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Oh, Hyondong
Autonomous Systems Laboratory
Research Interests
  • Autonomy and decision making for unmanned vehicles

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Attitude stabilization of flapping micro-air vehicles via an observer-based sliding mode control method

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Title
Attitude stabilization of flapping micro-air vehicles via an observer-based sliding mode control method
Author
Tran, Xun-ToaOh, HyondongKim, In-RaeKim, Seungkeun
Keywords
Flapping micro-air vehicles; Attitude stabilization; Finite-time observer; Sliding mode control
Issue Date
201805
Publisher
ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
Citation
AEROSPACE SCIENCE AND TECHNOLOGY, v.76, no., pp.386 - 393
Abstract
This paper introduces an observer-based sliding mode control strategy for stabilizing the attitude of flapping micro-air vehicles in the presence of unknown uncertainties and external disturbances. First, a finite-time observer is designed to estimate the lumped disturbances. Next, a controller is developed to provide attitude stabilization with high robustness where the lumped disturbances could be completely rejected after a finite amount of time. The stability of the closed-loop system is rigorously proven. By employing MATLAB/Simulink software, a numerical simulation example including a comparison between the proposed method and a conventional sliding mode controller is provided to illustrate the effectiveness of the proposed method and to confirm the theoretical results.
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DOI
http://dx.doi.org/10.1016/j.ast.2018.01.045
ISSN
1270-9638
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