Fuzzy - Sliding Mode Versus Integral Sliding Mode Controller for a Quadrotor with Mass Uncertainty under Effect of Wind

被引：0
|
作者：
Amiri, Peyman [1 ]
Dayyani, Mohammad [1 ]
Lori, Ali Akbar Rezaei [1 ]
Boudesh, Amin [2 ]
Sina, Nima [3 ]
机构：
[1] Isfahan Univ Technol, Dept Mech Engn, Esfahan, Iran
[2] Tarbiat Modares Univ, Dept Mech Engn, Tehran, Iran
[3] Islamic Azad Univ, Najaf Abad Branch, Dept Mech Engn, Najafabad, Iran
来源：
2020 28TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE) | 2020年
关键词：
Quadrotor; Sliding mode; Fuzzy Logic; Integral SMC; Quadrotor with Mass Uncertainty; Quadrotor under Wind Effect; PATH TRACKING;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a fuzzy sliding mode controller (FSMC) and an integral sliding mode controller (ISMC) separately to control position of a quadrotor with an uncertain mass in the presence of wind disturbance and compares the operation of these controllers. Euler-Newton method is used to derive the quadrotor dynamic equations that considers the wind effect. The outer loop controller determines the desired angles of the quadrotor which are stabilized by a feedback linearization controller as the inner loop control. Also, the stability proof of FSMC and ISMC is done. Finally, simulation results are utilized to represent the operation of the control approaches and compare their performances.
引用
收藏
页码：1258 / 1264
页数：7
相关论文
共 50 条
  • [1] Robust Integral Sliding Mode Controller for Quadrotor Flight
    Yu, Hang
    Wu, Shiqian
    Lv, Qin
    Zhou, Yimin
    Liu, Siyuan
    2017 CHINESE AUTOMATION CONGRESS (CAC), 2017, : 7352 - 7356
  • [2] A comparison of sliding mode fuzzy controller and fuzzy sliding mode controller
    Song, FJ
    Smith, SM
    PEACHFUZZ 2000 : 19TH INTERNATIONAL CONFERENCE OF THE NORTH AMERICAN FUZZY INFORMATION PROCESSING SOCIETY - NAFIPS, 2000, : 480 - 484
  • [3] Fuzzy sliding mode controller design with fuzzy sliding mode observer
    Kung, CC
    Su, JY
    IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES, 2000, : 560 - 565
  • [4] Fuzzy Gains-Scheduling of an Integral Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle
    Ben Ammar, Nour
    Bouallegue, Soufiene
    Haggege, Joseph
    INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2018, 9 (03) : 132 - 141
  • [5] Novel robust super twisting integral sliding mode controller for a quadrotor under external disturbances
    Labbadi M.
    Cherkaoui M.
    International Journal of Dynamics and Control, 2020, 8 (03) : 805 - 815
  • [6] Fuzzy integral sliding mode controller design for boost converters
    Noh, Byung-Uk
    Choi, Han Ho
    NONLINEAR DYNAMICS, 2014, 78 (03) : 1863 - 1875
  • [7] Fuzzy integral sliding mode controller design for boost converters
    Byung-Uk Noh
    Han Ho Choi
    Nonlinear Dynamics, 2014, 78 : 1863 - 1875
  • [8] Design of a sliding mode controller with fuzzy sliding surfaces
    Lee, H
    Kim, E
    Kang, HJ
    Park, M
    IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 1998, 145 (05): : 411 - 418
  • [9] Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer
    Besnard, Lenaick
    Shtessel, Yuri B.
    Landrum, Brian
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2012, 349 (02): : 658 - 684
  • [10] Suboptimal Integral Sliding Mode Control of a Quadrotor under Input Saturation
    Liu, Huaizhe
    Lyu, Bin
    Zheng, Hua
    Yang, ChaoJun
    2018 IEEE CSAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2018,
12345