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Author : Maryam Bakhtiari-Nejad
Publisher :
ISBN 13 :
Total Pages : 134 pages
Book Rating : 4.:/5 (74 download)
Download or read book Sliding Mode Control of a Nonlinear Ducted-fan UAV Model written by Maryam Bakhtiari-Nejad and published by . This book was released on 2006 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Christina Michael Spaulding
Publisher :
ISBN 13 :
Total Pages : 238 pages
Book Rating : 4.:/5 (7 download)
Download or read book Nonlinear Inversion Control for a Ducted Fan UAV written by Christina Michael Spaulding and published by . This book was released on 2005 with total page 238 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Axaykumar Mehta
Publisher : Springer Nature
ISBN 13 : 9819997267
Total Pages : 165 pages
Book Rating : 4.8/5 (199 download)
Download or read book Robust Sliding Mode Protocols for Formation of Quadcopter Swarm written by Axaykumar Mehta and published by Springer Nature. This book was released on with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Runjiang Zhao
Publisher :
ISBN 13 :
Total Pages : 74 pages
Book Rating : 4.:/5 (126 download)
Download or read book Inner/outer-loop Control of a Drone Under Disturbances and Uncertanties written by Runjiang Zhao and published by . This book was released on 2020 with total page 74 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Drones can be rendered functional only if we can control them properly. Most flight controllers utilize what is known as Proportional Integral Derivative (PID) controllers owing to ease of their implementation at the software level. However, PID controllers cannot address uncertainties hence a drone with parameter uncertainties may not achieve desirable flight performance. Moreover, determination of PID parameters for a drone cannot be performed systematically since the drone dynamics is nonlinear. This then inhibits one's ability to guarantee a robustly functioning drone using PID controllers. To address the above shortcomings, we present our in-house sliding mode controller design and test it against PID in computer simulations, in scenarios where system parameters such as air resistance coefficient, mass, and moment of inertia are uncertain. Arising simulation results are then analyzed in terms of common metrics, such as errors in drone position tracking, response time, and undesired oscillations. We show in these scenarios that the sliding mode controller outperforms the PID controller, and furthermore as a nonlinear control methodology, enables a theoretical foundation to render the drone dynamics robust against uncertainties"--Author's abstract.
Author : B. Bandyopadhyay
Publisher : Springer
ISBN 13 : 3642034489
Total Pages : 147 pages
Book Rating : 4.6/5 (42 download)
Download or read book Sliding Mode Control Using Novel Sliding Surfaces written by B. Bandyopadhyay and published by Springer. This book was released on 2009-10-14 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value.
Author : Moussa Labbadi
Publisher : Springer Nature
ISBN 13 : 3030810143
Total Pages : 263 pages
Book Rating : 4.0/5 (38 download)
Download or read book Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle written by Moussa Labbadi and published by Springer Nature. This book was released on 2021-09-14 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.
