Finite-Time Flight Control of Uncertain Quadrotor UAV based on Modified Non-Singular Fast Terminal Super-Twisting Control

2020 ◽  
Author(s):  
Walid Alqaisi ◽  
Yassine Kali ◽  
Walter Lucia
Keyword(s):  
Flight Control ◽  
Finite Time ◽  
Quadrotor Uav ◽  
Twisting Control ◽  
Super Twisting Control

scholarly journals Finite-Time Second-Order Sliding Mode Controllers for Spacecraft Attitude Tracking

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Chutiphon Pukdeboon
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Disturbance Attenuation ◽  
Spacecraft Attitude ◽  
Control Laws ◽  
Attitude Tracking ◽  
Twisting Control ◽  
Super Twisting Control ◽  
Second Order Sliding Mode

The attitude tracking control problem of a spacecraft nonlinear system with external disturbances and inertia uncertainties is studied. Two robust attitude tracking controllers based on finite-time second-order sliding mode control schemes are proposed to solve this problem. For the first controller, smooth super twisting control is applied to quaternion-based spacecraft-attitude-tracking maneuvers. The second controller is developed by adding linear correction terms to the first super twisting control algorithm in order to improve the dynamic performance of the closed-loop system. Both controllers are continuous and, therefore, chattering free. The concepts of a strong Lyapunov function are employed to ensure a finite-time convergence property of the proposed controllers. Theoretical analysis shows that the resulting control laws have strong robustness and disturbance attenuation ability. Numerical simulations are also given to demonstrate the performance of the proposed control laws.

scholarly journals Multi-Layer Adaptive Finite Time Super Twisting Control for Quaternion-Based Quadrotor Formation With Obstacle Avoidance

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 213062-213077
Author(s):  
Guowei Zhang ◽  
Wei Shang ◽  
Guohao Jing ◽  
Tianlong Chen ◽  
Qihang Liang
Keyword(s):  
Obstacle Avoidance ◽  
Finite Time ◽  
Twisting Control ◽  
Super Twisting Control

scholarly journals Finite-time sliding mode and super-twisting control of fighter aircraft

2018 ◽  
Vol 82-83 ◽  
pp. 487-498 ◽  
Author(s):  
Kaushik Raj ◽  
Venkatesan Muthukumar ◽  
Sahjendra N. Singh ◽  
Keum W. Lee
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Fighter Aircraft ◽  
Twisting Control ◽  
Super Twisting Control

Variable Gain Super-Twisting Control of GMAW Process for Pipeline Welding

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
Manas Kr. Bera ◽  
Bijnan Bandyopadhyay ◽  
A. K. Paul
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Gas Metal Arc Welding ◽  
Control Effort ◽  
Variable Gain ◽  
Output Tracking ◽  
Pipeline Welding ◽  
The Stability ◽  
Twisting Control ◽  
Super Twisting Control

Quality control is the key issue that needs to be addressed in any gas metal arc welding (GMAW) system, especially in robotic pipeline welding system. This paper explores a second-order sliding mode control (SMC) strategy—a variable gain super-twisting control, to maximize the productivity, consistency in welding quality. This is achieved by the robust finite time output tracking of GMAW system. A nonlinear multi-input multi-output (MIMO) model of GMAW system has been considered here for the design of variable gain super-twisting (VGST) controller by which complete rejection of the bounded uncertainties/disturbances is possible and the adaptive characteristic of its gains help to use the control effort effectively. The stability of internal dynamics of the system is studied to establish the feasibility of solving the robust finite time output tracking problem. The stability of the overall system has been analyzed using Lyapunov stability criterion. The performance of the controller is demonstrated using the model of the system emulating the realistic conditions of operation. The simulation results are presented to illustrate the efficacy of the controller.

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