Application of Acceleration Tracking Control for a Small-Scale Earthquake Simulator

2019 ◽  
Author(s):  
Karmelo Antonio Lazaro R. Carranza ◽  
Rhen Anjerome Bedruz ◽  
Renann Baldovino ◽  
Ryan Rhay Vicerra ◽  
John Anthony Jose ◽  
...  
Keyword(s):  
Tracking Control ◽  
Small Scale ◽  
Earthquake Simulator ◽  
Acceleration Tracking

scholarly journals Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach

2019 ◽  
Vol 2019 ◽  
pp. 1-15 ◽  
Author(s):  
Xing Fang ◽  
Yujia Shang
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Small Scale ◽  
Control Law ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Mismatched Disturbances

A novel continuous sliding mode control (CSMC) strategy based on the finite-time disturbance observer (FTDO) is proposed for the small-scale unmanned helicopters in the presence of both matched and mismatched disturbances. First, a novel sliding surface is designed based on the estimates of the mismatched disturbances and their derivatives obtained by the FTDO. Then, a continuous sliding mode control law is developed, which does not lead to any chattering phenomenon. Furthermore, the closed-loop helicopter system is proved to be asymptotically stable. Finally, the excellent hovering and tracking performance, as well as the powerful disturbance rejection capability of the proposed novel CSMC method, is validated by the simulation results.

scholarly journals Adaptive tracking control based on neural approximation for the yaw motion of a small-scale unmanned helicopter

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141982827 ◽  
Author(s):  
Tri-Quang Le ◽  
Ying-Chih Lai ◽  
Chun-Liang Yeh
Keyword(s):  
Tracking Control ◽  
Fuzzy Logic Controller ◽  
Adaptive Controller ◽  
Current Approach ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Discrete Time System ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Marquardt Algorithm

This article aims to study a solution that can solve the problem of tracking control for yaw motion of an unmanned helicopter. The non-affine nonlinear equation is converted to a simplified affine model. The unknown parameters are estimated by the Levenberg–Marquardt algorithm. An autonomous flight controller is developed with the Lyapunov-based adaptive controller for a discrete-time system. For flight data collection and verification purpose, the software-in-the-loop is constructed based on Simulink and X-Plane simulator. The designed system is applied in the control of the yaw motion of an R30 V2 helicopter under ideal and turbulent environments. The performance of the proposed method is compared with the fuzzy logic controller, and the simulation results show that the quality of the current approach is considerably better.

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