Author : Arturo Tadeo Espinoza-Fraire
Publisher : Elsevier
ISBN 13 : 0323954049
Total Pages : 292 pages
Book Rating : 4.3/5 (239 download)
Download or read book Design of Control Laws and State Observers for Fixed-Wing UAVs written by Arturo Tadeo Espinoza-Fraire and published by Elsevier. This book was released on 2022-09-29 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches provides readers with modeling techniques, simulations, and results from real-time experiments using linear and nonlinear controllers and state observers. The book starts with an overview of the history of UAVs and the equations of motion applied to them. Following chapters analyze linear and nonlinear controllers, state observers, and the book concludes with a chapter discussing testbed development and experimental results, equipping readers with the knowledge they need to conduct their own stable UAV flights whether in simulation or real-time. - Presents aerodynamic models for fixed-wing UAVs that can be used to design control laws and state observers - Applies linear and nonlinear control theories and state observers to fixed-wing UAVs - Provides real-time flight and simulation test results of fixed-wing UAVs with linear and nonlinear controllers
Author : Tong Li
Publisher :
ISBN 13 :
Total Pages : 176 pages
Book Rating : 4.:/5 (896 download)
Download or read book Nonlinear and Fault-tolerant Control Techniques for a Quadrotor Unmanned Aerial Vehicle written by Tong Li and published by . This book was released on 2011 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) have become more and more popular, and how to control them has become crucial. Although there are many different control methods that can be applied to the control of UAVs, nonlinear control techniques are more practical since the nonlinear features of most UAVs. In this thesis, as the first main contribution, three widely used nonlinear control techniques including Feedback Linearization Control (FLC), Sliding Mode Control (SMC), and Backstepping Control (BSC) are discussed, investigated, and designed in details and flight-tested on a unique quadrotor UAV (Qball-X4) test-bed available at the Networked Autonomous Vehicles (NAV) Lab in Concordia University. Each of these three control algorithms has its own features. The advantages and disadvantages are revealed through both simulation and experimental tests. Sliding mode control is well known for its capability of handling uncertainty, and is expected to be a robust controller on Qball-X4 UAV. Feedback linearization control and backstepping control are considered a bit weaker than sliding mode control. A comparison of these three controllers is carried out in both theoretical analysis and experimental results under same fault-free flight conditions. Testing results and comparison show the different features of different control methods, and provide a view on how to choose controller under a specific condition. Besides, safety and reliability of UAVs have been and will always be a critical issue in the aviation industry. Fault-Tolerant Control (FTC) has played an extremely important role towards UAVs' safety and reliability and the safety of group people if an unexpected crash occurred due to faults/damages of UAVs. Therefore, FTC has been a very active and quickly growing research and development field for UAVs and other safety-critical systems. Based on the use of sliding mode control technique, referred to as Fault-Tolerant SMC (FT-SMC) have been investigated, implemented, flight-tested and compared in the Qball-X4 test-bed and also simulation environment in both passive and active framework of FTC in the presence of different actuator faults/damages, as the second main contribution of this thesis work.
Author : Hebertt Sira-Ramírez
Publisher : Birkhäuser
ISBN 13 : 3319172573
Total Pages : 269 pages
Book Rating : 4.3/5 (191 download)
Download or read book Sliding Mode Control written by Hebertt Sira-Ramírez and published by Birkhäuser. This book was released on 2015-05-25 with total page 269 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph presents a novel method of sliding mode control for switch-regulated nonlinear systems. The Delta Sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller design techniques with sliding mode control. Sliding Mode Control: The Delta-Sigma Modulation Approach, combines rigorous mathematical derivation of the unique features of Sliding Mode Control and Delta-Sigma modulation with numerous illustrative examples from diverse areas of engineering. In addition, engineering case studies demonstrate the applicability of the technique and the ease with which one can implement the exposed results. This book will appeal to researchers in control engineering and can be used as graduate-level textbook for a first course on sliding mode control.
Author : Nicholas Hutson
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (139 download)
Download or read book Model-free Sliding Mode Control in the Lateral and Direction Dynamics of an Aircraft written by Nicholas Hutson and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Traditional control methods require extensive tuning or a derivation of a system model making them increasingly antiquated for use on new, more complex systems. Sliding Mode Control has emerged as a more effective alternative as a control method that can directly handle nonlinear systems with increased robustness while guaranteeing stability. However, it is still limited by the need for a system model for the derivation of the controller form. This work proposes a new model-free control method based on Sliding Mode Control referred to as Model-Free Sliding Mode Control where the form of the controller is only dependent on system order, state measurements, and previous control inputs. Lyapunov’s stability theorem is used to ensure global asymptotic stability and a boundary layer is incorporated to reduce chattering. The model-free properties of the controller are enabled by a least-squares online parameter estimation method used to estimate the control input influence gain matrix of the system directly. The estimation process is essential as previous work was limited by assuming the bounds of the control input influence gain matrix are known or the assumption it was unitary. The estimation method also incorporated exponential forgetting to only include updated data for parameter estimation, increasing the speed of convergence. Another addition was a bounded gain forgetting factor to ensure that the magnitude of the control input influence gain was upper bounded. The performance of this controller was simulated on various example systems to test its performance. These included single-input, single-output and multi-input, multi-output first and second order systems. Principally, the controller was implemented to control a lateral-directional state space model of an aircraft with a shaped input characterizing aircraft roll and yaw dynamics. The controller proved to exhibit outstanding tracking performance, convergence of estimated parameters, smooth and acceptable control input, and increased robustness to parameter uncertainty. Therefore, the controller was proven to be a feasible method to control the lateral and directional dynamics of an aircraft."--Abstract.
