No abstract

Unmanned Aerial Vehicles are among the most widely attracting interest, especially in the applications of transportation, inspection, and surveillance. The great mechanisms for motion control are set to become a vital factor in performing the robust and accurate stabilized flight relied on perturbations and disturbances. This paper presents modified adaptive sliding mode control for trajectory tracking of mini-drone quadcopter unmanned aerial vehicles, which aims at demonstrating the effectiveness of nonlinear adaptive control strategy for achieving the desired performance of the mini-drone quadcopter system. Besides providing mathematical modeling and nonlinear dynamic characteristic details of mini-drone quadcopter actuated system, the modified adaptive sliding mode algorithm is developed using adaptation law based on Lyapunov stability approach then applied on the attitude loop and the altitude loop control system so that the nonlinear adaptive behavior of the controller enables the compensation of disturbances and parameter perturbations. The effectiveness validations of the proposed control technique compared with the traditional approach are performed through the Matlab simulation. The results have been illustrated that the modified adaptive sliding mode control can decrease the error performance indexes to the minimum ISE at 1.041 m 2 and the zero percentage of overshoot while enables excellent stability and robustness even in the presence of parameter perturbations and disturbance.

This paper presents the modified quadruple-tanks process, a flexible laboratory process with an adjustable Simulink block, which is multivariable system consisting of four interconnected water tanks included with lower interacting valve. The new general form of modified quadruple-tanks mathematic model and Simulink block is developed for the advantage of control system analysis and design which can make practical use for many styles of multivariable process by adjusting the value of connected valve resistance, inlet and outlet valve ratio. In this paper described clearly about physical properties of modified quadruple-tanks process, mathematical modeling, transformation of modified quadruple-tanks process, analysis of right half-plane zeros characteristic and controller design for multivariable system. By the several models of transformed modified quadruple-tanks, they can be used to teach students in the skills of multivariable control system analysis and design, understanding control limitation due to interactions, model uncertainties, non-minimum phase behavior, and unpredictable time variations, design decentralized controllers, Implementing decouples to reduce the effect of interactions, and understanding their limitations.

No abstract

No abstract