Nowadays unmanned rotorcraft are designed to operate with greater agility, rapid maneuvering, and are capable of work in degraded environments such as wind gusts etc. The control of this rotorcraft is a subject of research especially in applications such as rescue, surveillance, inspection, mapping etc. For these applications, the ability of the rotorcraft to maneuver sharply and hover precisel...

This paper addresses the trajectory tracking problem for a quadrotor affected by external perturbations and inaccurate measures. A control strategy is proposed using time scale separation of the translational and rotational dynamics. A second order sliding mode controller is developed for the translational dynamic in order to deal with external perturbations while avoiding the undesired chatter...

This paper designs an Optimized Adaptive Combined Hierarchical Sliding Mode Controller (OACHSMC) for a time-varying crane model in presence of uncertainties. Uncertainties have always been one of the most important challenges in designing control systems, which include the unknown parameters or un-modeled dynamics in the systems. Sliding mode controller (SMC) is able to compensate the system in...

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...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

A robust nonlinear composite adaptive control algorithm is done for a 6-DOF quadrotor system. The system is considered to suffer from the presence of parametric uncertainty and noise signal. The under-actuated system is split to two subsystems using dynamic inversion. A sliding mode control is controlling the internal dynamics while the adaptive control is controlling the fully actuated subsyst...

Some people suffering from diabetes use insulin injection pumps to control the blood glucose level. Sometimes, the fault may occur in the sensor or actuator of these pumps. The main objective of this paper is controlling the blood glucose level at the desired level and fault-tolerant control of these injection pumps. To this end, the eligibility traces algorithm is combined with the sliding mod...

This paper studies theuncertain nonlinear dynamics of a MEMS optical switch addressing electrical, mechanical and optical subsystems. Recently, MEMS optical switch has had significant merits in reliability, control voltage requirements and power consumption. However, an inherent weakness in designing control for such systems is unavailability of switch position information at all times due to t...