Author : Bijnan Bandyopadhyay
Publisher : Springer
ISBN 13 : 3319742191
Total Pages : 139 pages
Book Rating : 4.3/5 (197 download)
Download or read book Event-Triggered Sliding Mode Control written by Bijnan Bandyopadhyay and published by Springer. This book was released on 2018-02-20 with total page 139 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited monograph provides a comprehensive and in-depth analysis of sliding mode control, focusing on event-triggered implementation. The technique allows to prefix the steady-state bounds of the system, and this is independent of any boundary disturbances. The idea of event-triggered SMC is developed for both single input / single output and multi-input / multi-output linear systems. Moreover, the reader learns how to apply this method to nonlinear systems. The book primarily addresses research experts in the field of sliding mode control, but the book may also be beneficial for graduate students.
Author : Guanghui Sun
Publisher : Springer Nature
ISBN 13 : 303160847X
Total Pages : 266 pages
Book Rating : 4.0/5 (316 download)
Download or read book Fractional-Order Sliding Mode Control: Methodologies and Applications written by Guanghui Sun and published by Springer Nature. This book was released on with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Michail G. Michailidis
Publisher : Springer
ISBN 13 : 9783030407186
Total Pages : 119 pages
Book Rating : 4.4/5 (71 download)
Download or read book Nonlinear Control of Fixed-Wing UAVs with Time-Varying and Unstructured Uncertainties written by Michail G. Michailidis and published by Springer. This book was released on 2021-02-22 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.
Author : Walker Hare
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (137 download)
Download or read book Implementation of a Model-free Sliding Mode Control on a Multi-input Multi-output System written by Walker Hare and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Bioinspired flight serves to balance the advantages of fixed-wing flight as well as traditional rotary systems. A flapping wing aerial system exhibits high maneuverability at low speeds like a rotary system and the higher efficiency that fixed-wing systems exhibit in forward flight. A method to actuate a flapping wing structure is using piezoelectric elements. Using flapping wings to perform aerial maneuvers and facilitate stable flight will require precise control of the piezoelectric elements and control surfaces. The focus of the research is the construction of a feedback control platform for the flapping wing aerial system. For any type of feedback control architecture, an accurate way of estimating the current state of the system is required for precise tracking control. Since the control system will be implemented in an aerial vehicle, the system must be lightweight to allow for a larger payload capacity for the aircraft. Nonlinearities arising from uncertainties and unmodeled environmental effects lead to changes in the system model and a linear control scheme will exhibit suboptimal performance and instability. The desire of this aircraft to be able to perform under different flight conditions make determination of an accurate system model a time-consuming and vast undertaking. These flight conditions include take off, gliding, and landing under different wind, pressure, temperature, and payload specifications. Sliding Mode Control and Lyapunov-based methods have been explored extensively due to their capability of handling nonlinear systems directly while guaranteeing stable tracking control. However, determining an appropriate model to approximate the system dynamics is difficult and can lead to undesirable results. These variations can be accounted for by using a model-free control approach. In this work, a model-free controller based on the Sliding Mode Control method implemented for a flapping wing aerial system is considered. The model-free control algorithm only requires knowledge of the system parameters such as the order of the system and state measurements. The algorithm has been implemented successfully in traditional unmanned aerial systems achieving adequate control of system states. While the goal is for the Model-free algorithm to be implemented on a flapping-wing unmanned aerial system, at the time of this thesis, the construction is still in progress. Therefore, an analogous system was built to test the algorithms. A balancing system consisting of a DC motor and propeller mounted to a servo motor for thrust vectoring was constructed. A linear controller derived from the system model was compared in simulation and testing to the Model-Free Sliding Mode Control algorithm."--Abstract.
