Dynamic Smooth Sliding Control Applied to UAV Trajectory Tracking
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a function of the output tracking error, improving the control chattering alleviation in practical implementations. Furthermore, during the sliding mode, the new scheme can synthesize a range of controllers, such as fixed gain PI controllers and approximations of the standard Super-Twisting Algorithm (STA), as well as, the variable gain Super-Twisting Algorithm (VGSTA). A complete closed-loop stability analysis is provided. In addition, realistic simulation results with an unmanned aerial vehicle (UAV) model, incorporating aerodynamic effects and internal closed-loop controllers, are obtained and validated via experiments with a commercial hexacopter.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Non-overshooting sliding mode for UAV control
For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-v…
Robust and Agile Quadrotor Flight via Adaptive Unwinding-Free Quaternion Sliding Mode Control
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of pri…
A Fuzzy Logic-based Cascade Control without Actuator Saturation for the Unmanned Underwater Vehicle Trajectory Tracking
An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: f…
Passivity-based sliding mode control for mechanical port-Hamiltonian systems
In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based …
A Deep Reinforcement Learning-based Sliding Mode Control Design for Partially-known Nonlinear Systems
Presence of model uncertainties creates challenges for model-based control design, and complexity of the control design is further exacerbated when coping with nonlinear systems. This paper presents a sliding mode contro…
Deep Reinforcement LearningReinforcement Learning (RL)