Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles
文献类型：期刊论文
| 作者 | Yashar Mousavi1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2021 |
| 卷号 | 18期号:5页码:802-813 |
| 关键词 | Unmanned aerial vehicle dynamic sliding mode trajectory tracking fractional firefly algorithm vertical take-off and landing system |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-021-1282-3 |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45464]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 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. 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.(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."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. |
入库方式： OAI收割
来源：自动化研究所
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