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Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

M. Ilyas, N. Abbas, M. UbaidUllah, Waqas A. Imtiaz, M. A. Q. Shah, K. Mahmood
2016 Discrete Dynamics in Nature and Society  
This paper focuses on the design and analysis of sliding mode control (SMC) and backstepping controller for pitch and yaw angle control of main and tail rotor of the TRMS under parametric uncertainty.  ...  Chattering and oscillating behaviors of SMC are removed with the backstepping control scheme considering the pitch and yaw angle for TRMS.  ...  The controller is designed using backstepping control technique on the proposed control problem. The standard backstepping control is based on step-bystep construction of Lyapunov function.  ... 
doi:10.1155/2016/2952738 fatcat:ieckryr6rzadbjum4x7l3k6zei

The Bioinspired Model-Based Hybrid Sliding-Mode Formation Control for Underactuated Unmanned Surface Vehicles

Mingyu Fu, Duansong Wang
2018 Journal of Control Science and Engineering  
The strategy is divided into two subsystems: a virtual velocity controller based on the bioinspired model and a dynamic controller based on the sliding-mode model.  ...  Additionally, a dynamic controller is designed, combining the sliding mode with the proposed virtual controller, to avoid the traditional chattering problem.  ...  A bioinspired model-based hybrid sliding-mode controller is designed, inspired by [19] , and on the basis of the previous literature [4] .  ... 
doi:10.1155/2018/7563178 fatcat:is6o5qrrxrfptm7m4qnmiaueka

Sampled-Data Backstepping Control of a Quadrotor Unmanned Aerial Vehicle

Abdul Jabbar, Fahad Mumtaz Malik
2014 IAES International Journal of Robotics and Automation  
The discrete time controllers have been designed on the basis of a continuous time system model and an approximate discrete time equivalent system model (Euler Approximate model) obtained using the Euler  ...  Simulations have revealed that the backstepping controller designed on the basis of an approximate discrete time model has better performance in the presence of wind gusts and modeling uncertainties.  ...  Sampled-Data Backstepping Control Based on An Approximate Discrete Time System Model. With Wind Gust (a) Roll (b) Pitch (c) Yaw.  ... 
doi:10.11591/ijra.v4i2.pp124-134 fatcat:viimkn3w4je25afswg5lodcsge

Review of Course Keeping Control System for Unmanned Surface Vehicle

M. N. Azzeri, F. A. Adnan, M. Z. Md. Zain
2015 Jurnal Teknologi  
This paper presents a review of research work done on various aspects of control system approaches of unmanned surface vehicle (USV) in order to improve the course keeping performance.  ...  However, the review reveals that the adaptive backstepping control system is a powerful tool for the design of controllers for nonlinear systems or transformable to form a tight feedback parameter.  ...  The formation model is obtained based on the leader-following approach. The controller was designed using the Lyapunov's direct method and sliding mode control technique.  ... 
doi:10.11113/jt.v74.4635 fatcat:drks5bp2qzbqdlub7qehfnncga

Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances

Alireza Modirrousta, Mahdi Khodabandeh
2016 Transactions of the Institute of Measurement and Control  
This paper proposes a backstepping terminal sliding mode control with adaptive algorithm which applied to Quadrotor for free chattering, finite time convergence and robust aims.  ...  First of all, dynamic equation of a quadrotor has been obtained based on Euler-Lagrangian equations with considering additional disturbance and uncertainty.  ...  The proposed controller is improved based on finite time approach, terminal second order sliding mode and adaptive control.  ... 
doi:10.1177/0142331215611210 fatcat:3lyboeirrnfxxay37iy7sa4ixu

Path following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

Xiao Liang, Lei Wan, James I.R. Blake, R. Ajit Shenoi, Nicholas Townsend
2016 International Journal of Advanced Robotic Systems  
Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought.  ...  An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory.  ...  The purpose is to design proper sliding mode control law based on backstepping method and to make the system output y = x 1 and desired output y d and all signals kept bounded.  ... 
doi:10.5772/64065 fatcat:y3vpyoywunbathcaylvheldqhi

ISS-based vehicle yaw stability controller design in backstepping framework

Hongliang Zhou, Zhiyuan Liu, Hong Chen
2011 IEEE Conference on Decision and Control and European Control Conference  
Then, the controller is proposed based on sliding mode control in backstepping control framework, in which the control input is calculated step-by-step.  ...  A vehicle yaw stability controller is proposed to make vehicle yaw stable in critical cornering manoeuvres in the paper.  ...  Regulator theory, H ∞ theory, and sliding mode control are implemented to design yaw stability controller.  ... 
doi:10.1109/cdc.2011.6160616 dblp:conf/cdc/ZhouLC11 fatcat:tzflok2pinh45jhmatdmlcyezq

Backstepping-based Integral Sliding Mode Control with Time Delay Estimation for Autonomous Underwater Vehicles [article]

