Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV

Mohammad osman Tokhi; Mohammad Osman

doi:10.1109/icae47758.2019.9221653

Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV

Mohammad osman Tokhi, Mohammad Osman

Electrical and Electronic Engineering (302)

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

This paper presents the development of set-point weighting-based integral super-twisting sliding mode control (SISTASMC) with full-order state observers to overcome the control challenges encountered with nonlinear and underactuated systems. Quadcopter UAV form is a good example of underactuated systems, and this is selected in this research for validating the developed control. A comparative assessment through experimental validation is conducted between SISTASMC and Set-point weighting-based Integral Sliding Mode Control to demonstrate the performance of both controllers. Based on predetermined performance criteria, the results obtained demonstrate good performance of SISTASMC in dealing with uncertainty.

Original language	English
Journal	2019 2nd International Conference on Applied Engineering (ICAE)
DOIs	https://doi.org/10.1109/icae47758.2019.9221653
Publication status	Published - 3 Oct 2019

Keywords

Nonlinear and underactuated system
Setpoint weighting function
Integral sliding mode control
Uncertainty
Super-twisting algorithm

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10.1109/icae47758.2019.9221653Licence: CC BY 4.0

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title = "Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV",

abstract = "This paper presents the development of set-point weighting-based integral super-twisting sliding mode control (SISTASMC) with full-order state observers to overcome the control challenges encountered with nonlinear and underactuated systems. Quadcopter UAV form is a good example of underactuated systems, and this is selected in this research for validating the developed control. A comparative assessment through experimental validation is conducted between SISTASMC and Set-point weighting-based Integral Sliding Mode Control to demonstrate the performance of both controllers. Based on predetermined performance criteria, the results obtained demonstrate good performance of SISTASMC in dealing with uncertainty.",

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AB - This paper presents the development of set-point weighting-based integral super-twisting sliding mode control (SISTASMC) with full-order state observers to overcome the control challenges encountered with nonlinear and underactuated systems. Quadcopter UAV form is a good example of underactuated systems, and this is selected in this research for validating the developed control. A comparative assessment through experimental validation is conducted between SISTASMC and Set-point weighting-based Integral Sliding Mode Control to demonstrate the performance of both controllers. Based on predetermined performance criteria, the results obtained demonstrate good performance of SISTASMC in dealing with uncertainty.

KW - Nonlinear and underactuated system

KW - Setpoint weighting function

KW - Integral sliding mode control

KW - Uncertainty

KW - Super-twisting algorithm

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DO - 10.1109/icae47758.2019.9221653

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JF - 2019 2nd International Conference on Applied Engineering (ICAE)

ER -

Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV

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Keywords

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