The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, F...

This paper concerns the design of robust control systems using sliding-mode control that incorporates a fuzzy tuning technique. The control law superposes equivalent control, switching control, and fuzzy control. An equivalent control law is first designed using pole placement. Switching control is then added to guarantee that the state reaches the sliding mode in the presence of parameter and ...

This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MR...

in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

This study proposes a novel hierarchical nonlinear proportional-integral fast terminal sliding mode (HNLPIFTSM) control for permanent magnet synchronous motor (PMSM) speed regulation system. A new type of surface called HNLPIFTSM surface, which combines the benefits (PI) and (FTSM) is proposed to enhance robustness improved dynamic response, whilst preserving great property conventional (HFTSM)...

The purpose of this study is to solve defects of the existing control strategy long convergence time, sliding mode chattering and so on. For Sensorless Brushless DC motor control strategy, a modified extended Kalman state correction estimation scheme is proposed, and dual mode high-order nonsingular terminal hybrid sliding mode control technology is put forward. TMS320F2812DSP core controller a...

An analysis of on-line autonomous robust tracking controller based on variable structure control is presented for an aerospace launch vehicle. Decentralized sliding-mode controller is designed to achieve the decoupled asymptotic tracking of guidance commands upon plant uncertainties and external disturbances. Development and application of the controller for an aerospace launch vehicle during a...

Quad-rotor unmanned aerial vehicles (UAV) are prone to external interference during photography of farmland environments. For example, they affected by airflow and load, resulting in route deviation irregular image overlap, which seriously affects quality. An trajectory tracking controller is designed for this process. To ensure that a drone can fly according the established process meet requir...