Hossein Nejatbakhsh Esfahani, Behdad Aminian, Esten Ingar Grøtli, Sebastien Gros
2021 arXiv   pre-print
To address this problem, a Backstepping-based Integral Sliding Mode Control with Time Delay Estimation (BS-ISMC-TDE) is designed.  ...  From the simulation results, it is shown that the proposed control approach using both adaptive and conventional TDE parts outperforms a Backstepping-based Integral Sliding Mode Control (BS-ISMC).  ...  Section III, the proposed control approach and a stability analysis based on Lyapunov theory are presented.  ... 
arXiv:2111.10179v1 fatcat:4kdgtdbdhvbsxcoerzrwgzjgpu

A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

M. K. Aripin, Yahaya Md Sam, Kumeresan A. Danapalasingam, Kemao Peng, N. Hamzah, M. F. Ismail
2014 International Journal of Vehicular Technology  
This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies  ...  Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances.  ...  Acknowledgments The authors would like to thank to Ministry of Education of Malaysia, UTeM, and UTM for the supports of the studies.  ... 
doi:10.1155/2014/437515 fatcat:wac6gxcys5ezljsie4l5a7shea

Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

Samir Zeghlache, Djamel Saigaa, Kamel Kara, Abdelghani Harrag, Abderrahmen Bouguerra
2012 Archives of Control Sciences  
In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach.  ...  A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based.  ...  In the first one, we design the conventional sliding mode control, while the second proposes the fuzzy sliding mode control approach for the quadrotor helicopter control.  ... 
doi:10.2478/v10170-011-0027-x fatcat:zhsaahkrgjhdvovucwnztygzz4

Adaptive Backstepping Sliding Mode Control of Coaxial Octorotor Unmanned Aerial Vehicle

Rashid Ali, Peng Yunfeng, M. Touseef Iqbal, Rooh ul Amin, M. Omer Zahid, Omair Irfan Khan
2019 IEEE Access  
In this paper, an adaptive backstepping scheme based on sliding mode control method is presented for attitude and altitude tracking control of a coaxial octorotor.  ...  INDEX TERMS Attitude and altitude control, adaptive backstepping scheme, coaxial octorotor, sliding mode control.  ...  ADAPTIVE BACKSTEPPING SLIDING MODE CONTROL DESIGN In this section, adaptive backstepping control approach based on SMC is presented to address the attitude and altitude control problem of the coaxial octorotor  ... 
doi:10.1109/access.2019.2901366 fatcat:gofrc6o2zvg3tdne6swmwbghge

A Review of Control Algorithms for Autonomous Quadrotors

Andrew Zulu, Samuel John
2014 Open Journal of Applied Sciences  
After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, Feedback  ...  The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms  ...  A sliding mode controller based on Lyapunov stability theory is articulated by Runcharoon and Srichatrapimuk in [12] .  ... 
doi:10.4236/ojapps.2014.414053 fatcat:hokwhx5ze5g2fkwifyjqrgtlqe

Nonlinear adaptive sliding-mode control design for two-wheeled human transportation vehicle

Shui-Chun Lin, Ching-Chih Tsai, Hsu-Chih Huang
2009 2009 IEEE International Conference on Systems, Man and Cybernetics  
This paper presents adaptive sliding-mode control methods for self-balancing and yaw rate control of a dynamically two-wheeled human transportation vehicle (HTV) with mass variations and system uncertainties  ...  Numerical simulations and experimental results on different terrains show that the proposed adaptive sliding mode controllers are capable of achieving satisfactory control actions to steer the vehicle.  ...  Section II briefly describes the system design of the vehicle and Section III shows the synthesis procedures of the two adaptive controllers using sliding-mode control.  ... 
doi:10.1109/icsmc.2009.5346583 dblp:conf/smc/LinTH09 fatcat:ni2j5yb7q5eglpj5lydf2y2t64

Modeling and Adaptive Tracking Control of a Quadrotor UAV

Mostafa Mohammadi, Alireza Mohammad Shahri, Zahra Boroujeni
2012 International Journal of Intelligent Mechatronics and Robotics  
In this approach, the control of a quadrotor is performed by using decentralized adaptive controllers in the inner (attitude control) and outer (translational movement control) loops.  ...  The inner loop stabilizes the orientation of the vehicle. Inverse kinematic of robot is used to convert outputs of the outer loop to inputs of the inner loop.  ...  In Mhammed and Hicham (2009) a high gain observer and sliding mode controller is designed which allows on-line estimation of the roll and pitch angles as well as all the linear and angular velocities of  ... 
doi:10.4018/ijimr.2012100105 fatcat:y76y5zd55nbbvb5j7rkyg36wfi

An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles

Bing Sun, Daqi Zhu, Weichong Li
2012 Proceedings of 2012 UKACC International Conference on Control  
In this paper, an integrated backstepping and sliding mode tracking control algorithm is developed for threedimensional tracking control of unmanned underwater vehicles (UUV).  ...  The kinematic controller integrates a bio-inspired model with the basktepping method while the dynamic controller uses robust sliding mode control.  ...  Project of Excellent Academic Leaders of Shanghai (11XD1402500) and the Yangtze River Delta Region scientific and technological project (10595812700).  ... 
doi:10.1109/control.2012.6334705 fatcat:g4w4khhzfnazzard3vrc3oqvnq
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