Next Article in Journal
Core–Shell Droplet Generation Device Using a Flexural Bolt-Clamped Langevin-Type Ultrasonic Transducer
Previous Article in Journal
A High-Order Load Model and the Control Algorithm for an Aerospace Electro-Hydraulic Actuator
 
 
Article

A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

1
Department of Smart Robot Convergence and Application Engineering, Pukyong National University, Busan 48513, Korea
2
Department of Mechanical System Engineering, Pukyong National University, Busan 48513, Korea
*
Authors to whom correspondence should be addressed.
Academic Editor: Hai Wang
Actuators 2021, 10(3), 54; https://doi.org/10.3390/act10030054
Received: 8 February 2021 / Revised: 2 March 2021 / Accepted: 5 March 2021 / Published: 7 March 2021
(This article belongs to the Section Aircraft Actuators)
This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system. View Full-Text
Keywords: adaptive control; ASTSMC-TDE; DUAV; nonlinear control; super-twisting sliding mode; time-delay estimation adaptive control; ASTSMC-TDE; DUAV; nonlinear control; super-twisting sliding mode; time-delay estimation
Show Figures

Figure 1

MDPI and ACS Style

Tran, M.-T.; Lee, D.-H.; Chakir, S.; Kim, Y.-B. A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle. Actuators 2021, 10, 54. https://doi.org/10.3390/act10030054

AMA Style

Tran M-T, Lee D-H, Chakir S, Kim Y-B. A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle. Actuators. 2021; 10(3):54. https://doi.org/10.3390/act10030054

Chicago/Turabian Style

Tran, Minh-Thien, Dong-Hun Lee, Soumayya Chakir, and Young-Bok Kim. 2021. "A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle" Actuators 10, no. 3: 54. https://doi.org/10.3390/act10030054

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop