Fuzzy – Sliding Mode Versus Integral Sliding Mode Controller for a Quadrotor with Mass Uncertainty under Effect of Wind
| Autor: | Peyman Amiri, Ali Akbar Rezaei Lori, Mohammad Dayyani, Nima Sina, Amin Boudesh |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Mode (statistics) 02 engineering and technology 01 natural sciences Fuzzy logic 010309 optics Loop (topology) Vehicle dynamics 020901 industrial engineering & automation Position (vector) Control theory 0103 physical sciences Feedback linearization Inner loop |
| Zdroj: | 2020 28th Iranian Conference on Electrical Engineering (ICEE). |
| DOI: | 10.1109/icee50131.2020.9260771 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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