Work

Robust Finite-Time Control Tracking Via an Enhancing Supertwisting with Application to UAVs

Year: 2024

Type: conference-paper

Abstract: This study deals with an underactuated unmanned aerial vehicle tracking control problem in finite time under disturbances. The two control loops that make up the hierarchical finite-time controller are the inner-loop rotation control and the outer-loop translation control. It was constructed using a predetermined terminal sliding manifold and a high-order sliding mode control. Using a modified supertwisting method, we offer a unique Lyapunov-based predefined-time control technique for z-position in translation control. For both x and y positions, a simple controller is then used. Roll, pitch, and yaw motions have been subjected to rotation control using high order sliding mode control with a predefined-time sliding mode manifold. Numerical simulation results are presented to illustrate how well the suggested control system works in trajectory tracking and disturbances.

Source: IEEE Conference on Control Technology and Applications (CCTA)

DOI: 10.1109/ccta60707.2024.10666635

Author: Moussa Labbadi

Institutions: Centre National de la Recherche Scientifique, Aix-Marseille Université, Laboratoire d’Informatique et Systèmes

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4399985556

FWCI:

Cites: 15

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Related to: 10