In this study, a fault-tolerant super-twisting sliding mode controller with control allocation system for quadrotor aircraft is proposed. Super twisting robust technique that handles relative degree equal to one. A proposed because of its robustness uncertainties and perturbations. It increases accuracy reduces chattering. algorithm developed cope the actuator fault. Firstly, nonlinear model un...

In this article, a Lyapunov-based control concept is presented combining variable structure and adaptive control. The considered system class comprises single-input systems which are affected by structured and unstructured uncertainties. The design is based on a Lyapunov function for the super-twisting algorithm. This Lyapunov function is exploited to derive the adaptive part of the proposed co...

This article proposes a Lyapunov approach to the design of multivariable generalized super-twisting algorithm (MGSTA), which is able control system with perturbations and uncertain matrix, both depending on time states. The presented procedure shows that, under reasonable assumptions for uncertainties, it always possible find set constant gains MGSTA in order ensure global robust finite-time st...

A simple proof is proposed that extends Seeber and Horn’s recent sufficient conditions (Seeber Horn, 2017) for the finite time convergence of super twisting algorithm to perturbations in input gain. The new are compared state art conditions, turn out accept sensibly smaller gains.

Autonomous vehicle field has seen much development in recent years, especially with the appearance of new efficient control techniques focusing on longitudinal and lateral direction order to follow a specified trajectory or path. This paper proposes systematic technique simultaneously generate suitable speed profile motion through predetermined path that considers different driving scenarios re...

Let G = HoQ be a split extension of nite groups. A theorem of Charlap and Vasquez gives an explicit description of the di erentials d2 in the Lyndon-Hochschild-Serre spectral sequence of the extension with coe cients in a eld k. We generalize this to give an explicit description of all the dr (r 2) in this case. The generalization is obtained by associating to the group extension a new twisting...

The goal of this paper is to express the Bach tensor of a four– dimensional conformal geometry of an arbitrary signature by the Cartan normal conformal (CNC) connection. We show that the Bach tensor can be identified with the Yang–Mills current of the connection. It follows from that result that a conformal geometry whose CNC connection is reducible in an appropriate way has a degenerate Bach t...

This paper gives a short summary of the central role played by Ed Brown’s “twisting cochains” in higher FranzReidemeister (FR) torsion and higher analytic torsion. Briefly, any fiber bundle gives a twisting cochain which is unique up to fiberwise homotopy equivalence. However, when they are based, the difference between two of them is a higher algebraic K-theory class measured by higher FR tors...

The goal of this paper is to express the Bach tensor of a four dimensional conformal geometry of an arbitrary signature by the Cartan normal conformal (CNC) connection. We show that the Bach tensor can be identified with the Yang–Mills current of the connection. It follows from that result that a conformal geometry whose CNC connection is reducible in an appropriate way has a degenerate Bach te...