Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV

Robotica ◽  
2020 ◽  
pp. 1-19
Author(s):  
Abraham Villanueva ◽  
Luis F. Luque-Vega ◽  
Luis E. González-Jiménez ◽  
Carlos A. Arellano-Muro
Keyword(s):  
Flight Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Fire Detection ◽  
External Disturbances ◽  
Complete Control ◽  
Flight Mode ◽  
Control Scheme ◽  
The Stability ◽  
Twisting Algorithm

SUMMARY This work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which takes into account external disturbances.

scholarly journals Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 6041
Author(s):  
Fredy A. Valenzuela ◽  
Reymundo Ramírez ◽  
Fermín Martínez ◽  
Onofre A. Morfín ◽  
Carlos E. Castañeda
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Dc Motor ◽  
Experimental Results ◽  
Resistive Load ◽  
Velocity Control ◽  
Velocity Sensor ◽  
Control Scheme ◽  
Mechanical Sensors ◽  
Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

scholarly journals Robust Synchronization of Incommensurate Fractional-Order Chaotic Systems via Second-Order Sliding Mode Technique

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Hua Chen ◽  
Wen Chen ◽  
Binwu Zhang ◽  
Haitao Cao
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Second Order ◽  
External Disturbances ◽  
Globally Asymptotically Stable ◽  
Control Scheme ◽  
Chattering Free ◽  
Second Order Sliding Mode

A second-order sliding mode (SOSM) controller is proposed to synchronize a class of incommensurate fractional-order chaotic systems with model uncertainties and external disturbances. Based on the chattering free SOSM control scheme, it can be rigorously proved that the dynamics of the synchronization error is globally asymptotically stable by using the Lyapunov stability theorem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed controller design approach.

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

scholarly journals Speed Regulation Control for an Integrated Motor-Transmission System under External Disturbances

2020 ◽  
Vol 11 (3) ◽  
pp. 53
Author(s):  
Wei Huang ◽  
Jianfeng Huang ◽  
Chengliang Yin
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Motor Speed ◽  
External Disturbances ◽  
Speed Regulation ◽  
Speed Tracking ◽  
Powertrain System ◽  
Control Scheme ◽  
Combined Control ◽  
Practical Engineering

Precise motor speed regulation control is essential to achieve a good gear shifting quality of the integrated motor-transmission (IMT) system, in which the relative speed between outgoing shaft and the gearwheel to be engaged can be eliminated directly through regulation of the motor speed. The speed regulation control confronts the difficulty that there exist external disturbances on the motor shaft, like the unknown load torque arised from bearing friction, oil shearing and oil churning, etc. To deal with these disturbances, a robust speed regulation controller combined a nominal proportional control and integral sliding mode control is proposed. The former is designed to achieve a good speed tracking performance and the latter provides functionality of disturbances rejection. The effects of different controller parameters for the robust controller design are assessed via simulations. Moreover, to verify the effectiveness of the combined control scheme in practical engineering use, experiments are carried out on a test bench with a real IMT powertrain system. Results indicate that the proposed approach can attain a rapid and smooth speed regulation process with a simple controller structure and good robustness.

Position and attitude tracking of uncertain quadrotor unmanned aerial vehicles based on non-singular terminal super-twisting algorithm

2019 ◽  
Vol 234 (3) ◽  
pp. 396-408
Author(s):  
Walid Alqaisi ◽  
Yassine Kali ◽  
Jawhar Ghommam ◽  
Maarouf Saad ◽  
Vahé Nerguizian
Keyword(s):  
Sliding Mode ◽  
Design Procedure ◽  
Lyapunov Theory ◽  
Effective Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
The Stability ◽  
Terminal Sliding Surface ◽  
Twisting Algorithm ◽  
Twisting Control

This paper proposes an improved non-singular terminal super-twisting control for the problem of position and attitude tracking of quadrotor systems suffering from uncertainties and disturbances. The super-twisting algorithm is a second-order sliding mode known to be a very effective control used to provide high precision and less chattering for uncertain nonlinear electromechanical systems. The proposed method is based on a non-singular terminal sliding surface with new exponent that solves the problem of singularity. The design procedure and the stability analysis of the closed-loop system using Lyapunov theory are detailed for the considered system. Finally, the proposed control scheme is tested in simulations and by experiments on the parrot-rolling spider quadrotor. Moreover, a comparison is made with the standard super-twisting algorithm in the simulation part. The results obtained show adequate performance in trajectory tracking and chattering reduction.

