Adaptive Integral-Type Terminal Sliding Mode Control for Unmanned Aerial Vehicle Under Model Uncertainties and External Disturbances

Mofid, Omid; Mobayen, Saleh; Fekih, Afef

doi:10.1109/access.2021.3070400

Cited by 25 publications

(20 citation statements)

References 30 publications

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“…Mofid et al. [26] propose an adaptive integral‐type terminal sliding mode method for finite‐time attitude and position tracking of a quadrotor UAV with model uncertainties and external disturbances. Adaptive super‐twisting terminal sliding mode control introduced for quadrotor UAVs in the case of an unknown upper bound of the model uncertainty and wind disturbance gets validated by both simulation, and experiments [27].…”

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Dalwadi

Deb

Muyeen

2022

IET Intelligent Trans Sys

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Performance of the UAVs for a particular application can be enhanced by hybrid design, where take-off, hover, and landing happen like rotary-wing UAVs, and flies like fixed-wing UAVs. A backstepping controller and an adaptive backstepping controller are designed for trajectory tracking and payload delivery in a medical emergency or medical substance delivery like vaccine delivery in the presence of wind gust. Simulation results show that the backstepping controller effectively tracks the trajectory during the entire flight envelope, including take-off, hovering, the transition phase, level flight mode, and landing. A comparison between Backstepping, Integral Terminal Sliding Mode (ITSMC) and Adaptive Backstepping controllers for payload delivery show that the adaptive backstepping controller effectively tracks the altitude and attitude. ITSMC is capable of tracking the desired trajectory for a change in the mass but has sluggish response. The backstepping controller generates a steady-state error in altitude during the mass change in biplane quadrotor.

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Section: Introductionmentioning

confidence: 99%

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Dalwadi

Deb

Muyeen

2022

IET Intelligent Trans Sys

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“…e effectiveness of this method is verified in the pool experiment of the seven-degree-of-freedom UVMS. Mofid et al [22] proposed a fuzzy terminal sliding mode control method with time delay estimation, which focuses on using fuzzy rules to adaptively adjust the terminal sliding mode surface to get rid of the internal and external uncertainties caused by complex dynamics. To sum up, although sliding mode control has made significant breakthroughs in the application of nonlinear system control, the main problem of UVMS is to estimate the lumped uncertainty disturbance on the basis of getting rid of the constraints of dynamics.…”

Section: Introductionmentioning

confidence: 99%

Research on Adaptive Sliding Mode Control of UVMS Based on Nonlinear Disturbance Observation

Chen

Wei

Zhang

et al. 2022

Mathematical Problems in Engineering

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The underwater vehicle manipulator system is a powerful tool for the exploration and development of marine resources. Due to the complexity of the marine environment, there are many disturbance factors and difficult to control. Taking the fixed depth control in hovering mode as an example, the vertical plane decoupling control model is established, and the adaptive sliding mode control method based on the disturbance observation is studied. The nonlinear disturbance observation is used to estimate the external unknown disturbance in real time, and the adaptive sliding mode method is used for compensation control. Simulation results show that the control method can effectively compensate for the sudden disturbance term, does not produce obvious trim motion, has strong robustness, and provides a reliable and stable base for the operation of the underwater manipulators. Finally, the operation experiments in the pool and real sea area under the disturbance condition are carried out, respectively. The experimental results show that the control effect is good and the stability is greatly improved compared with the traditional control method.

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“…Hence, the aerial manipulator system control has attracted considerable attention. A variety of control methods has been applied to the aerial manipulator, such as impedance control [8,9], back-stepping control [10,11], model predictive control [12][13][14], adaptive control [15][16][17], and sliding mode control [18][19][20][21][22]. A controller based on impedance control was developed and applied to the aerial manipulator for interference rejection caused by the robotic arm motion [9].…”

Section: Introductionmentioning

confidence: 99%

“…A sliding mode controller was developed for an aerial manipulator with a three-DoF robotic arm to grasp and transport objects [19]. An adaptive integral-type terminal sliding mode approach was proposed for the attitude and position tracking control of a quadrotor UAV subject to model uncertainties and external disturbances [22]. The above studies show that the system control performance on interaction with the environment can be enhanced by improving the controller.…”

Section: Introductionmentioning

confidence: 99%

Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator

Shen

Mao

Fang

et al. 2022

International Journal of Aerospace Engineering

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The aerial manipulator is a novel flying robot consisting of an unmanned aerial vehicle (UAV) and a multi-degree-of-freedom (DoF) robotic arm. It can actively interact with the environment to conduct dangerous or inaccessible tasks for humans. In this paper, we propose a composite control scheme considering force and position for the aerial manipulator to operate in steady contact with the environment when influenced by external disturbances. First, a contact force control method without employing the force sensor is obtained on the mechanical relationship of the system’s contact with the environment. Second, we regard the system’s internal coupling and external disturbance as lumped disturbances and design an extended state observer (ESO) to estimate them. Combined with the disturbance estimation and the nonsingular global fast sliding mode algorithm, a controller derived from the Lyapunov theory is proposed. Finally, we compare the proposed controller with the other four controllers through simulations and actual flight experiments. The results show that the proposed controller can effectively restrain disturbances, reduce convergence time, and guarantee steady contact under external disturbances.

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Adaptive Integral-Type Terminal Sliding Mode Control for Unmanned Aerial Vehicle Under Model Uncertainties and External Disturbances

Cited by 25 publications

References 30 publications

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Research on Adaptive Sliding Mode Control of UVMS Based on Nonlinear Disturbance Observation

Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator

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