Author : Adarsh Raj Kadungoth Sreeraj
Publisher :
ISBN 13 :
Total Pages : 94 pages
Book Rating : 4.:/5 (114 download)
Download or read book A Model-free Control Algorithm Based on the Sliding Mode Control Method with Applications to Unmanned Aircraft Systems written by Adarsh Raj Kadungoth Sreeraj and published by . This book was released on 2019 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Control methods require the use of a system model for the design and tuning of the controllers in meeting and/or exceeding the control system performance objectives. However, system models contain errors and uncertainties that also may be complex to develop and to generalize for a large class of systems such as those for unmanned aircraft systems. In particular, the sliding control method is a superior robust nonlinear control approach due to the direct handling of nonlinearities and uncertainties that can be used in tracking problems for unmanned aircraft system. However, the derivation of the sliding mode control law is tedious since a unique and distinct control law needs to be derived for every individual system and cannot be applied to general systems that may encompass all classifications of unmanned aircraft systems. In this work, a model-free control algorithm based on the sliding mode control method is developed and generalized for all classes of unmanned aircraft systems used in robust tracking control applications. The model-free control algorithm is derived with knowledge of the system’s order, state measurements, and control input gain matrix shape and bounds and is not dependent on a mathematical system model. The derived control law is tested using a high-fidelity simulation of a quadrotor-type unmanned aircraft system and the results are compared to a traditional linear controller for tracking performance and power consumption. Realistic type hardware inputs from joysticks and inertial measurement units were simulated for the analysis. Finally, the model-free control algorithm was implemented on a quadrotor-type unmanned aircraft system testbed used in real flight experimental testing. The experimental tracking performance and power consumption was analyzed and compared to a traditional linear-type controller. Results showed that the model-free approach is superior in tracking performance and power consumption compared to traditional linear-type control strategies."--Abstract.
Author : John Michael
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.8/5 (691 download)
Download or read book Design and Implementation of Sliding Mode Controller for Nonlinear Systems written by John Michael and published by . This book was released on 2024-01-30 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: : "Design and Implementation of Sliding Mode Controller for Nonlinear Systems" written by VimalaStarbino is a comprehensive guide for engineers and researchers seeking to understand and apply sliding mode control (SMC) to nonlinear systems. The book provides a theoretical foundation for SMC and its various design techniques, including chattering reduction and adaptive control. The author also explores the practical implementation of SMC, with a focus on digital implementation using microcontrollers and digital signal processors. The book covers a range of applications, including aerospace systems, power electronics, robotics, and industrial automation. It also includes case studies and simulation examples to demonstrate the effectiveness of SMC in controlling complex nonlinear systems. One of the key features of this book is its accessibility. The author provides clear explanations of complex concepts, making it an ideal resource for both beginners and experienced practitioners. The book also includes MATLAB code snippets and practical tips for implementing SMC, making it a valuable reference for researchers and engineers alike. Overall, "Design and Implementation of Sliding Mode Controller for Nonlinear Systems" is an essential resource for anyone interested in the theory and practical application of SMC to nonlinear systems
Author : Jinkun Liu
Publisher : Springer Science & Business Media
ISBN 13 : 3642209076
Total Pages : 367 pages
Book Rating : 4.6/5 (422 download)
Download or read book Advanced Sliding Mode Control for Mechanical Systems written by Jinkun Liu and published by Springer Science & Business Media. This book was released on 2012-09-07 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation" takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore.
