The problem of quadrotor attitude and position control is considered in the presence generally lumped disturbances: external disturbances model uncertainty. improved active disturbance rejection controller (ADRC) for trajectory tracking proposed compensating disturbances. Firstly, sigmoid differentiator (ISTD), combining Sigmoid function sliding mode terminal attractor proposed, which can accel...

This paper proposes a novel predefined time nonsingular terminal sliding mode control (TSMC) based on radial basis function neural network (RBFNN) for nonlinear systems. Firstly, new lemma of tunable stability (PTS) is proposed, where the introduction an adjustable parameter can adjust system and makes design controller more flexible. Secondly, proposed lemma, method which not only guarantees P...

The ionic polymer metal composite (IPMC) actuator is a kind of soft that can work for underwater applications. However, IPMC control suffers from high nonlinearity due to the existence inherent creep and hysteresis phenomena. Furthermore, applications, they are highly exposed parametric uncertainties external disturbances characteristics working environment. Those factors significantly affect p...

Aimed at resolving the trajectory tracking control problem of aerial manipulation, this paper presents an manipulation system that consists a quadrotor unmanned vehicle (UAV) and two-degree-of-freedom manipulator. The adopted integrated strategy; is, rotor UAV manipulator were considered as whole, coupling effect was treated internal factor, whole taken research object to establish dynamic mode...