scholarly journals Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Lei Zuo ◽  
Ye Zhang ◽  
Maode Yan ◽  
Wenrui Ma
Keyword(s):  
Sliding Mode ◽  
Quadratic Function ◽  
External Disturbances ◽  
Time Headway ◽  
Driving Behaviors ◽  
Traffic Capacity ◽  
Control Scheme ◽  
Mode Method ◽  
Vehicle Platoon ◽  
The Stability

This paper investigates the nonlinear vehicle platoon control problems with external disturbances. The quadratic spacing policy (QSP) is applied into the platoon control, in which the desired intervehicle distance is a quadratic function in terms of the vehicle’s velocities. Comparing with the general constant time headway policy (CTHP), the QSP is more suitable to the human driving behaviors (HDB) and can improve the traffic capacity. Then, a novel platoon control scheme is proposed based on the distributed integrated sliding mode (DISM). Since the external disturbances are taken into consideration, the sliding mode method is employed to handle the disturbances. Moreover, the stability and string stability of the proposed platoon control system are strictly analyzed. In final, numerical simulations are provided to verify the proposed approaches.

scholarly journals Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Li Ding ◽  
Qing He ◽  
Chengjun Wang ◽  
Rongzhi Qi
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Linear Extended State Observer ◽  
The Stability ◽  
Theory And Experiment

In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.

Design of adaptive optimal robust control for two-flexible-link manipulators in the presence of matched uncertainties

2020 ◽  
pp. 107754632093202
Author(s):  
Hamid Reza Shafei ◽  
Mohsen Bahrami ◽  
Heidar Ali Talebi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flexible Link ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme ◽  
The Stability

This study uses a comprehensive control approach to deal with the trajectory tracking problem of a two-flexible-link manipulator subjected to model uncertainties. Because the control inputs of two-flexible-link manipulators are less than their state variables, the proposed controller should be able to tackle the stated challenge. Practically speaking, there is only a single control signal for each joint, which can be used to suppress link deflections and control joint trajectories. To achieve this objective, a novel optimal robust control scheme, with an updated gain under the adaptive law, has been developed in this work for the first time. In this regard, a nonsingular terminal sliding mode control approach is used as the robust controller and a control Lyapunov function is used as the optimal control law, to benefit from the advantages of both methods. To systematically deal with system uncertainties, an adaptive law is used to update the gain of nonsingular terminal sliding mode control. The advantage of this approach over the existing methods is that it not only can robustly and stably control an uncertain nonlinear system against external disturbances but also can optimally solve a quadratic cost function (e.g. minimization of control effort). The Lyapunov stability theory has been applied to verify the stability of the proposed approach. Moreover, to show the superiority of this method, the computer simulation results of the proposed method have been compared with those of an adaptive sliding mode control scheme. This comparison shows that the presented approach is capable of optimizing the control inputs while achieving the stability of the examined two-flexible-link manipulator in the presence of model uncertainties and external disturbances.

Sliding Mode Control of a 2D Torsional MEMS Micromirror with Sidewall Electrodes

2013 ◽  
Vol 3 (1) ◽  
pp. 16-26
Author(s):  
Hui Chen ◽  
Manu Pallapa ◽  
Weijie Sun ◽  
Zhendong Sun ◽  
John T. W. Yeow
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Loop System ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Mode Control ◽  
Control Scheme ◽  
The Stability

This paper presents a sliding mode control scheme to improve the positioning performance of a 2-Degree-of-freedom (DOF) torsional MEMS micromirror with sidewall electrodes. The stability of closed-loop system is proved by Lyapunov stability theorem under the existence of bounded parameter uncertainties and external disturbances. Furthermore, the performance of the closed-loop system is illustrated by experimental and simulation results which verify that the feasibility and effectiveness of the proposed scheme. The results demonstrated that the torsional MEMS micromirror with the proposed sliding mode controller has a good transient response and tracking performance.

scholarly journals A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Ban Wang ◽  
Peng Huang ◽  
Wei Zhang
Keyword(s):  
Fault Diagnosis ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
External Disturbances ◽  
Quadrotor Helicopter ◽  
Control Scheme ◽  
Control Schemes ◽  
The Stability

This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault-tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances and integrating with the designed integral sliding-mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed-loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios.

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