Work

Comparison of Linear and Nonlinear Controllers Applied to Path Following with Coaxial-Rotor MAV

Year: 2025

Type: article

Abstract: This work presents a nonlinear aerodynamic model that describes the dynamics of a coaxial-rotor MAV. We have designed seven control laws based on linear and nonlinear controllers for path-following with a coaxial-rotor MAV in the presence of unknown disturbances, such as wind gusts. The linear controllers include Proportional–Derivative (PD) and Proportional–Integral–Derivative (PID). The nonlinear techniques encompass nested saturation, sliding mode control, second-order sliding mode, high-order sliding mode, and adaptive backstepping. The results are shown after multiple computer simulations.

Source: Automation

DOI: 10.3390/automation6040066

Authors: Arturo Tadeo Espinoza Fraire, José Armando Sáenz Esqueda, Isaac Gandarilla Esparza, Jorge Alberto Orrante Sakanassi

Institutions: Universidad Juárez del Estado de Durango, Instituto Tecnólogico de La Laguna

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,207

OpenAlex ID: W4415871764

FWCI:

Cites: 17

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