Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties |
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Affiliation: | Electrical Engineering Department, University of Zanjan, Zanjan, Iran |
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Abstract: | Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods. |
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Keywords: | Unmanned aerial vehicle systems Finite-time convergence Sliding mode control Parametric uncertainties Adaptive tuning |
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