Adaptive prescribed performance terminal sliding mode attitude control for quadrotor under input saturation
نویسندگان
چکیده
منابع مشابه
Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
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This paper proposes an adaptive sliding backstepping control law for quadcopter attitude control. By employing adaptive elements in the sliding mode control formulation the proposed control law avoids a priori knowledge of the upper bounds on the uncertainty. The controller we propose can be used for systems that are in strict feedback form with matched uncertainties. Numerical simulations show...
متن کاملtrajectory tracking of under-actuated nonlinear dynamic robots: adaptive fuzzy hierarchical terminal sliding-mode control
in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
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A quadrotor is nonlinear, coupled and unstable system. Two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by quadrotor. This paper presents the comparative performance results of quadrotor under two control schemes.
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ژورنال
عنوان ژورنال: IET Control Theory & Applications
سال: 2020
ISSN: 1751-8644,1751-8652
DOI: 10.1049/iet-cta.2019.0488