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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)
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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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. https://doi.org/10.3390/electronics8070760

AMA Style

Ha LNNT, Hong SK. Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs. Electronics. 2019; 8(7):760. https://doi.org/10.3390/electronics8070760

Chicago/Turabian Style

Ha, Le N.N.T.; Hong, Sung K. 2019. "Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs" Electronics 8, no. 7: 760. https://doi.org/10.3390/electronics8070760

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