Knowledge Commons of Institute of Automation,CAS
Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles | |
Yashar Mousavi1; Amin Zarei2; Arash Mousavi3; Mohsen Biari4 | |
发表期刊 | International Journal of Automation and Computing
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ISSN | 1476-8186 |
2021 | |
卷号 | 18期号:5页码:802-813 |
摘要 | This paper investigates the precise trajectory tracking of unmanned aerial vehicles (UAV) capable of vertical take-off and landing (VTOL) subjected to external disturbances. For this reason, a robust higher-order-observer-based dynamic sliding mode controller (HOB-DSMC) is developed and optimized using the fractional-order firefly algorithm (FOFA). In the proposed scheme, the sliding surface is defined as a function of output variables, and the higher-order observer is utilized to estimate the unmeasured variables, which effectively alleviate the undesirable effects of the chattering phenomenon. A neighboring point close to the sliding surface is considered, and as the tracking error approaches this point, the second control is activated to reduce the control input. The stability analysis of the closed-loop system is studied based on Lyapunov stability theorem. For a better study of the proposed scheme, various trajectory tracking tests are provided, where accurate tracking and strong robustness can be simultaneously ensured. Comparative simulation results validate the proposed control strategy′s effectiveness and its superiorities over conventional sliding mode controller (SMC) and integral SMC approaches. |
关键词 | Unmanned aerial vehicle dynamic sliding mode trajectory tracking fractional firefly algorithm vertical take-off and landing system |
DOI | 10.1007/s11633-021-1282-3 |
七大方向——子方向分类 | 其他 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/45464 |
专题 | 学术期刊_Machine Intelligence Research |
作者单位 | 1.Department of Applied Science, School of Computing, Engineering and Built Environment, Glasgow Caledonian University, Glasgow G4 0BA, UK 2.Department of Electrical and Computer Engineering, University of Sistan and Baluchestan, Zahedan 9816745845, Iran 3.Department Electrical Engineering and Applied Sciences, Paradise Research Center, Jahrom 7416813647, Iran 4.Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood 3619995161, Iran |
推荐引用方式 GB/T 7714 | Yashar Mousavi,Amin Zarei,Arash Mousavi,et al. Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles[J]. International Journal of Automation and Computing,2021,18(5):802-813. |
APA | Yashar Mousavi,Amin Zarei,Arash Mousavi,&Mohsen Biari.(2021).Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles.International Journal of Automation and Computing,18(5),802-813. |
MLA | Yashar Mousavi,et al."Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles".International Journal of Automation and Computing 18.5(2021):802-813. |
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