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
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