Continuous Nonsingular Terminal Sliding Mode Control with Integral-Type Sliding Surface for Disturbed Systems: Application to Attitude Control for Quadrotor UAVs under External Disturbances
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Nguyen, Ngo Phong | - |
dc.contributor.author | Oh, Hyondong | - |
dc.contributor.author | Moon, Jun | - |
dc.date.accessioned | 2023-05-03T14:21:25Z | - |
dc.date.available | 2023-05-03T14:21:25Z | - |
dc.date.created | 2022-06-29 | - |
dc.date.issued | 2022-12 | - |
dc.identifier.issn | 0018-9251 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/185408 | - |
dc.description.abstract | This paper proposes a continuous nonsingular terminal sliding mode control with integral-type sliding surface (CNTSMC-ISS) framework for disturbed systems, in which we consider two types of finite-time controller: the state feedback CNTSMC-ISS and the disturbance observer-based CNTSMCISS. Compared with the existing sliding mode controllers, the noteworthy contributions of two finite-time controllers in the proposed CNTSMC-ISS framework are the alleviation of the chattering phenomenon, the fast finite-time stability, the singularity-free, and the ease-of-implementation characteristics. In the proposed CNTSMC-ISS framework, we first introduce a nonsingular integral terminal sliding mode surface (NITSMS) such that the finite-time convergence of the system state to zero in the sliding phase is ensured and the singularity problem is avoided. Besides, a finite-time observer is developed to recover the external disturbance. Then, based on the constructed NITSMS with the super-twisting-like algorithm, the state feedback CNTSMC-ISS and the disturbance observer-based CNTSMC-ISS are proposed, which generate the continuous control signals and guarantee the fast finite-time convergence of the system state to the designed sliding surface. Rigorous finite-time stability of the closed-loop system under two proposed controllers is provided. Lastly, we apply two finite-time controllers in the proposed CNTSMC-ISS framework to the attitude control for quadrotor UAVs under external disturbances. Extensive simulation and experimental results are illustrated to prove the effectiveness of the proposed attitude controllers. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Continuous Nonsingular Terminal Sliding Mode Control with Integral-Type Sliding Surface for Disturbed Systems: Application to Attitude Control for Quadrotor UAVs under External Disturbances | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Moon, Jun | - |
dc.identifier.doi | 10.1109/TAES.2022.3177580 | - |
dc.identifier.scopusid | 2-s2.0-85130828749 | - |
dc.identifier.wosid | 000895081000056 | - |
dc.identifier.bibliographicCitation | IEEE Transactions on Aerospace and Electronic Systems, v.58, no.6, pp.5635 - 5660 | - |
dc.relation.isPartOf | IEEE Transactions on Aerospace and Electronic Systems | - |
dc.citation.title | IEEE Transactions on Aerospace and Electronic Systems | - |
dc.citation.volume | 58 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 5635 | - |
dc.citation.endPage | 5660 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Telecommunications | - |
dc.relation.journalWebOfScienceCategory | Engineering, Aerospace | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Telecommunications | - |
dc.subject.keywordPlus | TRACKING CONTROL | - |
dc.subject.keywordPlus | TRAJECTORY TRACKING | - |
dc.subject.keywordPlus | CONTROL STRATEGIES | - |
dc.subject.keywordPlus | NONLINEAR-SYSTEMS | - |
dc.subject.keywordPlus | CONTROL DESIGN | - |
dc.subject.keywordPlus | ALGORITHM | - |
dc.subject.keywordPlus | IMPLEMENTATION | - |
dc.subject.keywordAuthor | Attitude control | - |
dc.subject.keywordAuthor | continuous sliding mode control | - |
dc.subject.keywordAuthor | Convergence | - |
dc.subject.keywordAuthor | finite-time stability | - |
dc.subject.keywordAuthor | integral-type sliding surface | - |
dc.subject.keywordAuthor | Moon | - |
dc.subject.keywordAuthor | nonsingular terminal sliding mode control | - |
dc.subject.keywordAuthor | quadrotor UAVs | - |
dc.subject.keywordAuthor | Robust control | - |
dc.subject.keywordAuthor | Robustness | - |
dc.subject.keywordAuthor | Sliding mode control | - |
dc.subject.keywordAuthor | Stability analysis | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9780544 | - |
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