Adaptive Fuzzy Sliding Mode Control for a Model-Scaled Unmanned Helicopter
نویسندگان
چکیده
منابع مشابه
Adaptive Fuzzy Sliding Mode Control for a Model-Scaled Unmanned Helicopter
This paper presents a novel Adaptive Fuzzy Sliding Mode Controller (AFSMC) for a model-scaled unmanned helicopter as real nonlinear plant. First, in order to efficient control law design, the nonlinear model of the helicopter is reformulated as an affine nonlinear system. To do this aim, a Dynamic Inverter (DI) is introduced as a bijective function. The proposed DI is used to interconnect the h...
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Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...
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The overall objective of the Wallenberg Laboratory for Information Technology and Autonomous Systems (WITAS) at Linköping University is the development of an intelligent command and control system, containing vision sensors, which supports the operation of a unmanned air vehicle (UAV) in both semiand full-autonomy modes. One of the UAV platforms of choice is the APID-MK3 unmanned helicopter, by...
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ژورنال
عنوان ژورنال: Journal of Fuzzy Set Valued Analysis
سال: 2016
ISSN: 2193-4169
DOI: 10.5899/2016/jfsva-00356