Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Abstract

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Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

“…The solution presented here is based on super-twisting sliding mode control with adaptive gain. It is a continuation of previous study on sliding mode control with adaptive gain [1]. The effectiveness of the controller and its robustness against perturbations are verified and analyzed using numerical simulation.…”

“…Fig. 5 shows the end effector motion tracking comparison between PID (yellow), STWCA (green) with respect to the desired trajectory (blue) in the nominal case (no perturbation, no uncertainty) 1 . It shows the ability of STWCA control to force the closed-loop system trajectory close to the desired trajectory.…”

“…The main contribution of the paper is on the application STWC scheme with gain adaptation law that is independent of the disturbance bound. As previously studied [1], the controller is applied to UAV simplified model and manipulator arm computed torque control. With adaptive gain STWC, it is unnecessary to know the bound of uncertainties; therefore the gain will not be overestimated as with adaptive gain SMC.…”

Robust fractional-order fast terminal sliding mode control of aerial manipulator derived from a mutable inertia parameters model

“…For the second step, numerous control algorithms have been used to reject disturbance widely including sliding mode control (SMC) [5], adaptive control [6], impedance control [7] and intelligent control [8]. However, the above methods are all integer-order, which is challenging to integrate the theory model with experimental result effectively compared with the fractional order (FO) calculus.…”

Improved Higher-Order Sliding Mode Controller for Model Predictive Current Control of PMSM

“…To further improve the response speed and disturbance immunity of the system, some modern control theories such as fuzzy control, adaptive control [9], self-turbulence control [10], neural networks [11], and sliding mode control [12,13] have been successfully applied to the speed control of PMSM. Among them, sliding mode control (SMC) is widely used because of its robustness, fast dynamic response, and easy implementation [14].…”