scholarly journals Finite-Time Formation Control for Unmanned Aerial Vehicle Swarm System With Time-Delay and Input Saturation

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 5853-5864 ◽  
Author(s):  
An Zhang ◽  
Ding Zhou ◽  
Mi Yang ◽  
Pan Yang
Keyword(s):  
Time Delay ◽  
Unmanned Aerial Vehicle ◽  
Finite Time ◽  
Formation Control ◽  
Input Saturation ◽  
Aerial Vehicle ◽  
System With Time Delay

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.

Robust linear parameter varying attitude control of a quadrotor unmanned aerial vehicle with state constraints and input saturation subject to wind disturbance

2019 ◽  
Vol 42 (6) ◽  
pp. 1083-1096 ◽  
Author(s):  
Mohammad Reza Soltanpour ◽  
Farshad Hasanvand ◽  
Reza Hooshmand
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Input Saturation ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Aerial Vehicle ◽  
Parameter Varying ◽  
Parameter Dependent

In this paper, a gain scheduled [Formula: see text] state-feedback controller has been designed to control the attitude of a linear parameter varying (LPV) model of a quadrotor unmanned aerial vehicle (UAV). The scheduling parameters vector, which consists of some states and the control inputs, must vary in a specified polyhedron so that the affine LPV model would be analyzable; therefore, some pre-assumed constraints on states and input saturation have been taken into account in design process. The stabilization and disturbance attenuation conditions are obtained via elementary manipulations on the notion of [Formula: see text] control design. The resulting parameter dependent linear matrix inequalities are solved through a Robust LMI Parser (Rolmip) – which works jointly with YALMIP (A toolbox for modeling and optimization in MATLAB)– by transforming polynomial parameter dependent matrices into multi-simplex domain, to best deal with nonconvex problems. In the end, simulation results have been presented and compared with existing literature to examine the capability of such method in the presence and absence of wind disturbances.

scholarly journals New Intelligent Control of Auto-self Defensive Unmanned Aerial Vehicle

2021 ◽  
Vol 15 ◽  
pp. 23-26
Author(s):  
Marwa A. El-Diwiny ◽  
Abou-Hashema M. El-Sayed
Keyword(s):  
Time Delay ◽  
Unmanned Aerial Vehicle ◽  
Intelligent Control ◽  
Inertial Navigation System ◽  
Small Time ◽  
Surface Distribution ◽  
X Band ◽  
Small Time Delay ◽  
Aerial Vehicle ◽  
Sample Time

This paper handle a new terminology of the field of the unmanned aerial vehicle is Auto-self defensive UAV, by using new configuration of x-band Doppler surface distribution. The aim of this research is to make UAV can avoid any directed missiles at small time delay before the collision. The intelligent control will process the data of the hypothetical missiles by using supercomputing and send it to the inertial navigation system to correct the path of UAV every sample time against the missile. The goal is to make intelligent UAV that can maneuver the missile and never collide with it.

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