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Super-twisting observer-based sliding mode control with fuzzy variable gains and its applications to fully-actuated hexarotors

Author(s)
Nguyen, Ngo PhongKim, WonheeMoon, Jun
Issued Date
2019-05
DOI
10.1016/j.jfranklin.2019.03.005
URI
https://scholarworks.unist.ac.kr/handle/201301/26718
Fulltext
https://www.sciencedirect.com/science/article/pii/S0016003219302005?via%3Dihub
Citation
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, v.356, no.8, pp.4270 - 4303
Abstract
In this paper, we consider the super-twisting observer-based sliding mode control algorithm with fuzzy variable gains (STOSMC) for the fully-actuated hexarotor. Our hexarotor has full actuation due to six titled propellers that allows to control position and orientation (attitude) simultaneously, and resolves the singularity problem of the rotational matrix by using the quaternion modeling framework. We show that the proposed STOSMC for the hexarotor guarantees finite-time convergence of the estimation error and asymptotic stability of the hexarotor. In simulations, we demonstrate the nonsingularity and fully-actuated control performance of the hexarotor by considering extreme position and attitude control scenarios. Moreover, the simulation results show that the hexarotor achieves the fast and precise tracking performance to the desired position and the desired attitude and the chattering phenomenon is reduced compared with the fixed-gains observer-based super-twisting sliding mode control due to the fuzzy mechanism.
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
ISSN
0016-0032
Keyword
ATTITUDE TRACKING CONTROLRIGID SPACECRAFTQUADROTOR UAVSTABILIZATIONROBUSTSUBJECT

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