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Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

1
School of Intelligent Mechatronics Engineering, Sejong University, Seoul 143-747(05006), Korea
2
School of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(7), 760; https://doi.org/10.3390/electronics8070760
Received: 10 June 2019 / Revised: 4 July 2019 / Accepted: 5 July 2019 / Published: 7 July 2019
(This article belongs to the Section Electrical and Autonomous Vehicles)
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Abstract

This paper introduces a robust dynamic sliding mode control algorithm using a nonlinear disturbance observer for system dynamics. The proposed method is applied to provide a rapid adaptation and strictly robust performance for the attitude and altitude control of unmanned aerial vehicles (UAVs). The procedure of the proposed method consists of two stages. First, a nonlinear disturbance observer is applied to estimate the exogenous perturbation. Second, a robust dynamic sliding mode controller integrated with the estimated values of disturbances is presented by a combination of a proportional–integral–derivative (PID) sliding surface and super twisting technique to compensate for the effect of these perturbations on the system. In addition, the stability of a control system is established by Lyapunov theory. A numerical simulation was performed and compared to recently alternative methods. An excellent tracking performance and superior stability of the attitude and altitude control of UAVs, exhibiting a fast response, good adaptation, and no chattering effect in the simulation results proved the robustness and effectiveness of the proposed method. View Full-Text
Keywords: PID sliding surface; nonlinear disturbance observer; disturbance elimination; dynamic sliding mode control; UAVs PID sliding surface; nonlinear disturbance observer; disturbance elimination; dynamic sliding mode control; UAVs
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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MDPI and ACS Style

Ha, L.N.N.T.; Hong, S.K. Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs. Electronics 2019, 8, 760.

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