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Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm

Unmanned aerial vehicles have become a disruptive technology, which has experienced exponential growth in several applications. The control of these vehicles is a fairly wide area and the cascade PID controller is the most used in practice. However, this latter structure doesn’t ensure high performa...

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Päätekijä: Paiva, Enrique (author)
Muut tekijät: Gomez, Marcos (author), Rodas Benítez, Jorge Esteban (author), Kali, Yassine (author), Saad, Maarouf (author), Gregor Recalde, Raúl Igmar (author), Fretes, Hector (author)
Aineistotyyppi: article
Kieli:englanti
Julkaistu: 2018
Aiheet:
4. Transporte, telecomunicaciones y otras infraestructuras
UNMANNED AERIAL VEHICLE (UAV)
SLIDING MODE (SM)
PROPORTIONAL-INTEGRAL-DERIVATIVE (PID)
INGENIERIA
Linkit:http://hdl.handle.net/20.500.14066/3640
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author Paiva, Enrique
author2 Gomez, Marcos
Rodas Benítez, Jorge Esteban
Kali, Yassine
Saad, Maarouf
Gregor Recalde, Raúl Igmar
Fretes, Hector
author2_role author
author
author
author
author
author
author_browse Fretes, Hector
Gomez, Marcos
Gregor Recalde, Raúl Igmar
Kali, Yassine
Paiva, Enrique
Rodas Benítez, Jorge Esteban
Saad, Maarouf
author_facet Paiva, Enrique
Gomez, Marcos
Rodas Benítez, Jorge Esteban
Kali, Yassine
Saad, Maarouf
Gregor Recalde, Raúl Igmar
Fretes, Hector
author_role author
bitstream.checksum.fl_str_mv c17d5ca69ade54a3ce94f5df9bd346eb
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bitstream.url.fl_str_mv http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3640/1/PINV15-136art3.pdf
http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3640/2/license.txt
http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3640/3/PINV15-136art3.pdf.txt
dc.contributor.other.es.fl_str_mv Universidad Nacional de Asunción - Facultad de Ingeniería
dc.creator.none.fl_str_mv Paiva, Enrique
Gomez, Marcos
Rodas Benítez, Jorge Esteban
Kali, Yassine
Saad, Maarouf
Gregor Recalde, Raúl Igmar
Fretes, Hector
dc.date.accessioned.none.fl_str_mv 2022-04-25T22:39:46Z
dc.date.available.none.fl_str_mv 2022-04-25T22:39:46Z
dc.date.issued.none.fl_str_mv 2018
dc.identifier.uri.none.fl_str_mv http://hdl.handle.net/20.500.14066/3640
dc.language.iso.es.fl_str_mv eng
dc.relation.projectCONACYT.es.fl_str_mv PINV15-136
dc.rights.accessRights.es.fl_str_mv info:eu-repo/semantics/openAccess
dc.subject.classification.es.fl_str_mv 4. Transporte, telecomunicaciones y otras infraestructuras
dc.subject.ocde.es.fl_str_mv INGENIERIA
dc.subject.other.es.fl_str_mv UNMANNED AERIAL VEHICLE (UAV)
SLIDING MODE (SM)
PROPORTIONAL-INTEGRAL-DERIVATIVE (PID)
dc.title.es.fl_str_mv Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
dc.type.es.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
description Unmanned aerial vehicles have become a disruptive technology, which has experienced exponential growth in several applications. The control of these vehicles is a fairly wide area and the cascade PID controller is the most used in practice. However, this latter structure doesn’t ensure high performances in the presence of unmodelled dynamics, uncertainties and external abrupt disturbances. To that end, this work proposes a new method that consists of a non-linear cascade configuration of the variable structure control between first order sliding mode based on exponential reaching law and modified super-twisting second order sliding mode algorithm. The developed method is tested on simulation on a quadrotor system, the results obtained demonstrate good performance for trajectory tracking and as well as other non-linear controller options, it is robust against unmodeled dynamics and disturbances.
eu_rights_str_mv openAccess
format article
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language eng
