledge skills. In this paper, we innovate it by governing the angular position of the beam with a twin-rotor system. Our experiment consists of a beam that rotates through a pivot, in which two propellers are attached to the ends of this beam. Hence, we have a recent one-degree aerial device, and instead of using a ball, we employ a mass moving on the beam, presenting friction on position to its movements on the beam. Then, the control objective is to regulate the mass position at some predefined zone on the beam, ensuring stability and robustness in front of external perturbations and unmodeled uncertainties. To do so, we define a classical PI controller. To assess closed-loop robustness, a mass was introduced to one propeller to induce perturbation, thereby simulating modeling variations or disturbances. The experimental results prove the goodness of our experimental platform for drone applications.

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Section: Introductionmentioning

confidence: 99%

One-Degree Aerial Device: Control and Experimental Development

Acho,

Buenestado,

Pujol-Vázquez

2024

Mathematical Problems in Engineering

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“…In the last few decades, the control of high-order nonlinear systems has attracted considerable attention for its ever increasing applications in practical engineering, such as sliding mode control for aerial devices, robust following control for autonomous underwater vehicles, structured robust synthesis control for flexible aircraft flutter suppression, and so on. [1][2][3] Generally, high-order nonlinear systems are composed of multiple subsystems with complex cross-couplings, 4 and they are also suffering from nonlinear characteristics, uncertainties and external disturbances, 5 which enhances the difficulty in the control of high-order nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Fixed time event‐triggered control for high‐order nonlinear uncertain systems with time‐varying full state constraints

Yang,

Wang,

Chen

et al. 2023

Intl J Robust & Nonlinear

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The fixed time event‐triggered control for high‐order nonlinear uncertain systems with time‐varying full state constraints is investigated in this paper. First, the event‐triggered control (ETC) mechanism is introduced to reduce the data transmission in the communication channel. In consideration of the physical constraints and engineering requirements, time‐varying barrier Lyapunov function (BLF) is deployed to make all the system states confined in the given time‐varying constraints. Then, the radial basis function neural networks (RBF NNs) are used to approximate the unknown nonlinear terms. Further, the fixed time stability strategy is deployed to make the system achieve semiglobal practical fixed time stability (SPFTS) and the convergence time is independent of the initial conditions. Finally, the proposed control scheme is verified by two simulation examples.

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“…The topics of this type of research range from the first-order SMC 3 , 4 , high-order SMC 5 , and discrete-time SMC 6 to terminal SMC 7 as well as event-triggered SMC 8 . With several advantages in order to delivery robust and stable performance to a wide class of systems, the SMC technique has been implemented as an automatic controller for numerous applications in the fields of robotics 9 , industrial automation 10 , 11 , power electronics 12 , automotive 13 , autonomous ground vehicles 14 , and aerospace [15][16][17] .…”

Section: Introductionmentioning

confidence: 99%

On the Sliding Mode Control Gain-Tuning: Novel Method and Experimental Verification

Xuan-Mung

Nguyen

Pham

et al. 2022

Preprint

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The sliding mode control is well-known as a useful control technique that can be applied in several real-world applications. However, a straightforward and efficient process of tuning the gains of a sliding mode controller remains a challenging but interesting topic. In this paper, a mathematical method for the sliding mode controller gain tuning is investigated. Firstly, we obtain relations between the gains and the natural and damping ratio of the closed-loop system. Secondly, the time constant of the system's actuators and the system response performance criteria, including settling time and delay time, are taken into consideration to determine the gains. In addition, appropriate gain ranges, which ensure that the system performance is met and the actuators work properly, are derived. Finally, the proposed method is applied to the gain tuning process of a sliding mode altitude controller for an actual quadcopter unmanned aerial vehicle. Simulation and experimental results demonstrate the applicability and effectiveness of this method.

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Sliding-Mode Control for Stabilizing High-Order Stochastic Systems: Application to One-Degree-of-Freedom Aerial Device

Cited by 11 publications

References 37 publications

One-Degree Aerial Device: Control and Experimental Development

One-Degree Aerial Device: Control and Experimental Development

Fixed time event‐triggered control for high‐order nonlinear uncertain systems with time‐varying full state constraints

On the Sliding Mode Control Gain-Tuning: Novel Method and Experimental Verification

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