scholarly journals Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

2021 ◽  
Vol 2021 ◽  
pp. 1-22
Author(s):  
Ghulam E. Mustafa Abro ◽  
Zain Anwar Ali ◽  
Saiful A. Zulkifli ◽  
Vijanth Sagayan Asirvadam
Keyword(s):  
Steady State ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Observer Design ◽  
Control Technique ◽  
Mode Control ◽  
Dynamic Factors ◽  
Transient And Steady State

The main aim of this manuscript is to design and demonstrate the performance of different control algorithms with position estimator and disturbance observer to track the helical trajectory by an underactuated quadrotor craft under the influence of unmodelled dynamic factors and external disturbances. The manuscript consists of the derivations related to the kinematics and dynamics of quadrotor dully derived using the Newton Euler approach. It is one of the strenuous tasks to stabilize and control the quadrotor for helical trajectory tracking since it is an underactuated mechatronic system. In addition to this, with inclusion of unmodelled dynamic factors, it faces some of the serious transient and steady-state issues including Zeno noise. In this research manuscript, dual-loop single-dimension fuzzy sliding mode control (DLSDF-SMC) is proposed to improve the helical trajectory tracking performance, and to tackle the unmodelled dynamic factors, a state feedback controller is proposed consisting of a position estimator and disturbance observer design. The entire system is distributed into two subsystems such that within the angular subsystem, the attitude control is proposed using DLSDF-SMC, and for the translational subsystem, the paper proposes the position control design based on the hyperbolic function to avoid the gimbal lock issue. The overall stability of the proposed closed-loop control scheme is also proved. The simulation work for the proposed algorithm is performed using MATLAB and Simulink software and compared with the conventional sliding mode control (SMC) and fuzzy-based SMC control designs. This work demonstrates that the DLSDF-SMC control technique with position estimator and disturbance observer design in feedback not only improves the aggressive maneuvers while tracking the helical trajectory but also tackles the transient and steady-state issues.

Chaotic tip trajectory tracking and deflection suppression of a two-link flexible manipulator using second-order fast terminal SMC

2019 ◽  
Vol 41 (12) ◽  
pp. 3292-3308 ◽  
Author(s):  
Kshetrimayum Lochan ◽  
Binoy Krishna Roy ◽  
Bidyadhar Subudhi
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Flexible Manipulator ◽  
Control Technique ◽  
Control Input ◽  
Fast Tracking ◽  
Mode Control

The problem of chaotic tip trajectory tracking control for a planar assumed modes modelled two-link flexible manipulator is addressed. Tracking of such an apparently random-like (chaotic) desired trajectory is a challenging task. Initially, a PID-type sliding surface is designed in terms of the tip trajectory tracking error, then a second-order integral-type fast terminal sliding mode control is designed using the above-designed sliding surfaces. The desired chaotic trajectory is generated from a four-dimensional chaotic hyperjerk system. The proposed controller guarantees fast tracking performance with lower steady-state error and less control input. The model of a two-link flexible manipulator is obtained using the assumed modes method. The robustness of the proposed control method is evaluated in the presence of matched uncertainty and variability of payload. The performances of the proposed control technique are verified in terms of low tracking error and fast tip deflection suppression. The effectiveness of the proposed technique is validated using numerical simulations, and compared with the normal second-order sliding mode control (SMC) and another controller reported recently in the literature.

scholarly journals Sliding Mode Control Based on Disturbance Observer for Greenhouse Climate Systems

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Lijun Chen ◽  
Shangfeng Du ◽  
Dan Xu ◽  
Yaofeng He ◽  
Meihui Liang
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Control Technique ◽  
Integral Sliding Mode ◽  
Greenhouse Climate ◽  
Mode Control ◽  
Temperature And Humidity

Greenhouses are closed environments that require careful climatic control, which can benefit from a system control method to cope with the high nonlinearity, complex coupling, and robustness of unknown disturbances. This paper presents a general framework for an integral sliding mode controller based on a disturbance observer combined with feedback linearization for a greenhouse temperature and humidity system. The first-principle greenhouse climate model is described as a standard affine nonlinear system. The feedback linearization control law is used to achieve a system consisting of two separate integrator channels for temperature and humidity. System compound disturbances are estimated by applying a sliding mode disturbance observer. Based on the observer, an integral sliding mode control is incorporated to enhance the robustness against uncertainties and guarantee satisfactory tracking performance even when there are unknown estimation errors. The validity and efficacy of the proposed control technique for greenhouse climate tracking were verified by comparison with simulation results obtained using the common sliding mode control method using feedback linearization without the disturbance observer. Based on this comparison, the developed controller shows a faster system response speed, higher control precision, and stronger anti-interference ability. This method can be applied to improve greenhouse climate control systems.

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