Sliding Mode Control for Unmanned Aerial Vehicles Research

2015 ◽  
pp. 239-255 ◽  
Author(s):  
Mehmet Önder Efe
Keyword(s):  
Sliding Mode Control ◽  
Unmanned Aerial Vehicles ◽  
Sliding Mode ◽  
Mode Control ◽  
Aerial Vehicles

Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

2013 ◽  
Vol 25 (1) ◽  
pp. 60-71 ◽  
Author(s):  
Mohammad Fadhil Bin Abas ◽  
◽  
Dwi Pebrianti ◽  
Syaril Azrad Md. Ali ◽  
Daisuke Iwakura ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Circular Motion ◽  
Experimental Result ◽  
Distance Error ◽  
Mode Control ◽  
Aerial Vehicles

This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.

scholarly journals Backstepping Fuzzy Sliding Mode Control for the Antiskid Braking System of Unmanned Aerial Vehicles

Electronics ◽  
2020 ◽  
Vol 9 (10) ◽  
pp. 1731
Author(s):  
Xi Zhang ◽  
Hui Lin
Keyword(s):  
Sliding Mode Control ◽  
Unmanned Aerial Vehicles ◽  
Control Strategy ◽  
Sliding Mode ◽  
Pressure Control ◽  
Slip Ratio ◽  
Fuzzy Sliding Mode Control ◽  
Braking System ◽  
Mode Control ◽  
Fuzzy Sliding Mode

This paper proposes a backstepping fuzzy sliding mode control method for the antiskid braking system (ABS) of unmanned aerial vehicles (UAVs). First, the longitudinal dynamic model of the UAV braking system is established and combined with the model of the electromechanical actuator (EMA), based on reasonable simplification. Subsequently, to overcome the higher-order nonlinearity of the braking system and ensure the lateral stability of the UAV during the braking process, an ABS controller is designed using the barrier Lyapunov function to ensure that the slip ratio can track the reference value without exceeding the preset range. Then, a power fast terminal sliding mode control algorithm is adopted to realize high-performance braking pressure control, which is required in the ABS controller, and a fuzzy corrector is established to improve the dynamic adaptation of the EMA controller in different braking pressure ranges. The experimental results show that the proposed braking pressure control strategy can improve the servo performance of the EMA, and the hardware in loop (HIL) experimental results indicate that the proposed slip ratio control strategy demonstrates a satisfactory performance in terms of stability under various runway conditions.

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