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Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   MARCH 2017 , Volume 16 , Number 12 ; Page(s) 95 To 102.
 
Paper: 

ADAPTIVE ROBUST SLIDING MODE CONTROL OF QUADROTOR IN THE PRESENCE OF WIND/ DISTURBANCE

 
 
Author(s):  MOTTAHEDI ALI, AKBARZADEH KALAT ALI*
 
* DEPARTMENT OF CONTROL ENGINEERING, SHAHROOD UNIVERSITY OF TECHNOLOGY, SHAHROOD, IRAN
 
Abstract: 

In this paper, an adaptive robust tracking control system for an unmanned quadrotor is designed.Quadrotor is placed in category of rotary wing aerial vehicle, and is an under-actuated and inherently unstable system. Also, the dynamic model of system is nonlinear and uncertain, is required to design a robust control system for stabilization and tracking the desired path. This system must be able to retain the quadrotor balance in the presence of the disturbance, undesired aerodynamical forces and Measurement error of constant parameters. The suggested controller in this paper consists of two inner and outer control loops. Inner loop controls the Euler angles and outer loop is for controlling the quadrotor position and translational motion, and calculating the desired angles for trajectory tracking. In this paper by utilizing the adaptive sliding mode, a controller has been designed in which there is no need for the uncertainty range to be given and its upper bound is estimated as a scalar number. In order to prevent diverging adaptive parameters, the sigma-modification is used in adaption laws and also, to achieve suitable performance in various load, the total mass is estimated adaptively. The control design is based on the Lyapunov theory and the robust stability of system in the presence of the disturbance have been shown.

 
Keyword(s): SLIDING MODE CONTROL, ADAPTATION LAW, QUADROTOR
 
References: 
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