Nonlinear Hybrid Controller Design for Perturbed Quadrotor Robot by Uncertainties

2018 ◽  
Vol 19 (11) ◽  
pp. 1637-1650 ◽  
Author(s):  
Ju-Qian Zhang ◽  
Yu-Ru Shi ◽  
Yong Wu ◽  
Bang-Chun Wen
Keyword(s):  
Controller Design ◽  
Hybrid Controller ◽  
Quadrotor Robot ◽  
Nonlinear Hybrid

scholarly journals Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping

2015 ◽  
Vol 4 (3) ◽  
pp. 209
Author(s):  
Chuan Lian Zhang ◽  
Kil To Chong
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Dynamics Modeling ◽  
Hybrid Controller ◽  
Navigation Simulation ◽  
Waypoint Navigation ◽  
Nonlinear Hybrid

<span>In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.</span>

scholarly journals Arduino-based PLTS and PLN Hybrid Controller Design

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Adelhard Beni Rehiara ◽  
Yanty Rumengan
Keyword(s):  
Power Plant ◽  
Solar Power ◽  
Controller Design ◽  
Test Results ◽  
Battery Voltage ◽  
Hybrid Controller ◽  
Overcurrent Protection ◽  
Design Requirements ◽  
The Government ◽  
In The Beginning

Along with the technology that is starting to develop and the price is in the beginning to be affordable as well as good regulatory support from the government, solar power plant has become a new interest in today's society. The main problem of this power plant are complicated control system and quite expensive price. In this research, an Arduino-based hybrid controller has been developed to overcome this problem. The controller is designed to utilize power from power grid and the rooftop solar power. To increase system efficiency, design of the controller is based on the DC voltage for the lighting installation.  Features available in this hybrid controller include overcurrent protection, two-stage battery voltage protection, automatic power transfer, timer for ON / OFF of outdoor lighting. The test results indicate that the designed controller achieves in accordance with the design requirements.

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