Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV
Conference paper
Firdaus, AR and Tokhi, MO (2019). Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV. ICAE2019: 2nd International Conference on Applied Engineering. Batam. Indoneasia 02 - 03 Oct 2019
Authors | Firdaus, AR and Tokhi, MO |
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Type | Conference paper |
Abstract | This paper presents the development of set-point weighting-based integral super-twisting sliding mode control (SISTASMC) with full-order state observers to overcome the control challenges encountered with nonlinear and underactuated systems. Quadcopter UAV form is a good example of underactuated systems, and this is selected in this research for validating the developed control. A comparative assessment through experimental validation is conducted between SISTASMC and Set-point |
Keywords | Nonlinear and underactuated system; Uncertainty; Super-twisting algorithm; Integral sliding mode control; Setpoint weighting function |
Year | 2019 |
Accepted author manuscript | License File Access Level Open |
Publication dates | |
03 Oct 2019 | |
Publication process dates | |
Accepted | 01 Aug 2019 |
Deposited | 09 May 2020 |
https://openresearch.lsbu.ac.uk/item/89qvy
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