A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV

Olguin-Roque, Jairo; Salazar, Sergio; González-Hernández, I.; Lozano, Rogelio

doi:10.3390/a16050229

Cited by 7 publications

(4 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where s represents the proposed surface vector, v is fractional order and α, β > 0 are constant parameters. By substituting Equation ( 14) into (15),…”

Section: Control Algorithmmentioning

confidence: 99%

“…There are many options for control algorithms in exoskeletons, and the use of one of them depends on the desired benefits; it can be quick convergence or the smallest possible error. In particular, the robust control algorithm based on sliding mode type control laws has been implemented in different applications such as in [15], where it was used in a robotic vehicle, or in [16], where it was used in a robotic manipulator and in similar prototypes of exoskeletons as in [17], where good results can be seen. This algorithm is appropriate for our control problem due to the fast convergence despite the modelling uncertainty and the lack of knowledge of the parameters that change when the user changes, which are seen as disturbances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results

Salcido,

Centeno-Barreda,

Rosales

et al. 2023

Algorithms

Self Cite

View full text Add to dashboard Cite

This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg extension routine in a sitting position. This routine is commonly used to rehabilitate an injury on an Anterior Cruciate Ligament (ACL) and it is applied to the knee and ankle joints. Moreover, the paper presents the development and implementation of the robotic structure of the ankle joint to integrate it into an exoskeleton for gait rehabilitation. The development of the dynamic model and the implementation of the control algorithm in simulation and experimental tests are presented, showing that the proposed control guarantees the convergence of the tracking error.

show abstract

“…where s represents the proposed surface vector, v is fractional order and α, β > 0 are constant parameters. By substituting Equation ( 14) into (15),…”

Section: Control Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results

Salcido,

Centeno-Barreda,

Rosales

et al. 2023

Algorithms

Self Cite

View full text Add to dashboard Cite

show abstract

“…In addition to the advantages of finite time stability, fixed time stability involves finite time stable systems for which the minimum bound of the settling-time function is guaranteed to be independent of the initial conditions of the system and can a priori be adjusted [19]. In order to regulate controllable nonlinear systems with matching disturbances, fixed-time sliding mode controllers were devised [20,21]. The quadrotor system can converge to a stable range within an upper-bound convergence time thanks to the fixed-time stability, regardless of the initial operational states [22,23].…”

Section: Related Workmentioning

confidence: 99%

Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances

Benaddy,

Labbadi,

Elyaalaoui

et al. 2023

Fractal Fract

View full text Add to dashboard Cite

The present paper investigates a fixed-time tracking control with fractional-order dynamics for a quadrotor subjected to external disturbances. After giving the formulation problem of a quadrotor system with six subsystems like a second-order system, a fractional-order sliding manifold is then designed to achieve a fixed-time convergence of the state variables. In order to cope with the upper bound of the disturbances, a switching fixed-time controller is added to the equivalent control law. Based on the switching law, fixed-time stability is ensured. All analysis and stability are proved using the Lyapunov approach. Finally, the higher performance of the proposed controller fixed-time fractional-order sliding mode control (FTFOSMC) is successfully compared to the two existing techniques through numerical simulations.

show abstract

“…The control methods for addressing nonlinear uncertain systems encompass linearization methods [2,3], model-based methods [4][5][6], learning-based methods [7][8][9][10], and adaptive control methods [11,12]. Although various nonlinear robust control methods are available for UAVs, each possesses its own advantages and disadvantages, as shown in Table 1.…”

Section: Introductionmentioning

confidence: 99%

Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs

Wang

Zheng

Wang³

et al. 2023

Drones

View full text Add to dashboard Cite

When considering the robust control of fixed-wing Unmanned Aerial Vehicles (UAVs), a conflict often arises between addressing nonlinearity and meeting fast-solving requirements. In existing studies, the less nonlinear robust control methods have shown significant improvements that parallel computing and dimensionality reduction techniques in real-time applications. In this paper, a nonlinear fast Tube-based Robust Compensation Control (TRCC) for fixed-wing UAVs is proposed to satisfy robustness and fast-solving requirements. Firstly, a solving method for discrete trajectory tubes was proposed to facilitate fast parallel computation. Subsequently, a TRCC algorithm was developed that minimized the trajectory tube to enhance robustness. Additionally, considering the characteristics of fixed-wing UAVs, dimensionality reduction techniques such as decoupling and stepwise approaches are proposed, and a fast TRCC algorithm that incorporates the control reuse method is presented. Finally, simulations verify that the proposed fast TRCC effectively enhances the robustness of UAVs during tracking tasks while satisfying the requirements for fast solving.

show abstract

A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV

Cited by 7 publications

References 32 publications

Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results

Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results

Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances

Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs

Contact Info

Product

Resources

About