相关论文: Adaptive Twisting Sliding Control for Integrated A…
This paper proposes an adaptive dynamic programming-based adaptive-gain sliding mode control (ADP-ASMC) scheme for a fixed-wing unmanned aerial vehicle (UAV) with matched and unmatched disturbances. Starting from the dynamic of fixed-wing…
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
Underwater robots play a crucial role in exploring aquatic environments. The ability to flexibly adjust their attitudes is essential for underwater robots to effectively accomplish tasks in confined space. However, the highly coupled six…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced…
Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
With the characteristics of vertical take-off and landing and long endurance, tiltrotor has attracted considerable attention in recent decades for its potential applications in civil and scientific research. However, the problems of strong…
The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be affected by the unknown perturbations including model…
Cylindrical manipulators are extensively used in industrial automation, especially in emerging technologies like 3D printing, which represents a significant future trend. However, controlling the trajectory of nonlinear models with system…
This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…