network_acronym_str CONACYT
network_name_str Repositorio Institucional CONACYT
oai_identifier_str oai:repositorio.conacyt.gov.py:20.500.14066/3640
publishDate 2018
publishDateSort 2018
repository.mail.fl_str_mv repositorio.institucional@conacyt.gov.py
repository.name.fl_str_mv Repositorio Institucional CONACYT
repository_id_str
spelling 74ebcfee-142c-4f2b-9b20-48364ad54cf0600df4a917c-5e00-4154-8ffd-44f81939fb45600975600ce350a41-4b41-4dd7-a6be-a99fada2eacb600325a404e-1c07-4e00-b114-382fc08a8ac76005696000000-0002-7717-4100711c343d-6784-479b-b9bf-ff6c6bb0e317600Universidad Nacional de Asunción - Facultad de Ingeniería2022-04-25T22:39:46Z2022-04-25T22:39:46Z2018http://hdl.handle.net/20.500.14066/3640Unmanned aerial vehicles have become a disruptive technology, which has experienced exponential growth in several applications. The control of these vehicles is a fairly wide area and the cascade PID controller is the most used in practice. However, this latter structure doesn’t ensure high performances in the presence of unmodelled dynamics, uncertainties and external abrupt disturbances. To that end, this work proposes a new method that consists of a non-linear cascade configuration of the variable structure control between first order sliding mode based on exponential reaching law and modified super-twisting second order sliding mode algorithm. The developed method is tested on simulation on a quadrotor system, the results obtained demonstrate good performance for trajectory tracking and as well as other non-linear controller options, it is robust against unmodeled dynamics and disturbances.Consejo Nacional de Ciencia y TecnologíaPROCIENCIAeng4. Transporte, telecomunicaciones y otras infraestructurasUNMANNED AERIAL VEHICLE (UAV)SLIDING MODE (SM)PROPORTIONAL-INTEGRAL-DERIVATIVE (PID)INGENIERIACascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithminfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionPINV15-136info:eu-repo/semantics/openAccessPaiva, EnriqueGomez, MarcosRodas Benítez, Jorge EstebanKali, YassineSaad, MaaroufGregor Recalde, Raúl IgmarFretes, HectorORIGINALPINV15-136art3.pdfPINV15-136art3.pdfapplication/pdf4674167http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3640/1/PINV15-136art3.pdfc17d5ca69ade54a3ce94f5df9bd346ebMD51LICENSElicense.txtlicense.txttext/plain; charset=utf-81698http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3640/2/license.txt858b22fda432bd774e469302988c1974MD52TEXTPINV15-136art3.pdf.txtPINV15-136art3.pdf.txtExtracted texttext/plain22538http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3640/3/PINV15-136art3.pdf.txt99ec1a8f211134e07cd01feb74db0743MD5320.500.14066/3640oai:repositorio.conacyt.gov.py:20.500.14066/36402026-02-12 19:30:29.449Repositorio Institucional CONACYTrepositorio.institucional@conacyt.gov.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
spellingShingle Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
Paiva, Enrique
4. Transporte, telecomunicaciones y otras infraestructuras
UNMANNED AERIAL VEHICLE (UAV)
SLIDING MODE (SM)
PROPORTIONAL-INTEGRAL-DERIVATIVE (PID)
INGENIERIA
status_str publishedVersion
title Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
title_full Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
title_fullStr Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
title_full_unstemmed Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
title_short Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
title_sort Cascade first and second order sliding mode controller of a quadrotor UAV based on exponential reaching law and modified super-twisting algorithm
topic 4. Transporte, telecomunicaciones y otras infraestructuras
UNMANNED AERIAL VEHICLE (UAV)
SLIDING MODE (SM)
PROPORTIONAL-INTEGRAL-DERIVATIVE (PID)
INGENIERIA
url http://hdl.handle.net/20.500.14066/3640

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