Analysis and Design of a Multi-Channel Time-Varying Sliding Mode Controller and its Application in Unmanned Aerial Vehicles

Nemati, Hamidreza; Montazeri, Allahyar

doi:10.1016/j.ifacol.2018.11.549

Cited by 22 publications

(9 citation statements)

References 20 publications

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“…However, chattering is a common issue in designing SMC for the autonomous system. Several studies have been investigated to reduce the chattering as well as to compensate the effect of unmodelled dynamics as presented in [11][12][13] .…”

Section: Related Work and Main Contributionsmentioning

confidence: 99%

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

Imran

Can

Montazeri

2023

Sci Rep

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The real-time unknown parameter estimation and adaptive tracking control problems are investigated in this paper for a six degrees of freedom (6-DOF) of under-actuated quadrotor unmanned aerial vehicle (UAV). A virtual proportional derivative (PD) controller is designed to maintain the translational dynamics. Two adaptive schemes are developed to handle the attitude dynamics of the UAV with several unknown parameters. In the beginning, a classical adaptive scheme (CAS) using the certainty equivalence principle is proposed and designed. The idea is to design a controller for an ideal situation by assuming the unknown parameters were known. Then the unknown parameters are replaced by their estimation. A theoretical analysis is provided to ensure the trajectory tracking of the adaptive controller. However, an inherent drawback of this scheme is that there is no guarantee for the estimated parameters to converge to the actual values. To address this issue, a new adaptive scheme (NAS) is developed as the next step by adding a continuously differentiable function to the control structure. The proposed technique guarantees handling of the parametric uncertainties with an appropriate design manifold. A rigorous analytical proof, numerical simulation analyses, and experimental validation are presented to show the effectiveness of the proposed control design.

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Section: Related Work and Main Contributionsmentioning

confidence: 99%

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

Imran

Can

Montazeri

2023

Sci Rep

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“…It is well known that the sliding mode control method consists of reaching phase and sliding phase, and the robustness of the above sliding mode control scheme against uncertain disturbances is only reflected in the sliding phase, so the robustness of the controller can be effectively enhanced if the convergence section is effectively shortened or eliminated. Sumantri et al (2017) and Nemati and Montazeri (2018) design time-varying sliding mode surface by introducing nonlinear functions to change the characteristics of the conventional linear sliding mode parameters that are not variable, effectively speeding up the convergence of the system state. In order to enhance the robustness of the sliding mode control, Huang et al (2019) added the full sliding mode factor to the sliding mode surface, which played the role of eliminating the reaching phase and realized the synchronous control of two counter-rotating eccentric rotors.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear time-varying sliding mode synchronous control of double-lift overhead cranes under unknown disturbances

Zhu

Wei-min

2022

Transactions of the Institute of Measurement and Control

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During the synchronous operation of the double-container, the double-lift overhead cranes suffer from the perturbation of system internal parameters, friction and external unknown disturbances. To address the impact of the above-mentioned negative factors, based on the mathematical model of induction motor and the coupled dynamics model of double-container, this paper proposes a synchronous control method combining variable gain extended state observer and nonlinear time-varying sliding mode surface for the synchronous coordination control of double-lift overhead cranes system. The load dynamics model of the double-container interlocking mode is established. Then, a nonlinear time-varying sliding mode surface is designed by means of nonlinear function and dynamic exponential term, which effectively speeds up the convergence of the system state and enhances the robustness of the system. Furthermore, the design adaptive reaching law is used to weaken the unwanted chattering and improve the performance of the controller. At the same time, the designed variable gain extended state observer estimates the aggregated disturbances in the system and then compensates them into the controller. The Lyapunov stability theory is used to prove the stability of the control system. The simulation experiments illustrate the effectiveness of the proposed synchronization control scheme.

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“…Chattering is a common issue in designing SMC for the autonomous system. Several studies have been investigated to reduce the chattering as well as to compensate the effect of unmodelled dynamics as presented in [10][11][12] .…”

Section: Introductionmentioning

confidence: 99%

Real-time Nonlinear Parameter Estimation and Tracking Control of Unmanned Aerial Vehicles in Closed-Loop

Imran

Montazeri

2021

Preprint

Self Cite

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The real-time unknown parameter estimation and adaptive tracking control problem are investigated in this paper for a six degrees of freedom (6-DOF) of under-actuated quadrotor unmanned aerial vehicle (UAV). A virtual proportional derivative (PD) is designed to maintain the translational dynamics. Two adaptive schemes are developed to handle the attitude dynamics of UAV with several unknown parameters. In the beginning, a classical adaptive scheme using the certainty equivalence principle is proposed and designed. The idea is to design a controller for an ideal situation by assuming the unknown parameter was known. Then the unknown parameter is replaced by its estimation. A theoretical analysis is provided to ensure the trajectory tracking of the adaptive controller. However, an inherent drawback of this scheme is that there is no guarantee for the estimated parameters to converge to the actual values. To address this issue, a new adaptive approach is developed as the next step by adding a continuous function to the control structure. The proposed technique guarantees handling of parametric uncertainties with an appropriate design manifold. The rigorous analytical proof and numerical simulation analyses are presented to show the effectiveness of the proposed control design.

show abstract

Analysis and Design of a Multi-Channel Time-Varying Sliding Mode Controller and its Application in Unmanned Aerial Vehicles

Cited by 22 publications

References 20 publications

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

Nonlinear time-varying sliding mode synchronous control of double-lift overhead cranes under unknown disturbances

Real-time Nonlinear Parameter Estimation and Tracking Control of Unmanned Aerial Vehicles in Closed-Loop

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