A unified approach to closed-loop time delay estimation systems

1988 ◽  
Vol 36 (6) ◽  
pp. 854-861 ◽  
Author(s):  
H. Messer
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Unified Approach

A practical time-delay control scheme for aerial manipulators

2020 ◽  
pp. 095965182094651
Author(s):  
Yadong Ding ◽  
Yaoyao Wang ◽  
Bai Chen
Keyword(s):  
Time Delay ◽  
Unmanned Aerial Vehicles ◽  
Closed Loop ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme

In recent years, aerial manipulators consist of unmanned aerial vehicles and robotic manipulators have been widely utilized in aerial operations. The complex dynamic coupling effects between unmanned aerial vehicles and robotic manipulators will bring some issues to the motion control. Therefore, the article proposes a new control scheme for aerial manipulators. The proposed method includes three elements, that is, time-delay estimation, backstepping design, and nonsingular terminal sliding mode. The time-delay estimation technique is adopted to estimate the complex system dynamics and to bring a model-free feature of the system. With the backstepping design, the proposed control strategy can ensure the asymptotic stability of the closed-loop system by recursive procedure. To deal with the unmodelling dynamics and disturbances, and to assure finite-time convergence of the system states, the nonsingular terminal sliding mode is adopted. By combining three elements, the tracking performance of aerial manipulators is improved under unmodelling dynamics and disturbances. Global stability of closed-loop control system is analyzed using Lyapunov stability theory. Finally, comparative simulations are conducted, and the results show that the proposed controller has better performance than a conventional proportional–derivative controller or a nonsingular terminal sliding mode controller.

scholarly journals A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 54
Author(s):  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Unmanned Aerial Vehicle ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Mode Control ◽  
Ducted Fan ◽  
Control Scheme ◽  
Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

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