Desired tracking of delayed quadrotor UAV under model uncertainty and wind disturbance using adaptive super-twisting terminal sliding mode control

Mofid, Omid; Mobayen, Saleh; Zhang, Chunwei; Esakki, Balasubramanian

doi:10.1016/j.isatra.2021.06.002

Cited by 112 publications

(65 citation statements)

References 48 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…6.1, it comes to be evident to relate the corresponding peaks on the signals to the corresponding translation DOFs at which they are coupled, such that a change in the desired orientation occurs as the translational desired behavior changes. In comparison with previous results (see for instance [19,39,44,55,58,61]) and the ones depicted in green in Fig. 6.1, the vehicle operates with no overshoot or oscillation during the transient phase.…”

Section: Simulation Results: the Typical Quadrotor Casesupporting

confidence: 71%

Time-delay control of quadrotor unmanned aerial vehicles: a multiplicity-induced-dominancy-based approach

Castillo-Zamora

Boussaada

Benarab

et al. 2022

Journal of Vibration and Control

View full text Add to dashboard Cite

The current work exploits the effects of time-delays on the stability of unmanned aerial vehicles s). In this regard, the main contribution is a symbolic/numeric application of the multiplicity-induced-dominancy property in the control of unmanned aerial vehicles rotorcrafts featuring time-delays. The multiplicity-induced-dominancy property is considered to address two of the most representative aerial robotic platforms: a classical quadrotor vehicle and a quadrotor vehicle endowed with tilting rotors. The aforementioned property leads to an effective delayed feedback control design (multiplicity-induced-dominancy tuning criteria), allowing the system to meet prescribed behavior conditions based on the placement of the rightmost root of the corresponding closed-loop characteristic function/quasipolynomial. Lastly, the results of detailed numerical simulations, including the linear and non-linear dynamics of the vehicle, are presented and discussed to validate the proposal.

show abstract

Section: Simulation Results: the Typical Quadrotor Casesupporting

confidence: 71%

Time-delay control of quadrotor unmanned aerial vehicles: a multiplicity-induced-dominancy-based approach

Castillo-Zamora

Boussaada

Benarab

et al. 2022

Journal of Vibration and Control

View full text Add to dashboard Cite

show abstract

“…([ 38 ]). For implementation of the proposed method on the quad-rotor system, an outdoor environment based on the custom-built UAV platform can be applied for the conduction of flight trials.…”

Section: Adaptive Barrier Function Techniquementioning

confidence: 99%

Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles

Alattas

Mofid

Alanazi

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

This paper proposes a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the existence of matched disturbances. For this reason, a linear sliding surface according to the tracking error dynamics is proposed for the convergence of tracking errors to origin. Afterward, a novel non-singular terminal sliding surface is suggested to guarantee the finite-time reachability of the linear sliding surface to origin. Moreover, for the rejection of the matched disturbances that enter into the quad-rotor system, an adaptive control law based on barrier function is recommended to approximate the matched disturbances at any moment. The barrier function-based control technique has two valuable properties. First, this function forces the error dynamics to converge on a region near the origin in a finite time. Secondly, it can remove the increase in the adaptive gain because of the matched disturbances. Lastly, simulation results are given to demonstrate the validation of this technique.

show abstract

“…where k 4 , k 5 and k 6 are friction aerodynamics parameters, J r is the rotor inertia, d denote the drag coefficient, l is the distance between a propeller and Quadrotor's center. The total Quadrotor dynamics with external disturbances is presented by [36,37].…”

Section: Modelling the Folding Mechanismmentioning

confidence: 99%

Design and Implementation of Morphed Multi-Rotor Vehicles with Real-Time Obstacle Detection and Sensing System

Shiferaw

Esakki

Pari

et al. 2021

Sensors

Self Cite

View full text Add to dashboard Cite

Multirotor unmanned aerial vehicles (MUAVs) are becoming more prominent for diverse real-world applications due to their inherent hovering ability, swift manoeuvring and vertical take-off landing capabilities. Nonetheless, to be entirely applicable for various obstacle prone environments, the conventional MUAVs may not be able to change their configuration depending on the available space and perform designated missions. It necessitates the morphing phenomenon of MUAVS, wherein it can alter their geometric structure autonomously. This article presents the development of a morphed MUAV based on a simple rotary actuation mechanism capable of driving each arm’s smoothly and satisfying the necessary reduction in workspace volume to navigate in the obstacle prone regions. The mathematical modelling for the folding mechanism was formulated, and corresponding kinematic analysis was performed to understand the synchronous motion characteristics of the arms during the folding of arms. Experiments were conducted by precisely actuating the servo motors based on the proximity ultrasonic sensor data to avoid the obstacle for achieving effective morphing of MUAV. The flight tests were conducted to estimate the endurance and attain a change in morphology of MUAV from “X-Configuration” to “H-Configuration” with the four arms actuated synchronously without time delay.

show abstract

Desired tracking of delayed quadrotor UAV under model uncertainty and wind disturbance using adaptive super-twisting terminal sliding mode control

Cited by 112 publications

References 48 publications

Time-delay control of quadrotor unmanned aerial vehicles: a multiplicity-induced-dominancy-based approach

Time-delay control of quadrotor unmanned aerial vehicles: a multiplicity-induced-dominancy-based approach

Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles

Design and Implementation of Morphed Multi-Rotor Vehicles with Real-Time Obstacle Detection and Sensing System

Contact Info

Product

Resources

About