Quaternion-Based Robust Sliding-Mode Controller for Quadrotor Operation Under Wind Disturbance
Aerospace,
Год журнала:
2025,
Номер
12(2), С. 93 - 93
Опубликована: Янв. 27, 2025
This
paper
presents
a
quaternion-based
robust
sliding-mode
controller
for
quadrotors
operating
under
significant
wind
disturbances.
The
proposed
control
method
improves
the
reliability
and
efficiency
of
quadrotor
by
eliminating
singularity
problem
inherent
in
Euler
angle
method.
dynamics
environment
are
modeled,
dynamic
analysis
is
performed
via
numerical
simulation.
A
realistic
model
used,
similar
to
combination
deterministic
statistical
models.
Lyapunov
stability
theory
utilized
prove
convergence
system.
simulation
results
demonstrate
that
enables
follow
desired
path
remain
stable,
even
external
Specifically,
both
position
attitude
converge
values
within
10
s,
demonstrating
stable
performance
despite
challenging
disturbances
scenarios.
Scenario
1
features
turbulence
with
an
average
speed
12
m/s
changing
directions,
while
2
models
speeds
change
abruptly
discretely
over
time,
coupled
temporal
variations
direction.
Additionally,
comparative
conventional
PD
highlights
superior
RSMC
terms
trajectory
tracking,
stability,
energy
efficiency.
rotor
reasonable
hardware-feasible
range,
ensuring
practical
applicability.
Язык: Английский
3-D Flight Performance Simulation of a Liquid-Filled Quadrotor
International Journal of Aeronautical and Space Sciences,
Год журнала:
2025,
Номер
unknown
Опубликована: Апрель 2, 2025
Язык: Английский
Self-tuning trajectory tracking control for concrete pouring construction robots based on PID-NFTSMC and CPO algorithm
PLoS ONE,
Год журнала:
2025,
Номер
20(5), С. e0324550 - e0324550
Опубликована: Май 27, 2025
This
paper
presented
a
self-tuning
trajectory
tracking
control
strategy
for
concrete
pouring
construction
robots
operating
under
external
disturbances
and
system
uncertainties.
To
enhance
operational
stability
robustness,
the
study
integrated
proportional-integral-derivative
(PID)
with
nonsingular
fast
terminal
sliding
mode
(NFTSMC),
enabling
faster
convergence
to
desired
reduced
steady-state
errors.
Additionally,
employed
crested
porcupine
optimizer
(CPO)
algorithm
automatically
optimize
PID
gains
NFTSMC
surface
parameters,
ensuring
adaptability
across
varying
conditions.
The
proposed
was
validated
through
extensive
simulations,
demonstrating
superior
performance.
PID-NFTSMC
controller
achieved
maximum
error
of
0.098740
root-mean-square
(RMS)
0.007405
Joint
1.
For
2
3,
exhibited
errors
0.105880
0.088740,
RMS
0.009859
0.007605,
respectively.
time
three
joints
0.1553s,
0.1540s
0.0100s
These
results
confirmed
that
had
high
accuracy
robustness
against
disturbances.
findings
highlight
practical
significance
this
approach
in
improving
precision
reliability
robots.
Язык: Английский
Robust Attitude Control of a Disturbed Multi-rotor Aircraft: Experimental Comparisons
Lecture notes in networks and systems,
Год журнала:
2024,
Номер
unknown, С. 464 - 473
Опубликована: Янв. 1, 2024
Язык: Английский
Performance Evaluation of Control Strategies for Autonomous Quadrotors: A Review
Complexity,
Год журнала:
2024,
Номер
2024(1)
Опубликована: Янв. 1, 2024
The
recent
progress
in
the
fields
of
sensor
miniaturization,
light
materials,
automatic
control,
and
battery
management
systems
has
opened
up
new
opportunities
for
low‐cost
unmanned
aerial
vehicles
(UAVs),
such
as
quadrotors.
In
fact,
quadrotors
have
transitioned
from
a
primarily
military
application
to
being
widely
used
almost
everywhere.
Evidently,
controlling
robots
requires
deep
understanding
their
dynamic
behavior
use
robust
strategies
accomplish
flight
missions
without
compromising
users’
safety.
This
study
presents
comprehensive
survey
control
our
examination,
performance
assessment
algorithms
is
discussed.
Furthermore,
concept
model‐based
design
presented
solution
bridging
gap
between
simulation
experimental
validation
systems.
It
anticipated
that
present
will
provide
reader
with
clear
vision
quadrotor
UAV
theory.
Язык: Английский