Enhanced Nonlinear Adaptive Control of a Novel Over-Actuated Reconfigurable Quadcopter

被引：5
作者：
Derrouaoui, Saddam Hocine [1 ]
Bouzid, Yasser [2 ]
Belmouhoub, Amina [3 ]
Guiatni, Mohamed [2 ]
机构：
[1] Ecole Super Ali Chabati, Algiers, Algeria
[2] Ecole Militaire Polytech, Complex Syst Control & Simulators Lab CSCSL, Algiers, Algeria
[3] Univ Mohamed El Bachir El Ibrahimi, Mat & Elect Syst Lab, Bordj Bou Arreridj, Algeria
来源：
2023 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS | 2023年
关键词：
Reconfigurable quadcopter; over-actuated system; ANFTSM controller; external disturbances;
D O I：
10.1109/ICUAS57906.2023.10155908
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
In this paper, we address the control of a novel over-actuated reconfigurable quadcopter that can change its arms to different orientations, to form various configurations models and navigate in a crowded environment. An enhanced Adaptive Nonsingular Fast Terminal Sliding Mode Control (ANFTSMC) method is suggested to manage the impact of the external disturbances. A comparative study with the conventional Backstepping (BS) and Sliding Mode (SM) controllers is provided to illustrate and asses the efficiency of the designed approach.
引用
收藏
页码：229 / 234
页数：6
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