Abstract I The purpose of this paper is to propose a fast adaptive terminal sliding mode control method for quadrotor unmanned aerial vehicles (UAVs) under dynamic uncertainties and external interference. Firstly, complete mathematical dynamics model UAV presented. Secondly, robust dual-loop nonlinear law the velocity attitude tracking designed. Through introduction equivalent inputs, channels ...

The advent of highly efficient and superior digital devices and fast microprocessors for control application has opened the field of discrete time controller design. This paper presents an exciting application of magnetic levitation system using discrete sliding mode control. There is a limited volume of literature available for discrete sliding mode control as applied to magnetic levitation sy...

A biplane quadrotor (hybrid vehicle) benefits from rotary-wing and fixed-wing structures. We design a dual observer-based autonomous trajectory tracking controller for the quadrotor. Extended state observer (ESO) is designed estimation, based on this Backstepping (BSC), Integral Terminal Sliding Mode Controller (ITSMC), Hybrid (HC) that combination of ITSMC + BSC are tracking. Further, Nonlinea...

In this paper, a discrete-time sliding mode controller (DTSMC) is designed for full position and attitude control of quadrotor UAV. The aim study to design suitable practical implementation on an autonomous remote sensing in the hostile nuclear environments. A nested DTSMC developed compared against two continuous-time methods; classical SMC as well chattering-free (CFSMC) studied previous work...

This paper presents a novel switching mode control scheme for the six-DOF hovering of underactuated quadrotor unmanned aerial vehicles (QUAVs) with strong coupling. Through this paper, full six states position and attitude QUAV can be controlled to special target configuration in fixed time. First, continuously differentiable time controller state constraint was designed system. Second, fixed-t...

Owing to the complex dynamics of quadrotor unmanned aerial vehicles (UAVs) and their susceptibility unknown interferences in an actual working environment, flight control accuracy UAVs is extremely high. Moreover, anti-interference ability particularly important. This study designed a sliding-mode controller based on extended state observer. The position was obtained through outer-loop controll...

In this paper, the modified optimal sliding mode control with a proposed method to design a sliding surface is presented. Because of the inability of the previous approach of the sliding mode method to design a bounded and suitable input, the new variation is proposed in the sliding manifold to obviate problems in a structural system. Although the sliding mode control is a powerful method to re...

A biplane quadrotor is a hybrid type of Unmanned Aerial Vehicle (UAV) that has advantages both fixed-wing and rotary-wing UAVs. In this study, we design controllers using (i) Backstepping Control (BSC), (ii) Integral Terminal Sliding Mode (ITSMC), (iii) Hybrid control (ITSMC + BSC), where the ITSMC controls attitude BSC altitude subsystems as per mathematical model quadrotor. The performance th...

This paper presents a trajectory tracking fault-tolerant control strategy inside an autonomous emergency landing architecture to quadrotor in case of partial rotor fault. The proposed architecture, which is composed required hardware and subsystems, aims ensure fully safe the impaired suitable site. controller strategy, tried be coincident with Pixhawk autopilot contains cascade three-loop stru...