Robust control for a drone quadrotor using fuzzy logic-based fast terminal sliding mode control

Jennan, Najlae; Mellouli, El Mehdi

doi:10.1007/s40430-024-05023-5

J Braz. Soc. Mech. Sci. Eng.

2024

DOI: 10.1007/s40430-024-05023-5

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Robust control for a drone quadrotor using fuzzy logic-based fast terminal sliding mode control

Najlae Jennan,

El Mehdi Mellouli

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2024

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Adaptive Sliding Mode Control of Quadrotor System with Elastic Load Connection of Unknown Mass

Ru,

Liu,

Chen

et al. 2024

Drones

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During quadrotor load transport, the cable’s elasticity exacerbates load fluctuations, which may result in platform instability or a potential crash. This paper introduced a model of the connecting cable as a spring-damper system and established the dynamic model of the suspension system based on Newton’s law. Nonsingular fast terminal sliding mode control (NFTSMC) was employed for attitude, position, and anti-swing controller design. Adaptive controllers were integrated into altitude control to address uncertainties related to load mass and cable length. The inclusion of an anti-swing controller into the position control loop effectively dampens load oscillations while ensuring accurate position tracking. Numerical simulations demonstrated that the proposed controller outperforms both the energy-based controller and the conventional linear sliding mode controller.

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Adaptive Sliding Mode Control of Quadrotor System with Elastic Load Connection of Unknown Mass

Ru,

Liu,

Chen

et al. 2024

Drones

View full text Add to dashboard Cite

show abstract

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Robust control for a drone quadrotor using fuzzy logic-based fast terminal sliding mode control

Cited by 1 publication

References 38 publications

Adaptive Sliding Mode Control of Quadrotor System with Elastic Load Connection of Unknown Mass

Adaptive Sliding Mode Control of Quadrotor System with Elastic Load Connection of Unknown Mass

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