Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

Hu, Mingyuan; Ahn, Hyeongki; You, Kwanho

doi:10.1109/access.2023.3252539

Cited by 5 publications

(1 citation statement)

References 40 publications

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“…The recently developed fast finite-time sliding mode control (FFTSMC) originated from the concept of terminal attractors [25][26][27][28][29][30][31], it holds the insensitivity to unknown disturbances, and more notably, it accelerates the movement of the state to the equilibrium point in a limited time [32][33][34][35][36]. This control form of sliding mode greatly expands the dynamic and steady-state response of the controlled plant, except for overestimating or underestimating the boundary due to strong uncertainty, which will still lead to chattering or steady-state error.…”

Section: Introductionmentioning

confidence: 99%

A State-Feedback Control Strategy Based on Grey Fast Finite-Time Sliding Mode Control for an H-Bridge Inverter with LC Filter Output

Chang,

Wu,

Chang

et al. 2024

Electronics

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An H-bridge inverter with LC (inductor-capacitor) filter output allows the conversion of DC (direct current) power to AC (alternating current) power that has been used in a variety of applications, such as uninterruptible power supplies, AC motor drives, and renewable energy source systems. The fast finite-time sliding mode control (FFTSMC) features acceleration of the system state towards the equilibrium position as well as conserving insensitivity against internal parameter fluctuations as well as external load disturbances falling within the predetermined bounds. However, the FFTSMC would potentially witness chattering or steady-state errors as indefinite margins come to be exaggerated or underestimated. The chattering in the sliding mode control practice is oscillatory defective behavior. It induces inefficient operation, higher switching power losses in the transistor circuits, as well as saturated actuators, thus impairing the inverter’s output energy efficiency and raising harmonic distortion. Therefore, this paper presents the H-bridge inverter with LC filter output, which is controlled by a grey prediction fast finite-time sliding mode trajectory tracking. A more highly accurate grey prediction model based on the centered approximation methodology is deployed to vanish the chattering as well as steady-state errors. Taking into account the union of grey prediction and FFTSMC, a feedback-controlled H-bridge inverter with LC filter output allows attaining a highly efficient as well as quality sine-wave output voltage. The presented state-feedback control strategy is robust, less complex, attains more rapid convergence, and is highly accurate. The design process, computer simulation, as well as experimental results of the proposed state-feedback control strategy established that the H-bridge inverter with LC filter output has the capability to exhibit fast dynamic response time as well as good steady-state tracking behavior of the output voltage under step-loading changes and nonlinear loading conditions.

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Section: Introductionmentioning

confidence: 99%

A State-Feedback Control Strategy Based on Grey Fast Finite-Time Sliding Mode Control for an H-Bridge Inverter with LC Filter Output

Chang,

Wu,

Chang

et al. 2024

Electronics

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Fixed-Time Attitude Control for QUAV With Stochastic Disturbances: Theory and Experiment

Yu,

Ma,

Wang

et al. 2024

IEEE Trans. Ind. Electron.

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Performance Evaluation of Control Strategies for Autonomous Quadrotors: A Review

Hassani,

Mansouri,

Ahaitouf

2024

Complexity

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The recent progress in the fields of sensor miniaturization, light materials, automatic control, and battery management systems has opened up new opportunities for low‐cost unmanned aerial vehicles (UAVs), such as quadrotors. In fact, quadrotors have transitioned from a primarily military application to being widely used almost everywhere. Evidently, controlling such robots requires a deep understanding of their dynamic behavior and the use of robust strategies to accomplish the flight missions without compromising users’ safety. This study presents a comprehensive survey of control strategies for unmanned quadrotors. In our examination, the performance assessment of widely used control algorithms is discussed. Furthermore, the concept of model‐based design is presented as a solution for bridging the gap between simulation and experimental validation of control systems. It is anticipated that the present study will provide the reader with a clear vision of quadrotor UAV control theory.

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Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

Cited by 5 publications

References 40 publications

A State-Feedback Control Strategy Based on Grey Fast Finite-Time Sliding Mode Control for an H-Bridge Inverter with LC Filter Output

A State-Feedback Control Strategy Based on Grey Fast Finite-Time Sliding Mode Control for an H-Bridge Inverter with LC Filter Output

Fixed-Time Attitude Control for QUAV With Stochastic Disturbances: Theory and Experiment

Performance Evaluation of Control Strategies for Autonomous Quadrotors: A Review

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