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DC Field | Value | Language |
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dc.citation.endPage | 173558 | - |
dc.citation.startPage | 173549 | - |
dc.citation.title | IEEE ACCESS | - |
dc.citation.volume | 7 | - |
dc.contributor.author | Chung, Wonmo | - |
dc.contributor.author | Giri, Dipak Kumar | - |
dc.contributor.author | Son, Hungsun | - |
dc.date.accessioned | 2023-12-21T18:20:54Z | - |
dc.date.available | 2023-12-21T18:20:54Z | - |
dc.date.created | 2019-12-12 | - |
dc.date.issued | 2019-11 | - |
dc.description.abstract | A new finite-time control method based on a sliding mode for a multirotor unmanned aerial vehicle (UAV) is developed to improve both the transient and steady-state responses, including overshoot and steady-state error in the presence of uncertainties and external disturbances. First, a virtual control with nonlinear sliding manifolds is designed to achieve position-tracking capability, as well as to guarantee the fast convergence of the UAV to a desired position. Furthermore, an ultimate control is developed for the desired attitude-tracking performance. Various uncertainties, including torque due to the discordance between the centre of mass and rotation and wind disturbances are considered. The Lyapunov stability theorem is then applied step-by-step to prove the asymptotically stable and finite-time convergence in position and attitude controllers. Second, the proposed controller is implemented in an open-source hardware platform for a quadrotor UAV. Both numerical and experimental results are compared to validate the tracking performance for attitude and position control, as well as robustness under disturbances. | - |
dc.identifier.bibliographicCitation | IEEE ACCESS, v.7, pp.173549 - 173558 | - |
dc.identifier.doi | 10.1109/access.2019.2956190 | - |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.scopusid | 2-s2.0-85078054394 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/30605 | - |
dc.identifier.url | https://ieeexplore.ieee.org/abstract/document/8915689 | - |
dc.identifier.wosid | 000509374200177 | - |
dc.language | 영어 | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Finite-Time Control of Multirotor UAVs Under Disturbances | - |
dc.type | Article | - |
dc.description.isOpenAccess | TRUE | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Information Systems; Engineering, Electrical & Electronic; Telecommunications | - |
dc.relation.journalResearchArea | Computer Science; Engineering; Telecommunications | - |
dc.type.docType | Article | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | Finite-time control | - |
dc.subject.keywordAuthor | sliding-mode control (SMC) | - |
dc.subject.keywordAuthor | unmanned aerial vehicle (UAV). | - |
dc.subject.keywordPlus | SLIDING MODE CONTROL | - |
dc.subject.keywordPlus | ATTITUDE TRACKING | - |
dc.subject.keywordPlus | FULL CONTROL | - |
dc.subject.keywordPlus | QUADROTOR | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | IMPLEMENTATION | - |
dc.subject.keywordPlus | ALTITUDE | - |
dc.subject.keywordPlus | STABILIZATION | - |
dc.subject.keywordPlus | POSITION | - |
dc.subject.keywordPlus | FILTER | - |
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