A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle
نویسندگان
چکیده
This article proposes a novel adaptive super-twisting sliding mode control scheme with time-delay estimation technique (ASTSMC-TDE) to the yaw angle of single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, proposed is combination several schemes; mode, TDE estimate nonlinear factors system, and an mode. The tracking error ASTSMC-TDE guaranteed be uniformly ultimately bounded using Lyapunov stability theory. Moreover, enhance versatility practical feasibility scheme, comparison study between controller proportional-integral-derivative (PID) conducted. achieved through two different scenarios: normal abnormal Simulation experimental tests carried out provide in-depth investigation performance
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ژورنال
عنوان ژورنال: Actuators
سال: 2021
ISSN: ['2076-0825']
DOI: https://doi.org/10.3390/act10030054